CN207665482U - A kind of Mechatronic control system of self-propelled hydraulic lotus root digging machine - Google Patents
A kind of Mechatronic control system of self-propelled hydraulic lotus root digging machine Download PDFInfo
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- CN207665482U CN207665482U CN201721800615.8U CN201721800615U CN207665482U CN 207665482 U CN207665482 U CN 207665482U CN 201721800615 U CN201721800615 U CN 201721800615U CN 207665482 U CN207665482 U CN 207665482U
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Abstract
The utility model discloses a kind of Mechatronic control systems of self-propelled hydraulic lotus root digging machine, the system obtains the operation posture of lotus root digging harvester using vehicle-mounted camera in real time, and the operation posture of lotus root digging harvester is transmitted in visual display by figure transmission module, the artificial operation posture information according to the lotus root digging harvester obtained from display, operational order is sent out by industrial control board, operation instruction information is passed to MCU by digital transmission module, MCU is adjusted and is exported to the pwm signal of generation by pid control algorithm, power amplifier is to the power amplification of pwm signal and passes through uninterrupted and liquid flow path direction that signal code controls solenoid-operated proportional reversal valve, to drive fluid-link steering module to execute advance, it retreats, the operations such as steering.The Mechatronic control system of the utility model can manually be operated when lotus root digging harvester carries out adopting lotus root operation or transition operation in land, reduced labor intensity, improved lotus root-digging out operation efficiency and the harvesting quality of lotus rhizome.
Description
Technical Field
The utility model belongs to the technical field of dig lotus root machine equipment, a self-propelled hydraulic pressure digs electromechanical control system of lotus root machine is related to.
Background
The lotus root is a common economic crop and has edible and medicinal values; the lotus root planting area in China is wide, and reaches more than 400 million hectares according to incomplete statistics; the lotus root is an aquatic crop, the growing water depth of the shallow lotus root is generally 25cm to 30cm, and the mud depth is generally 30cm to 40 cm; the lotus root harvesting operation is required to be carried out in water according to the growth characteristics of the lotus roots, the lotus root harvesting time is 10 months to 4 months of the next year, the harvesting period is long, the water temperature is low during harvesting, the workload of manually harvesting the lotus roots is large, the physical consumption is large, and the manual harvesting is time-consuming and labor-consuming physical labor.
Traditional lotus root harvesting machine mainly includes that the floating formula is gathered machinery and is dragged the formula and gather machinery, these mechanical flexibility of gathering are poor, the machine is heavy, also be not fit for polylith lotus root field transition operation, still need a large amount of manual works to control the machine when digging the lotus root operation, operations such as transition, the manual work is very inconvenient in the aquatic operation lotus root mechanical digging, intensity of labour is very big, the tradition is dug the lotus root machine and is not only gathered inefficiency, the cost of labor is high and cause the damage to the lotus root very easily, influence the looks and the income of lotus root.
Disclosure of Invention
The utility model provides a self-propelled hydraulic lotus root digging machine's electromechanical control system to the not enough of prior art.
The utility model is realized by the following technical proposal, provides an electromechanical control system of a self-propelled hydraulic lotus root digging machine, which comprises a hydraulic steering module and a hydraulic steering control module based on video acquisition; the hydraulic steering module comprises a hydraulic pump communicated with a hydraulic oil tank, and a left traveling motor and a right traveling motor which are respectively arranged on a left traveling wheel and a right traveling wheel of the lotus root digging machine; the left traveling motor and the right traveling motor are respectively connected with a left oil circuit and a right oil circuit; the left and right side oil paths are collected on a main oil path of the outlet of the hydraulic pump; and the oil inlet ends of the left oil way and the right oil way are respectively provided with an electromagnetic proportional directional valve.
The hydraulic steering control module based on video acquisition comprises: the real-time camera transmits the video signal of the lotus root digging machine to the visual display through the image transmission module for manual observation; the industrial control board is used as a manual operation system platform to transmit a manual input instruction to a Micro Control Unit (MCU) through a data transmission module; the Micro Control Unit (MCU) generates a PWM signal from an operation instruction, the PWM signal is isolated by the optical coupling isolation unit and amplified by the power amplifier, and then the hydraulic steering module is controlled to operate; and a power supply module.
The real-time camera is mainly used for obtaining operation posture images of the lotus root digging machine.
The image transmission module is mainly used for transmitting images acquired by the real-time camera.
The visual display is used for displaying the lotus root digging machine operation posture information transmitted by the display transmission module, and manual observation is facilitated.
The industrial control board is used as a manual operation system platform and comprises a CPU main board, a storage device, a touch screen and an interface, and is used for inputting corresponding instructions manually through the touch screen according to the operation posture of the lotus root digging machine.
The data transmission module is mainly used for transmitting the instruction sent out on the industrial control board.
The Micro Control Unit (MCU) is mainly used for processing the instruction of the industrial control board and generating a corresponding PWM signal.
The optical coupling isolation unit is used for isolating the PWM signal and performing isolation protection on a Micro Control Unit (MCU) and a power amplification circuit.
The power amplifier is used for amplifying the power of the PWM signal.
The power module is used for providing voltage for each part of the hydraulic steering control module based on video acquisition, and stable operation of the system is guaranteed.
The working process of the scheme is as follows: when the lotus root digging machine carries out lotus root digging operation, the real-time camera acquires operation posture information of the lotus root digging machine, the image transmission module is used for transmission, and the operation posture of the lotus root digging machine is displayed on the visual display; the manual work can send out control instruction information to the operation posture of the lotus root digging machine through the industrial control board according to the observed operation posture of the lotus root digging machine on the visual display in real time; the instruction information is sent to a Micro Control Unit (MCU) through a data transmission module; after receiving the instruction information, the micro control unit calculates the instruction information to generate a corresponding PWM signal, and the stability of the PWM signal is adjusted by using a PID algorithm controller; the optical coupling isolation unit is used for carrying out isolation processing on the PWM signal and carrying out isolation protection on a Micro Control Unit (MCU) and a power amplification circuit; the power amplifier amplifies the power of the PWM signal to form high-power signal current; the PWM signal current controls the electromagnetic proportional directional valve to act, so that the left and right oil ways obtain the size and the direction of the hydraulic oil flow required by the hydraulic motor to drive the travelling wheels, and the lotus root digging machine finishes the operations of advancing, retreating, stopping, steering and the like.
The utility model has the advantages that: the utility model discloses a self-propelled hydraulic pressure digs electromechanical control system of lotus root machine can be on extracting the basis of observing to the operation gesture of digging the lotus root machine, it turns to through industrial control board control, go forward, retreat and stop the operation such as, the operation flexibility and the action accuracy of digging the lotus root machine have been strengthened, when adopting the lotus root operation or digging the lotus root machine operation of changing the place, the manual work can be operated digging the lotus root machine on the land, the traditional mode of operating digging the lotus root machine in aqueous has been got rid of, the operating efficiency is greatly improved, labor intensity and cost of labor have been reduced, the quality of gathering of lotus root has been improved, be favorable to promoting the development of digging the accurate operation of lotus root machine and intelligent agricultural equipment.
Drawings
FIG. 1 is a schematic diagram of a hydraulic steering module of the present invention;
FIG. 2 is a schematic diagram of a hydraulic steering control module based on video acquisition;
in the figure: 1. the hydraulic control system comprises a left walking motor, a right walking motor, a high-pressure oil pipe, a solenoid proportional directional valve, a valve 5, an overflow valve, a hydraulic oil tank, an oil tank 7, a hydraulic pump 8, a diesel engine 9 and a hydraulic oil tank.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
Inquiring about figures 1 and 2, the electromechanical control system of the self-propelled hydraulic lotus root digging machine comprises a hydraulic steering module and a hydraulic steering control module based on video acquisition.
As shown in fig. 1, the hydraulic steering module comprises a hydraulic pump 7 communicated with a hydraulic oil tank 9, and a left traveling motor 1 and a right traveling motor 2 which are respectively arranged on a left traveling wheel and a right traveling wheel of the lotus root digging machine; the left traveling motor and the right traveling motor are respectively connected with a left oil circuit and a right oil circuit; the left and right oil paths are collected on the main oil path at the outlet of the hydraulic pump 7; and the oil inlet ends of the left oil way and the right oil way are respectively provided with an electromagnetic proportional directional valve 4.
The rotating speed of the hydraulic motor can be controlled by adjusting the flow of the electromagnetic proportional reversing valve, and the rotating direction of the hydraulic motor can be controlled by adjusting the liquid flow direction of the electromagnetic proportional reversing valve. When the lotus root digging machine needs to advance, the flow rate and the direction of the liquid flow of the electromagnetic proportional reversing valves of the oil passages on the two sides are adjusted, so that the flow rate and the direction of the liquid flow of the electromagnetic proportional reversing valves on the two sides are kept consistent. When the lotus root digging machine needs to turn, the rotating speeds of the hydraulic motors at the left end and the right end are controlled by adjusting the flow rates of the liquid flows of the electromagnetic proportional reversing valves at the two sides, and the turning can be realized by utilizing the speed difference of the hydraulic motors at the two ends. When the lotus root digging machine needs to retreat, the liquid flow direction of the electromagnetic proportional reversing valves on the two sides is adjusted, the steering of the hydraulic motors on the two ends is changed, and the lotus root digging machine walks backwards.
The electromagnetic proportional reversing valve is a 4WRA10W40-13 type three-position four-way electromagnetic proportional reversing valve, and proportional electromagnets are arranged at two ends of the electromagnetic proportional reversing valve and used for controlling the displacement of a valve core of a pressure reducing valve. If the left proportional electromagnet inputs current, electromagnetic attraction is generated to enable the valve core of the pressure reducing valve to move rightwards, the right valve port is opened, the input current is adjusted, and the displacement of the valve core of the pressure reducing valve can be controlled, so that the flow rate of liquid flow is controlled. When the right proportional electromagnet inputs current, the valve core of the pressure reducing valve moves leftwards, and the left valve port is opened, so that the direction of liquid flow is changed, the input current of the proportional electromagnet is changed, and the flow rate of the liquid flow can be changed. The current is adjusted by adopting a Pulse Width Modulation (PWM) control technology, so that various walking operations of the lotus root digging machine can be realized, and the lotus root digging operation is completed.
The hydraulic steering control module based on video acquisition mainly comprises a real-time camera, a picture transmission module, a visual display, an industrial control board, a data transmission module, a Micro Control Unit (MCU), an optical coupling isolation unit, a power amplifier and a power supply module.
The real-time camera is a vehicle-mounted camera of a tractor with the model of kc-6760 and is used for acquiring the operation posture of the lotus root digging machine in real time. The camera has a large observation angle range and a good visual effect, and is suitable for manually observing the operation posture of the lotus root digging machine.
The image transmission module is the TS832 image transmission module, has the advantages of stable transmission, long transmission distance, strong anti-interference performance and the like, and can realize stable transmission of the lotus root digging machine operation attitude video.
The visual display is an industrial display with the model of GPC-121T, and the image transmission module receives image information from the camera and transmits the image information to the display. The display has short gray scale response time and is suitable for manually observing the operation posture information of the lotus root digging machine in real time.
And the industrial control board is a Kunlun general state industrial control board, and the industrial control board is used for sending forward, steering, backward, stopping and other operation instructions manually according to the operation posture information of the lotus root digging machine.
The data transmission module is the E32-DTU-1W data transmission module, and the data transmission module is stable in transmission effect and strong in anti-interference performance.
And the Micro Control Unit (MCU) selects an ARM processor chip MCU of an enhanced series of STM32F103C8T6, receives the instruction information transmitted by the data transmission module and outputs a corresponding PWM signal.
The optical coupling isolation unit is used for carrying out isolation protection on an STM32 chip processor and a power amplification circuit of a Micro Control Unit (MCU).
The power amplifier is used for amplifying the power of the PWM signal and supplying power to the proportional electromagnets at two ends of the electromagnetic proportional reversing valve after amplifying the current signal.
The power module is divided into a vehicle-mounted power module and an artificial ground control lotus root digging machine power module, and provides stable voltage for the system respectively, wherein the stable voltage comprises vehicle-mounted camera voltage, Micro Control Unit (MCU) voltage, data transmission module receiving end voltage, drawing transmission module sending end voltage, data transmission module sending end voltage, industrial control panel voltage, drawing transmission module receiving end voltage and display voltage.
The embodiment of the utility model provides a self-propelled hydraulic pressure digs electromechanical control system's of lotus root machine control method:
(1) the real-time camera acquires attitude information of the lotus root digging machine during lotus root digging operation, the acquired real-time operation attitude is sent by the sending end of the image transmission module, and the receiving end of the image transmission module receives the operation attitude information of the lotus root digging machine and displays the operation attitude of the lotus root digging machine on the visual display.
(2) And manually sending control instruction information to the operation posture of the lotus root digging machine through the Kunlun general state industrial control board according to the operation posture of the lotus root digging machine on the observation visual display.
(3) And the control instruction information of the Kunlun general state industrial control board is sent to a sending end of the data transmission module in a serial port communication mode.
(4) And the receiving end of the data transmission module receives the instruction information from the transmitting end of the data transmission module and transmits the instruction information to a Micro Control Unit (MCU) through serial port communication.
(5) And after receiving the instruction information, a Micro Control Unit (MCU) calculates the instruction information to generate a corresponding PWM signal, and a PID algorithm controller is used for carrying out stability regulation on the PWM signal. The PWM signal is firstly isolated by the optical coupling isolation unit, then the current signal is amplified by the power amplifier, and the current of the PWM signal is output to control the flow and the flow direction of the liquid flow output by the electromagnetic proportional directional valve.
(6) When the lotus root digging machine is operated forwards, the electromagnetic proportional reversing valves of the oil ways on the two sides are conducted, currents with the same magnitude are respectively supplied to the proportional electromagnets at the left ends of the electromagnetic proportional reversing valves, the electromagnetic proportional reversing valves of the oil ways on the two sides keep the same flow rate of liquid, the hydraulic motors in the oil ways on the left side and the right side are driven to rotate at the same speed, and the lotus root digging machine keeps a straight running state to conduct lotus root digging operation. Meanwhile, the running speed of the lotus root digging machine can be adjusted by adjusting the flow of liquid flow output by the electromagnetic proportional directional valves of the oil ways on the two sides.
(7) When the lotus root digging machine is used for steering operation, the input current of the proportional electromagnets of the electromagnetic proportional reversing valves of the oil ways on the two sides is adjusted, so that the flow rate of liquid of the electromagnetic proportional reversing valves of the oil ways on the two sides is adjusted, and the lotus root digging machine is driven to steer according to the differential speed of the hydraulic motors in the oil ways on the left side and the right side.
(8) When the lotus root digging machine runs backwards, current is input to the proportional electromagnets at the right ends of the electromagnetic proportional reversing valves of the oil ways at the two sides, so that the liquid flow of the electromagnetic proportional reversing valves is reversed, the hydraulic motors at the two ends are driven to change the steering direction, and the lotus root digging machine runs backwards.
(9) When the valve cores of the three-position four-way electromagnetic proportional reversing valves of the oil paths on the two sides are in the middle position, the lotus root digging machine keeps a running stop state.
In the hydraulic steering control module based on video acquisition of the electromechanical control system, an STM32 processor of a Micro Control Unit (MCU) calculates and generates a PWM signal according to instruction information sent by a manually operated industrial control board, and the stability of the generated PWM signal is adjusted by a PID algorithm. The stability of the hydraulic system can be improved by adopting an incremental PID algorithm, the lotus root digging machine can be controlled to stably run when turning and speed change are carried out in lotus root digging operation, and a PID (proportional, integral and differential) controller can reduce errors generated in the working process of the system; the PID algorithm formula for regulating the PWM signal is as follows:
KP is a proportional coefficient, KI is an integral coefficient, KD is a differential coefficient, a sample period T, a sampling time point T (0, 1,2, 3.), u (T) and u (T-1) are sampling deviations in the sampling of the T time and the T-1 time, and w (T) is an output value in the sampling of the T time.
The beneficial effects of this embodiment: the utility model discloses self-propelled hydraulic pressure digs electromechanical control system of lotus root machine when digging the lotus root machine and adopt the lotus root operation or the operation of shifting, operating personnel just can implement to the walking of digging the lotus root machine on the land and turn to, advance, retreat and stop the operation such as, strengthened the operational flexibility who digs the lotus root machine, improved dig the lotus root operating efficiency, reduced intensity of labour and cost of labor, improved the lotus root quality of gathering.
Claims (9)
1. The utility model provides an electromechanical control system of self-propelled hydraulic pressure lotus root digging machine which characterized in that: the system comprises a hydraulic steering module and a hydraulic steering control module based on video acquisition; the hydraulic steering module comprises a hydraulic pump communicated with a hydraulic oil tank, and a left traveling motor and a right traveling motor which are respectively arranged on a left traveling wheel and a right traveling wheel of the lotus root digging machine; the left traveling motor and the right traveling motor are respectively connected with a left oil circuit and a right oil circuit; the left and right side oil paths are collected on a main oil path of the outlet of the hydraulic pump; and the oil inlet ends of the left oil way and the right oil way are respectively provided with an electromagnetic proportional directional valve.
2. The electromechanical control system of the self-propelled hydraulic lotus root digging machine according to claim 1, characterized in that: the hydraulic steering control module based on video acquisition comprises a real-time camera, and the real-time camera transmits video signals of the lotus root digging machine to a visual display through a picture transmission module for manual observation; the industrial control board is used as a manual operation system platform to transmit a manual input instruction to a Micro Control Unit (MCU) through a data transmission module; the Micro Control Unit (MCU) generates a PWM signal from an operation instruction, the PWM signal is isolated by the optical coupling isolation unit and amplified by the power amplifier, and then the hydraulic steering module is controlled to operate; a power supply module; wherein,
the real-time camera is used for acquiring an operation posture image of the lotus root digging machine;
the image transmission module is used for transmitting the images acquired by the real-time camera;
the visual display is used for displaying the operation posture information of the lotus root digging machine transmitted by the transmission module, so that manual observation is facilitated;
the industrial control board is used as a manual operation system platform and comprises a CPU main board, a storage device, a touch screen and an interface, and is used for manually inputting corresponding instructions through the touch screen according to the operation posture of the lotus root digging machine;
the data transmission module is used for transmitting an instruction sent out on the industrial control board;
the Micro Control Unit (MCU) is used for processing the instruction of the industrial control board and generating a corresponding PWM signal;
the optical coupling isolation unit is used for isolating the PWM signal and performing isolation protection on a Micro Control Unit (MCU) and a power amplification circuit;
the power amplifier is used for amplifying the power of the PWM signal;
the power module is used for providing voltage for each part of the video acquisition and hydraulic steering module, and stable operation of the system is guaranteed.
3. The electromechanical control system of the self-propelled hydraulic lotus root digging machine according to claim 1, characterized in that: the electromagnetic proportional directional valve is a 4WRA10W40-13 type three-position four-way electromagnetic proportional directional valve.
4. The electromechanical control system of the self-propelled hydraulic lotus root digging machine according to claim 2, characterized in that: the real-time camera is a vehicle-mounted camera of a tractor with the model number of kc-6760.
5. The electromechanical control system of the self-propelled hydraulic lotus root digging machine according to claim 2, characterized in that: the image transmission module is an image transmission module with the model number TS 832.
6. The electromechanical control system of the self-propelled hydraulic lotus root digging machine according to claim 2, characterized in that: the visual display is an industrial display with the model of GPC-121T.
7. The electromechanical control system of the self-propelled hydraulic lotus root digging machine according to claim 2, characterized in that: and the industrial control board is a Kunlun general state industrial control board.
8. The electromechanical control system of the self-propelled hydraulic lotus root digging machine according to claim 2, characterized in that: the data transmission module is the data transmission module with the model number of E32-DTU-1W.
9. The electromechanical control system of the self-propelled hydraulic lotus root digging machine according to claim 2, characterized in that: and the Micro Control Unit (MCU) selects an ARM processor chip MCU of which the model is STM32F103C8T6 enhanced series.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109937676A (en) * | 2017-12-21 | 2019-06-28 | 山东农业大学 | A kind of Mechatronic control system and control method of self-propelled hydraulic lotus root digging machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109937676A (en) * | 2017-12-21 | 2019-06-28 | 山东农业大学 | A kind of Mechatronic control system and control method of self-propelled hydraulic lotus root digging machine |
| CN109937676B (en) * | 2017-12-21 | 2024-01-30 | 山东农业大学 | Electromechanical control system and control method of self-propelled hydraulic lotus root digging machine |
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