CN103171556A - Automatic straight walking control system suitable for ditching operation tractor - Google Patents
Automatic straight walking control system suitable for ditching operation tractor Download PDFInfo
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- CN103171556A CN103171556A CN2013100870753A CN201310087075A CN103171556A CN 103171556 A CN103171556 A CN 103171556A CN 2013100870753 A CN2013100870753 A CN 2013100870753A CN 201310087075 A CN201310087075 A CN 201310087075A CN 103171556 A CN103171556 A CN 103171556A
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Abstract
The invention provides an automatic straight walking control system suitable for a ditching operation tractor. The automatic straight walking control system comprises a laser locating system and a straight walking control system body, wherein the laser locating system is used for emitting laser scanning planes which are in a vertical shape and coincide with a pre-ditching track, and the straight walking control system body is used for receiving laser scanning plane signals sent by the laser locating system and controlling the tractor to move forwards along the track marked by the laser scanning planes according to the laser scanning plane signals. The automatic straight walking control system fills the blanks in the field of laser ditching operation, enables the purpose of intelligent straight walking for the ditching operation to be achieved, has the advantages of high linear accuracy and low labor intensity, and effectively reduces cost of a ditching operation intelligent straight walking system.
Description
Technical field
The present invention relates to the equipment of ditching operation, relate in particular to a kind of be applicable to the ditching operation trac. automatically walk straight control system.
Background technology
Ditching equipment is mainly used to satisfy capital construction construction trench digging, optical cable, cable, pipelaying and the farmland trench digging etc. of planting.The general farm tractor that adopts is as tractor equipment when operation for ditching equipment, and for the rectilinearity that guarantees to ditch, traditional method is the stay cord method, that is, when ditching operation, the tractor traction ditching equipment comes in to guarantee the rectilinearity of ditching before the rope direction.
For the auxiliary trench digging of stay cord method was walked directly, have following limitation: (1) setup time was long, and operating efficiency is low; (2) affected by the manual operation factor larger for the stay cord method, and the trench digging rectilinearity is poor, can not satisfy the rectilinearity ditching operation demand of having relatively high expectations; (3) navigating mate skilled operation degree is had relatively high expectations, the tractor driver is difficult for grasping; (4) in addition, the stay cord method is the assisting navigation operation, and operation is controlled still needs navigating mate to complete, and navigating mate labour intensity is larger.
Separately, at present, based on GNSS(Global Navigation Satellite System, GPS) agricultural machinery automatic navigation system, due to following reason, can not be applied to the ditching operation trac.: (1) is high based on the cost of the tractor automatic navigation of GNSS, is difficult to apply; (2) ditching operation speed is generally 0.3-0.8km/h, and existing tractor automatic navigation system requires Running Speed of Tractor higher than 1.0km/h when navigating operation, can't be applied to ditching operation.
Summary of the invention
The technical matters that (one) will solve
The purpose of patent of the present invention is to control the technical matterss such as difficulty is large, precision is low in order to solve the existing straight operation of ditching.
(2) technical scheme
For solving the problems of the technologies described above, the invention provides a kind of be applicable to the ditching operation trac. automatically walk straight control system, this system comprises:
Laser orientation system, described laser orientation system are used for Emission Lasers and put down face, and the laser of launching is put down face and is vertical shape, and overlaps with pre-trench digging track;
With walk straight control system, describedly walk straight control system and be used for receiving the laser that described laser orientation system sends and put down the face signal, and control accordingly the track that trac. puts down face institute mark along laser and move ahead.
Preferably, described laser orientation system comprises Geoplane and A-frame, and described Geoplane is movably arranged on A-frame, and the position of Geoplane and deflection angle capable of regulating.
Preferably, describedly walk the angular-motion transducer that straight control system comprises laser pickoff, controller, electrohydraulic proportional directional valve, is used for driving the steering cylinder of tractor steering wheel and is used for measuring steering wheel angle, the input end of described laser pickoff and angular-motion transducer access controller, the mouth of described controller connects electrohydraulic proportional directional valve, and described electrohydraulic proportional directional valve drives steering cylinder.
Preferably, the laser that described controller receives according to described laser pickoff is put down the face calculated signals and is gone out current run location and the lateral deviation of trench digging track in advance, and calculate target rotation angle according to this lateral deviation, the current deflection angle that this target rotation angle and angular-motion transducer detect is in real time compared, formulate corresponding action command according to comparative result, and with the form of pwm power signal, described action command is sent to electrohydraulic proportional directional valve.
Preferably, the operational method of the target rotation angle of described controller adopts the Navigation Control algorithm, and the operational method of the action command of described controller adopts the controlling angle algorithm.
Preferably, described laser pickoff comprises preposition receptor and the rearmounted receptor that is positioned at same level.
Preferably, described preposition receptor has the some photoemissive elements that are arranged into a horizontal linear, and the straight line that described some photoemissive elements are arranged into is perpendicular to pre-trench digging track.
Preferably, described rearmounted receptor has some some photoemissive elements that are arranged into a horizontal linear, this straight line parallels with the straight line that the photoemissive element of described preposition receptor is arranged into and is positioned at same level, the photoemissive element of described rearmounted receptor and the direction front and back one by one corresponding setting of the photoemissive element of described preposition receptor along pre-trench digging track, and, the center light battery of described preposition receptor and the center of described rearmounted receptor be photronic lay respectively at pre-trench digging track directly over.
Preferably, describedly walk straight control system and also comprise:
Be used for driving the hydraulic steering gear of steering cylinder, be used for realizing the described hydraulic steering gear of manual manipulation and be used for realizing that the described electrohydraulic proportional directional valve of automatically controlling is in parallel;
With the change-over switch that is used for controlling switching hydraulic steering gear and electrohydraulic proportional directional valve, described change-over switch connects controller.
Preferably, this system also comprises control panel,
Be placed with some indicator lamps of preposition receptor and rearmounted receptor on described control panel, this indicator lamp connects laser pickoff by controller, is used for roughly identifying current trench digging position;
Also be provided with switching push button and corresponding indicator lamp on described control panel, described switching push button connects change-over switch, presses switching push button and namely automatically switches to the manual manipulation state;
Also be provided with power supply and emergency button on described control panel, described emergency button connects emergency stop switch, presses emergency button and namely automatically walks straight control system inefficacy.
(3) beneficial effect
Provided by the invention be applicable to the ditching operation trac. automatically walk straight control system, filled up the blank in laser ditching operation field, started the technology such as laser positioning, electric-hydraulic proportion control have been combined for the beginning of ditching operation, make ditching operation can realize that intellectuality walks straight purpose, and have linear precision height and the low characteristics of labour intensity, and effectively reduce the cost that lineal system is walked in the ditching operation intellectuality.Concrete:
1, of the present inventionly automatically walking straight control system and make trac. walk straight control function can to realize Digital Control, is the assurance that trac. is walked straight navigation, improved the trench digging quality, alleviates the chaufeur operation labor intensity; More accurate than assisting navigation control methods such as traditional stay cord methods, and be not subjected to the farmland operation environmental restraint; Than lower based on the tractor automatic navigation cost of GNSS, reduced the popularization threshold;
2, of the present invention automatically walk straight control system make tractor steering manually, the switching between automatic operation is flexible, improved system reliability and ease for operation; By scram button, walk straight control system power-off failure when automatically walking straight control system and unusual condition occurs, switch to the pilot steering state, guaranteed that trac. walks straight Security of the system automatically.
3, of the present inventionly automatically walk straight control system and can effectively improve the simplicity of installation and the use of system not destroying under the existing turning function prerequisite of trac., reduced this method and device and applied the dependence of in process, trac. being equipped.
Description of drawings
Fig. 1 is schematic top plan view of the present invention;
Fig. 2 is that master of the present invention looks schematic diagram;
Fig. 3 is functional block diagram of the present invention;
Fig. 4 is structural representation of the present invention;
Fig. 5 is the receptor photoemissive element of the present invention schematic diagram of arranging;
Fig. 6 is master control panel embodiment schematic diagram of the present invention;
Fig. 7 is control method diagram of circuit of the present invention;
Wherein: 100, laser orientation system, 101, Geoplane, 102, A-frame, 200, walk straight control system, 201, laser pickoff, 202, controller, 203, electrohydraulic proportional directional valve, 204, steering cylinder, 205, angular-motion transducer, 206, hydraulic steering gear, 207, change-over switch, 208, emergency stop switch, 209, storage battery, 210, connection box.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for explanation the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1, a kind of be applicable to the ditching operation trac. automatically walk straight control system, this system comprises laser orientation system 100 and walks straight control system 200, laser orientation system 100 wherein is used for Emission Lasers and puts down face, the laser of launching is put down face and is vertical shape, and overlaps with pre-trench digging track; Walk straight control system 200 and be used for receiving the laser that laser orientation system 100 sends and put down the face signal, and control accordingly the front line direction of trac., its track of putting down face institute mark along laser is moved ahead.This technical scheme has been filled up the blank in laser ditching operation field, started the technology such as laser positioning, electric-hydraulic proportion control have been combined for the beginning of ditching operation, make ditching operation can realize that intellectuality walks straight purpose, and have linear precision height and the low characteristics of labour intensity, and effectively reduce the cost that lineal system is walked in the ditching operation intellectuality.
As shown in Figure 2, laser orientation system 100 preferably is set to be made of Geoplane 101 and A-frame 102 etc., Geoplane 101 is movably arranged on A-frame 102 in the mode such as hinged, to improve its alerting ability, during use, A-frame 102 is fixed on ground, adjust position and the deflection angle of Geoplane 101, the laser that Geoplane 101 is launched is put down face and is vertical state, and overlaps with pre-trench digging track, and then improves and walk straight accuracy.
As shown in Fig. 3,4 and 5, walking straight control system 200 mainly is made of laser pickoff 201, controller 202, electrohydraulic proportional directional valve 203, steering cylinder 204 and angular-motion transducer 205 etc., the input end of laser pickoff 201 and angular-motion transducer 205 access controllers 202, the mouth of controller 202 connects electrohydraulic proportional directional valve 203, and electrohydraulic proportional directional valve 203 connects steering cylinder 204; In addition, this system comprises that also connection box 210 is connected between controller 202 and each equipment as parts such as storage battery 209 and connection boxes 210, is used for optimizing connection line, and storage battery 209 connects controller 202 etc., to supply with power supply.This system utilizes electro-hydraulic proportional control technology to combine with the laser positioning technology, realized the intellectuality of ditching operation, and this system is simple in structure, walk lineal system than the trench digging that GNSS locates, the cost of this system is low, especially be not subject to the trench digging speed of 0.3-0.8km/h, more be conducive to apply.
at first, the laser signal input control device 202 that laser pickoff 201 receives, controller 202 calculates current trench digging position and pre-lateral deviation of ditching between track according to laser signal, and calculate target rotation angle according to this lateral deviation, concrete: as shown in Fig. 2 and 5, laser pickoff 201 preferably is set to comprise preposition receptor and the rearmounted receptor that is positioned at same level, preposition receptor and rearmounted receptor comprise respectively the photoemissive element of some reception laser signals, some photoemissive elements of preposition receptor are the horizontal linear shape and arrange, and this straight line perpendicular to trac. before line direction, namely perpendicular to pre-trench digging track, the photoemissive element of rearmounted receptor is arranged into a horizontal linear, and this horizontal linear parallels with the straight line that the photoemissive element of rearmounted receptor is arranged into and is positioned at same level, and each photoemissive element of rearmounted receptor is corresponding one by one along pre-trench digging course bearing with the photoemissive element of preposition receptor, especially, the photoemissive element that preposition receptor and rearmounted receptor are positioned at the center all be positioned at pre-trench digging track directly over, when center light the battery straight line that is linked to be and the laser that Geoplane 101 is launched of preposition receptor and rearmounted receptor are put down face and are overlapped, the lateral deviation that namely shows trac. trench digging position is zero, the track of namely ditching overlaps with pre-trench digging track, at this moment, as long as keeping the center light battery of preposition receptor and laser to put down face, to be in the plumbness track that can guarantee to ditch accurate always, realized when normal operation, adopt separate unit laser pickoff signal can automatically walk straight control, improved control efficiency, when the photoemissive element straight line that is linked to be and the laser that Geoplane 101 is launched of the non-central location of preposition receptor and rearmounted receptor are put down face and are overlapped, show that trac. trench digging position and pre-trench digging track have certain deviation, it is lateral deviation, this lateral deviation is drawn by the computing of Navigation Control algorithm by the laser signal of controller 202 according to received preposition receptor and rearmounted receptor, and further calculating target rotation angle by the Navigation Control algorithm, this target rotation angle refers to eliminate this lateral slip angle angle of required deflection in theory.
Simultaneously, the deflection angle input information controller 202 of the tractor steering wheel that angular-motion transducer 205 detects in real time, controller 202 is corresponding with the current deflection state that aforesaid target rotation angle and angular-motion transducer 205 detect in real time, compare with deflection angle with the multiple goal corner, adopt the controlling angle algorithm to calculate the actual angle that needs rotation of wheel flutter, according to this operation result with the form sending action instruction of pwm power signal to electrohydraulic proportional directional valve 203.
Then, order about steering cylinder 204 actions by electrohydraulic proportional directional valve 203, and then change the corner of tractor steering wheel (front-wheel), make it in time be reset on correct trench digging track.By this, the precision of control system of the present invention is high, and through test, actual trench digging track of the present invention can remain in 5cm with the deviation of pre-trench digging track.
separately, as shown in Fig. 3 and 4, the present invention is the installation application cost of further reduction equipment, improve the alerting ability that uses, reaching intelligent control system does not affect the purpose of existing manual manipulation system, walk straight control system 200 and also comprise hydraulic steering gear 206, change-over switch 207 and emergency stop switch 208, change-over switch 207 access controllers 202, emergency stop switch 208 access controllers 202, be used for realizing the hydraulic steering gear 206 of manual manipulation and be used for realizing that the intelligent automatic electrohydraulic proportional directional valve of controlling 203 is in parallel, change-over switch 207 is used for controlling switching both, when being used for system's et out of order or emergency situation, emergency stop switch 208 automatically walks straight control system power-off failure.The present invention has kept original manual manipulation system, and can realize manually and automatically controlling freely switching of state, and is more practical.
As shown in Fig. 6 and 7, be the intellectuality that realizes more fully controlling, the invention also discloses the concrete control method of above-described embodiment:
Control panel as Fig. 6, be placed with some indicator lamps of preposition receptor and rearmounted receptor on this panel, this indicator lamp connects laser pickoff by controller, be used for roughly identifying current trench digging position, when helping the manual manipulation trench digging for the assurance of trench digging position, as be labeled as " in " two indicator lamps simultaneously bright, expression lateral deviation this moment is zero, the track of namely ditching overlaps with pre-trench digging track, if only have in two indicator lamps that light one or zero " in " indicator lamp, represent by certain deflection angle, need manually or automatically to adjust; Also be provided with switching push button and corresponding indicator lamp on described control panel, switching push button connects change-over switch 207, presses switching push button and namely automatically switches to the manual manipulation state; Also have power supply and emergency button on this panel, emergency button connects emergency stop switch 208, can press emergency button when running into bursty state, walks straight control system power-off failure.
As Fig. 7, the step of specifically controlling comprises:
Step 1, to controller control cycle, input and output, Navigation Control parameter, turn to control parameter, state variable is carried out initialization, comprise the mode of operation mark position be manual mode and manually indicator lamp light.
Step 2, judge whether manual/auto button is pressed:
If manual/auto button is pressed, judge whether the mode of operation zone bit is automatic mode: if automatic mode, switching push button mode of operation mark position is manual mode, and the automatic mode indicator lamp extinguishes, and the manual mode indicator lamp is lighted; If not automatic mode, the mode of operation mark position is automatic mode, and the manual mode indicator lamp extinguishes, and the automatic mode indicator lamp is lighted.
Step 3, read preposition receptor state, corresponding indicator lamp is lighted, and other 4 indicator lamps extinguish; Read rearmounted receptor state, corresponding indicator lamp is lighted, and other 4 indicator lamps extinguish;
Step 4, judge whether the mode of operation zone bit is automatic mode:
If not automatic mode, the dutycycle of pwm power signal is set to 0, jumps to step 2;
Step 5, based on the state computation lateral deviation of preposition receptor and rearmounted receptor, adopt the Navigation Control algorithm to calculate the track adjusting wheel target rotation angle; Read the angular-motion transducer observed reading, calculate track adjusting wheel when front hook and cireular frequency, the track adjusting wheel target rotation angle compares with measuring corner, adopts shift control algorithm to calculate and export the pwm power signal.
Step 6, jump to step 2.
To sum up, the present invention the invention enables the ditching operation linear precision to reach Centimeter Level for stay cord method assisting navigation, operation process does not need the manual control steering operation, thereby improve to greatest extent the trench digging rectilinearity, improve operation quality, effectively alleviate navigating mate labour intensity simultaneously; Can also effectively solve stay cord method bad adaptability, the poor problem of trench digging rectilinearity, improve the line tracking control accuracy of ditching operation process, improve trench digging efficient and ditching operation quality.Especially, break through the speed restriction of tractor automatic navigation system in ditching operation based on GNSS, and fully reduced cost, made intelligent ditching operation equipment of the present invention have promotional value higher.
It should be noted that at last, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment, the present invention is had been described in detail, those skilled in the art are to be understood that, can modify or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of claim scope of the present invention.
Claims (10)
- One kind be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that, this system comprises:Laser orientation system, described laser orientation system are used for Emission Lasers and put down face, and the laser of launching is put down face and is vertical shape, and overlaps with pre-trench digging track;With walk straight control system, describedly walk straight control system and be used for receiving the laser that described laser orientation system sends and put down the face signal, and control accordingly the track that trac. puts down face institute mark along laser and move ahead.
- According to claim 1 be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that: described laser orientation system comprises Geoplane and A-frame, described Geoplane is movably arranged on A-frame, and the position of Geoplane and deflection angle capable of regulating.
- According to claim 1 be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that: describedly walk the angular-motion transducer that straight control system comprises laser pickoff, controller, electrohydraulic proportional directional valve, is used for driving the steering cylinder of tractor steering wheel and is used for measuring steering wheel angle, the input end of described laser pickoff and angular-motion transducer access controller, the mouth of described controller connects electrohydraulic proportional directional valve, and described electrohydraulic proportional directional valve drives steering cylinder.
- According to claim 3 be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that: the laser that described controller receives according to described laser pickoff is put down the face calculated signals and is gone out current run location and the lateral deviation of trench digging track in advance, and calculate target rotation angle according to this lateral deviation, the current deflection angle that this target rotation angle and angular-motion transducer detect is in real time compared, formulate corresponding action command according to comparative result, and with the form of pwm power signal, described action command is sent to electrohydraulic proportional directional valve.
- According to claim 4 be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that: the operational method of the target rotation angle of described controller adopts the Navigation Control algorithm, and the operational method of the action command of described controller adopts the controlling angle algorithm.
- According to claim 3 be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that: described laser pickoff comprises preposition receptor and the rearmounted receptor that is positioned at same level.
- According to claim 6 be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that: described preposition receptor has the some photoemissive elements that are arranged into a horizontal linear, and the straight line that described some photoemissive elements are arranged into is perpendicular to pre-trench digging track.
- according to claim 7 be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that: described rearmounted receptor has some some photoemissive elements that are arranged into a horizontal linear, this straight line parallels with the straight line that the photoemissive element of described preposition receptor is arranged into and is positioned at same level, the photoemissive element of described rearmounted receptor and the direction front and back one by one corresponding setting of the photoemissive element of described preposition receptor along pre-trench digging track, and, the center light battery of described preposition receptor and the center of described rearmounted receptor be photronic lay respectively at pre-trench digging track directly over.
- According to claim 8 be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that, describedly walk straight control system and also comprise:Be used for driving the hydraulic steering gear of steering cylinder, be used for realizing the described hydraulic steering gear of manual manipulation and be used for realizing that the described electrohydraulic proportional directional valve of automatically controlling is in parallel;With the change-over switch that is used for controlling switching hydraulic steering gear and electrohydraulic proportional directional valve, described change-over switch connects controller.
- According to claim 9 be applicable to the ditching operation trac. automatically walk straight control system, it is characterized in that: this system also comprises control panel,Be placed with some indicator lamps of preposition receptor and rearmounted receptor on described control panel, this indicator lamp connects laser pickoff by controller, is used for roughly identifying current trench digging position;Also be provided with switching push button and corresponding indicator lamp on described control panel, described switching push button connects change-over switch, presses switching push button and namely automatically switches to the manual manipulation state;Also be provided with power supply and emergency button on described control panel, described emergency button connects emergency stop switch, presses emergency button and namely automatically walks straight control system inefficacy.
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| CN201310087075.3A CN103171556B (en) | 2013-03-19 | 2013-03-19 | Automatic straight walking control system suitable for ditching operation tractor |
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| CN103955219A (en) * | 2014-04-26 | 2014-07-30 | 安徽农业大学 | Opposite-type laser tractor aided navigation control system |
| CN104678999A (en) * | 2014-12-15 | 2015-06-03 | 刘丙炎 | Intelligent tractor |
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| CN111552281A (en) * | 2020-04-13 | 2020-08-18 | 程国军 | Intelligent cultivation system and device thereof |
| CN112698564A (en) * | 2020-12-21 | 2021-04-23 | 桂林航天工业学院 | Intelligent control method of self-propelled land leveler based on dynamic double-triangle principle |
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| CN112698564A (en) * | 2020-12-21 | 2021-04-23 | 桂林航天工业学院 | Intelligent control method of self-propelled land leveler based on dynamic double-triangle principle |
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Address after: 1107, block a, Nongke building, No. 11, Shuguang garden middle road, Haidian District, Beijing, 100097 Patentee after: Intelligent equipment technology research center of Beijing Academy of agricultural and Forestry Sciences Address before: 100097, A, building 11, agricultural building, 318 middle garden, Shuguang garden, Beijing, Haidian District, China Patentee before: BEIJING RESEARCH CENTER OF INTELLIGENT EQUIPMENT FOR AGRICULTURE |