CN112781510B - Method and device for indirectly detecting radius of steering circle of tractor - Google Patents
Method and device for indirectly detecting radius of steering circle of tractor Download PDFInfo
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- CN112781510B CN112781510B CN202110189757.XA CN202110189757A CN112781510B CN 112781510 B CN112781510 B CN 112781510B CN 202110189757 A CN202110189757 A CN 202110189757A CN 112781510 B CN112781510 B CN 112781510B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims abstract description 43
- 238000012360 testing method Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000011065 in-situ storage Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/06—Steering behaviour; Rolling behaviour
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Abstract
The invention discloses a tractor steering circle radius indirect detection method and a device, belonging to the field of tractor complete machine test, wherein the device comprises a rack, a lifting rod, a rotating motor, a laser displacement sensor, an encoder and a computing terminal; the method comprises the steps of obtaining the distance between the front tire surface and the laser displacement sensor under the conditions of the rotation limit and the centering of a steering wheel of the tractor through the rotary laser displacement sensor fixed on a rack, testing by an encoder to obtain a rotation angle, and converting according to a triangular distance measurement principle to obtain the outer wheel rotation angle of the steering wheel of the tractor so as to quickly evaluate the steering circle radius of the tractor. The invention utilizes the principle of rotary laser triangle distance measurement, can obtain the radius of the steering circle of the tractor only by using the method of driving the steering wheel by the tractor in situ, saves the area of a test field, has simple and convenient operation, improves the working efficiency and has strong flexibility.
Description
Technical Field
The invention relates to the technical field of tractor complete machine testing, in particular to a tractor steering circle radius indirect detection method and device.
Background
The minimum turning circle radius of the tractor is the representation of the maneuvering performance of the tractor, the capability of the tractor passing through a narrow bending zone or bypassing an obstacle which cannot be crossed can be reflected, the working efficiency and the operation safety of the tractor are determined, and the minimum turning circle radius of the tractor needs to be tested after the tractor is completely offline.
The traditional tractor minimum steering circle radius test is that a steering wheel is turned to an extreme position, and when the tractor turns to run at the lowest stable speed, the radius of a track circle rolled by the center of an outer steering wheel on a support plane is measured. The method needs a large test field and stable manual running operation, and is low in efficiency and high in manual labor intensity. The pull rope displacement sensor adopted in the general test is sensitive to the temperature, and the accuracy is reduced. Meanwhile, when the vehicle is tested in the driving process, the vibration of the vehicle can influence the test data, and a large error is generated. The minimum steering circle radius test also adopts a mechanical type, and the sensor is directly installed at a steering structure, but the installation and the fixing positions are inconvenient, and the operation difficulty is large.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the method and the device for indirectly detecting the radius of the steering circle of the tractor, which are used for completing the indirect detection of the radius of the steering circle of the tractor, accelerating the detection efficiency, saving the area of a test field, avoiding the influence of the vibration of the tractor in operation on the test result and reducing the labor intensity.
In order to achieve the above purpose, the invention provides the following technical scheme:
an indirect detection device for the radius of a tractor steering circle comprises a rack, a lifting rod, a rotating motor, a laser displacement sensor, an encoder and a computing terminal; the laser displacement sensor is fixedly arranged on the rotating motor, so that horizontal plane distance measurement in the rotating process is realized; the bottom end of the lifting rod is mounted on the rack, the top end of the lifting rod is connected with the rotating motor, and the height of the testing plane of the laser displacement sensor is adjusted by adjusting the height of the lifting rod; the rotary motor is provided with an encoder through a coupler, and the encoder and the rotary motor rotate together to feed back a rotating angle; the laser displacement sensor and the encoder are in communication connection with the computing terminal to transmit data.
The invention also provides an indirect detection method for the radius of the steering circle of the tractor, which adopts the device and comprises the following steps:
s1, adjusting the height of the lifting rod to adjust the height of the test plane of the laser displacement sensor, and enabling the laser displacement sensor to irradiate the horizontal plane where the wheel height center of the outer wheel tire of the tractor is located;
s2, turning the tractor steering wheel to the left or right to the extreme position, adjusting and initializing the laser displacement sensor and the encoder;
s3, the laser displacement sensor is driven by a rotating motor to rotate in a horizontal plane around the vertical direction, the laser displacement sensor tests to obtain the distance between the laser irradiation point of the outer tire and the laser displacement sensor, and the encoder tests to obtain the laser ranging azimuth angle;
s4, taking two laser displacement points under any azimuth angle to obtain a distance value X1And X2And the angle difference alpha1Calculating a calculated angle value beta of the steering wheel under the condition of full left driving or full right driving by utilizing a rotary laser triangular distance measurement principle and a triangular sine theorem and a triangular cosine theorem1；
S5, taking two laser displacement points under the same azimuth angle as the steering wheel under the full-driving condition of the steering wheel under the centering condition of the steering wheel, obtaining the distance value and the angle difference value under the same two azimuth angles under the centering condition of the steering wheel, and similarly calculating the calculated angle value beta under the centering condition of the steering wheel2；
S6, according to the formula θ ═ β2-β1Calculating the outer wheel rotation angle theta of the maximum steering wheel;
s7, calculating the minimum steering circle radius of the tractor according to the known parameters of the whole tractor
And outputting the distance through a computing terminal 5, wherein L is the wheel base, b is the front wheel base, and M is the kingpin center distance.
Further, the formulas of the sine theorem and the cosine theorem of the triangle used in step S4 are as follows:
compared with the prior art, the invention has the beneficial effects that:
according to the method and the device for indirectly detecting the radius of the steering circle of the tractor, the maximum outer wheel rotating angle of the steering wheel is obtained through testing and calculating by using a rotary laser triangular distance measuring principle, the minimum steering circle radius of the tractor is further obtained through calculating, the indirect test of the radius of the steering circle of the tractor is completed, the detection efficiency is accelerated, the area of a test site is saved, the influence of vibration of the tractor in operation on a test result is avoided, and the operation difficulty and the manual labor intensity are reduced.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a schematic structural diagram of an indirect detection device for a tractor turning circle radius according to an embodiment of the invention.
Fig. 2 is a schematic working process diagram of the indirect tractor turning circle radius detection device provided by the embodiment of the invention.
Fig. 3 is a schematic view of the working principle of the indirect detection device for the radius of the tractor steering circle provided by the embodiment of the invention.
Description of reference numerals:
1-a laser displacement sensor; 2-an encoder; 3-a rotating electrical machine; 4-a gantry; 5-calculating the terminal; 6-outer wheel tyre; 41-lifting rod.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1 and 2, the indirect detection device for the radius of the tractor steering circle provided by the invention comprises a rack 4, a lifting rod 41, a rotating motor 3, a laser displacement sensor 1, an encoder 2 and a calculation terminal 5; the laser displacement sensor 1 is fixedly arranged on the rotating motor 3, so that horizontal plane distance measurement in the rotating process is realized; the bottom end of the lifting rod 41 is arranged on the rack 4, the top end of the lifting rod 41 is connected with the rotating motor 3, and the height of the test plane of the laser displacement sensor 1 is adjusted by adjusting the height of the lifting rod 41; the rotary motor 3 is provided with an encoder 2 through a coupler, and the encoder 2 and the rotary motor 3 rotate together to feed back a rotation angle; the laser displacement sensor 1 and the encoder 2 are in communication connection with the computing terminal 5 to transmit data. The calculation terminal 5 may be a computer, and a calculation program is provided in the calculation terminal 5, and the calculation program is a calculation formula using a triangle sine theorem, a triangle cosine theorem, and a minimum steering circle radius according to a maximum steering wheel outer wheel turning angle. The lifting rod 41 is of a screw rod structure, an additional independent motor is used for controlling the lifting motion of the lifting rod 41, and the height of the rack 4 relative to the ground is adjusted through the lifting rod 41 so as to adjust the height of the test plane of the laser displacement sensor 1. The adjustment of the lift lever 41 is based on the fact that the laser displacement sensor 1 can be optimally irradiated to the horizontal plane where the center of the wheel height of the outer tire 6 is located.
Example 2
As shown in fig. 2 and 3, after the whole tractor is off-line, a driver drives the tractor to an appointed test site according to operation guidance, and the steering wheel keeps static under the conditions of left full driving, middle full driving and right full driving respectively; specifically, the method for indirectly detecting the radius of the steering circle of the tractor by adopting the device comprises the following steps:
s1, adjusting the height of the lifting rod 41 to adjust the height of the test plane of the laser displacement sensor 1, and enabling the laser displacement sensor 1 to irradiate the horizontal plane where the wheel height center of the outer wheel tire 6 of the tractor is located;
s2, turning the tractor steering wheel to the left or right to the extreme position, adjusting and initializing the laser displacement sensor 1 and the encoder 2;
s3, the laser displacement sensor 1 is driven by the rotating motor 3 to rotate around the vertical direction in the horizontal plane, the laser displacement sensor 1 tests to obtain the distance between the laser irradiation point of the outer tire 6 and the laser displacement sensor 1, and the encoder 2 tests to obtain the laser ranging azimuth angle;
s4, taking two laser displacement points under any azimuth angle to obtain a distance value X1And X2And the angle difference alpha1By calculating according to the principle of rotary laser triangulation distance measurementThe terminal 5 performs mathematical operation on the obtained data, and the mathematical operation is performed according to a formula through a triangle sine theorem and a triangle cosine theorem
Calculating the calculated angle value beta under the condition of left full or right full of the steering wheel1；
S5, taking two laser displacement points under the same azimuth angle as the steering wheel under the full-driving condition of the steering wheel under the centering condition of the steering wheel, obtaining the distance value and the angle difference value under the same two azimuth angles under the centering condition of the steering wheel, and similarly calculating the calculated angle value beta under the centering condition of the steering wheel2；
S6, according to the formula θ ═ β2-β1Calculating the outer wheel rotation angle theta of the maximum steering wheel; if the outer wheel turning angle of the steering wheel is maximum under the condition that the steering wheel is fully driven to the left, theta is equal to beta2-β1When the outer wheel angle of the steering wheel is maximum under the condition that the right of the steering wheel is full, theta is equal to beta1-β2；
S7, calculating the minimum steering circle radius of the tractor according to the known parameters of the whole tractor
And outputting the distance through a computing terminal 5, wherein L is the wheel base, b is the front wheel base, and M is the kingpin center distance. For example, the maximum steering wheel outer wheel turning angle of a tractor is 30 degrees through test calculation, the known wheelbase is 2600mm, the front wheelbase is 1600mm, the center distance of a king pin is 1400mm, and the minimum radius of a steering circle of the tractor is obtained
It should be understood that the above description is only a preferred embodiment of the present invention, and is a part of the examples of the present invention, not all examples. The protection scope of the present invention is not limited to the above embodiments, and all technical solutions that belong to the principle of the present invention belong to the protection scope of the present invention. It will be apparent to those skilled in the art that other various changes and modifications can be made in the above-described embodiments and concepts, and all other embodiments obtained without inventive faculty are within the scope of the invention.
Claims (2)
1. An indirect detection method for the radius of a tractor steering circle is characterized in that the adopted device comprises a rack (4), a lifting rod (41), a rotating motor (3), a laser displacement sensor (1), an encoder (2) and a calculation terminal (5); the laser displacement sensor (1) is fixedly arranged on the rotating motor (3) to realize horizontal plane ranging in the rotating process; the bottom end of the lifting rod (41) is installed on the rack (4), the top end of the lifting rod (41) is connected with the rotating motor (3), and the height of the test plane of the laser displacement sensor (1) is adjusted by adjusting the height of the lifting rod (41); the rotary motor (3) is provided with the encoder (2) through a coupler, and the encoder (2) and the rotary motor (3) rotate together to feed back the rotation angle; the laser displacement sensor (1) and the encoder (2) are in communication connection with the computing terminal (5) to transmit data;
and comprises the following steps:
s1, adjusting the height of the lifting rod (41) to further adjust the height of a test plane of the laser displacement sensor (1), and enabling the laser of the laser displacement sensor (1) to irradiate the horizontal plane where the wheel height center of an outer wheel tire (6) of the tractor is located;
s2, turning the tractor steering wheel to the left or right to the extreme position, adjusting and initializing the laser displacement sensor (1) and the encoder (2);
s3, the laser displacement sensor (1) is driven by the rotating motor (3) to rotate in the horizontal plane around the vertical direction, the laser displacement sensor (1) tests to obtain the distance between the laser irradiation point of the outer tire (6) and the laser displacement sensor (1), and the encoder (2) tests to obtain the laser ranging azimuth angle;
s4, taking two laser displacement points under any azimuth angle to obtain a distance value X1And X2And the angle difference alpha1The obtained data is calculated by a calculating terminal (5) by utilizing a rotary laser triangular distance measuring principle, and a calculated angle value beta of the steering wheel under the condition of full left driving or full right driving is calculated by a triangular sine theorem and a triangular cosine theorem1；
S5, taking two laser displacement points under the same azimuth angle as the steering wheel under the full-driving condition of the steering wheel under the centering condition of the steering wheel, obtaining the distance value and the angle difference value under the same two azimuth angles under the centering condition of the steering wheel, and similarly calculating the calculated angle value beta under the centering condition of the steering wheel2；
S6, according to the formula θ ═ β2-β1Calculating the outer wheel rotation angle theta of the maximum steering wheel;
s7, calculating the minimum steering circle radius of the tractor according to the known parameters of the whole tractor
And outputting the distance through a computing terminal 5, wherein L is the wheel base, b is the front wheel base, and M is the kingpin center distance.
2. The indirect detection method for the radius of the tractor steering circle according to claim 1, wherein the formulas of the sine theorem and the cosine theorem of the triangle used in the step S4 are as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110189757.XA CN112781510B (en) | 2021-02-18 | 2021-02-18 | Method and device for indirectly detecting radius of steering circle of tractor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110189757.XA CN112781510B (en) | 2021-02-18 | 2021-02-18 | Method and device for indirectly detecting radius of steering circle of tractor |
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| CN112781510A CN112781510A (en) | 2021-05-11 |
| CN112781510B true CN112781510B (en) | 2022-03-22 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110129115A (en) * | 2010-05-25 | 2011-12-01 | 국방과학연구소 | System for measuring minimum rotating diameter of vehicle using real time kinematic and method thereof |
| CN107444491A (en) * | 2017-08-10 | 2017-12-08 | 泗洪县正心医疗技术有限公司 | A kind of motor vehicle method for controlling trajectory and motor vehicle navigation establishment of coordinate system method |
| CN107702928A (en) * | 2017-09-26 | 2018-02-16 | 吉林大学 | A kind of pivoted wheels on vehicle corner measuring apparatus and method |
| CN110057297A (en) * | 2019-04-15 | 2019-07-26 | 武汉科技大学 | A kind of automobile minimum turning diameter measuring system and method based on LD ranging |
| CN112284773A (en) * | 2020-10-31 | 2021-01-29 | 的卢技术有限公司 | System and method for measuring minimum turning radius of automobile |
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2021
- 2021-02-18 CN CN202110189757.XA patent/CN112781510B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110129115A (en) * | 2010-05-25 | 2011-12-01 | 국방과학연구소 | System for measuring minimum rotating diameter of vehicle using real time kinematic and method thereof |
| CN107444491A (en) * | 2017-08-10 | 2017-12-08 | 泗洪县正心医疗技术有限公司 | A kind of motor vehicle method for controlling trajectory and motor vehicle navigation establishment of coordinate system method |
| CN107702928A (en) * | 2017-09-26 | 2018-02-16 | 吉林大学 | A kind of pivoted wheels on vehicle corner measuring apparatus and method |
| CN110057297A (en) * | 2019-04-15 | 2019-07-26 | 武汉科技大学 | A kind of automobile minimum turning diameter measuring system and method based on LD ranging |
| CN112284773A (en) * | 2020-10-31 | 2021-01-29 | 的卢技术有限公司 | System and method for measuring minimum turning radius of automobile |
Non-Patent Citations (1)
| Title |
|---|
| 《不同路面下高速插秧机转弯半径测量与规律研究》;扈凯;《农机化研究》;20180831;第208-212页 * |
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