CN107697066A - Caterpillar tractor DAS (Driver Assistant System) - Google Patents
Caterpillar tractor DAS (Driver Assistant System) Download PDFInfo
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- CN107697066A CN107697066A CN201710880704.6A CN201710880704A CN107697066A CN 107697066 A CN107697066 A CN 107697066A CN 201710880704 A CN201710880704 A CN 201710880704A CN 107697066 A CN107697066 A CN 107697066A
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention relates to a kind of caterpillar tractor DAS (Driver Assistant System), including：Display, Differential positioning device, speed probe and the controller of inertial nevigation apparatus are built-in with, display, Differential positioning device and speed probe are connected with controller；Display is used for the attitude information and run routing information that caterpillar tractor is obtained by inertial nevigation apparatus；Differential positioning device is used to, according to the location information from GNSS and the location information from base station, obtain satellite difference signal；Speed probe is used for the rotary speed information for obtaining caterpillar tractor both sides crawler belt；Controller the rotating speed of control caterpillar drive regulation crawler belt, corrects the skew of crawler tractor according to the caterpillar tractor attitude information from inertial nevigation apparatus and GNSS, run routing information, satellite difference signal and rotary speed information.The present invention can improve the precision of agricultural machinery working, reduce operation error, improve agricultural production efficiency, reduce production cost, reduce human pilot degree of fatigue, save labour.
Description
Technical field
The invention belongs to agricultural technology field, and in particular to a kind of caterpillar tractor DAS (Driver Assistant System).
Background technology
Main labour during caterpillar tractor produces as mechanization of agriculture undertakes, different by hanging or drawing
Agricultural tool can complete most of work in field.But due to the working environment rather harsh of caterpillar tractor, pilot steering
In inevitably traveling deviation the problems such as, cause that caterpillar tractor overall operation precision is not high, and land utilization ratio is relatively low.
Caterpillar tractor driving task of the prior art places one's entire reliance upon the driving condition of driver, when carrying out long
Between straight line operation when, be extremely difficult to high-precision job requirements, directly contribute the increase of production cost and labor cost,
And greatly reduce the utilization ratio in soil.Therefore, the auxiliary driving operation of caterpillar tractor is realized, can not only be improved
The precision of agricultural machinery working, operation error is reduced, and the standardization level of agricultural production can be improved, improve land utilization ratio
And agricultural production efficiency, production cost is reduced, reduces human pilot degree of fatigue, saves labour.Auxiliary drives skill at present
Art has spread to the wheeled tractor of each high-power section, but caterpillar tractor calculates because offset error is difficult, and course changing control is difficult
Realize and cause the DAS (Driver Assistant System) of caterpillar tractor to develop and be still in blank stage.Therefore, need badly a kind of suitable for carrying out
The caterpillar tractor DAS (Driver Assistant System) of belt tractor.
The content of the invention
It is an object of the invention to provide a kind of caterpillar tractor DAS (Driver Assistant System) suitable for caterpillar tractor.
The invention provides a kind of caterpillar tractor DAS (Driver Assistant System), including：Be built-in with inertial nevigation apparatus display,
Differential positioning device, speed probe and controller, display, Differential positioning device and speed probe are connected with controller；
Display is used for the attitude information and run routing information that caterpillar tractor is obtained by built-in inertial nevigation apparatus；
Differential positioning device is used for according to the caterpillar tractor location information from GNSS and the crawler type from base station
Tractor location information, obtain satellite difference signal；
Speed probe is used for the rotary speed information for obtaining caterpillar tractor both sides crawler belt；
Controller is used to be believed according to the attitude information obtained by inertial nevigation apparatus and the caterpillar tractor posture from GNSS
Breath, run routing information, satellite difference signal and rotary speed information, the rotating speed of control caterpillar drive regulation crawler belt, to entangle
The skew of positive crawler tractor.
Further, controller is specifically used for desired guiding trajectory and attitude information according to caterpillar tractor, obtains crawler belt
The offset of formula tractor in the process of moving.
Further, display is additionally operable to display offset amount.
Further, display is connected with Engine ECU, onboard instruments, vehicle-mounted display terminal, for showing that vehicle is believed
Breath；Wherein, information of vehicles includes but is not limited to engine speed, water temperature information and path planning information.
Further, Differential positioning device includes first phase measurement antenna and radio station reception antenna；First phase measures
Antenna is used to receive the caterpillar tractor satellite positioning information from GNSS, and radio station reception antenna is used to receive from base station
Caterpillar tractor location information.
Further, the system also includes second phase measurement antenna, and second phase measurement antenna comes from for reception
GNSS caterpillar tractor attitude information.
Further, first phase measurement antenna and second phase measurement antenna are fixedly installed in crawler type by magnet and dragged
On the roof of machine drawing.
Further, it is 10-30cm that first phase measurement antenna measures the distance between antenna with second phase.
Further, caterpillar drive includes hydraulic motor and hydraulic pump, the drive of hydraulic motor and caterpillar tractor
Driving wheel is connected, and the rotating speed of hydraulic motor is adjusted by hydraulic pump, controls the rotating speed of crawler belt.
Further, display is installed in the driver's cabin of caterpillar tractor.
Compared with prior art the beneficial effects of the invention are as follows：Using caterpillar tractor as power machine tool, hang or lead
When most of work, especially paddy-field-working in field can be completed by drawing different agricultural tools, the DAS (Driver Assistant System), energy are used
The precision of agricultural machinery working is enough improved, reduces operation error, and the standardization level of agricultural production can be improved, improves soil
Utilization rate and agricultural production efficiency, production cost is reduced, reduce human pilot degree of fatigue, save labour.
Brief description of the drawings
Fig. 1 is the structural representation of caterpillar tractor DAS (Driver Assistant System) of the present invention；
Fig. 2 is the application schematic diagram of caterpillar tractor DAS (Driver Assistant System) of the present invention.
Embodiment
The present invention is described in detail for shown each embodiment below in conjunction with the accompanying drawings, but it should explanation, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiment institute work energy, method,
Or equivalent transformation or replacement in structure, belong within protection scope of the present invention.
Join shown in Fig. 1 and Fig. 2, caterpillar tractor is different from wheeled tractor, and walking mechanism is by crawler belt, BOGEY WHEEL, drive
Driving wheel forms, and is used for operation under the environment of paddy field.The caterpillar tractor DAS (Driver Assistant System) that the present embodiment provides, is driven by auxiliary
Sail controller 1, agricultural display 2, high-precision phase measurement double antenna 3, radio station reception antenna 4, hydraulic motor, hydraulic pump 5,
Speed probe 6 forms.
Wherein agricultural uses 2 built-in inertial nevigation apparatus of display, is connected by RJ45 netting twines with auxiliary driving controller 1, to auxiliary
Help driving controller to provide attitude information, the routing information of caterpillar tractor, while show that vehicle condition and offset error are big
It is small；Speed probe 6 is connected with controller 1, and the rotating speed for monitoring crawler tractor both sides crawler belt in real time is speed difference, and will letter
Breath feeds back to controller 1, and the integrated display of controller 1, satellite difference signal, rotary speed information judge, send instruction；Hydraulic pressure
Motor be arranged on crawler tractor driving wheel on, after controller 1 sends control instruction, hydraulic pump 5 according to instruction improve or
Hydraulic motor rotary speed is reduced to improve the rotating speed for needing to compensate side crawler belt, reduces the rotating speed for needing reduction of speed side crawler belt, so as to correct
The skew of crawler tractor.
High-precision phase measurement double antenna 3 is installed on caterpillar tractor roof by the way that magnet is firm, two antenna cloth
Pay attention to leaving certain distance when putting, optimal between 10-30cm, forward antenna is responsible for carrying to the attitude information of caterpillar tractor
For assisted GNSS (Global Navigation Satellite System, GPS), the present embodiment uses
GPS and/or the Big Dipper, by the way that the attitude information that inertial nevigation apparatus provides is combined with the GNSS attitude informations provided, it can realize
The permanent precision for keeping attitude information, reliable guarantee being provided for the correction control of controller, rearmounted antenna is responsible for location information, and
It is connected with auxiliary driving controller 1；Radio station reception antenna 4 is installed on caterpillar tractor roof and the phase of auxiliary driving controller 1
Even, the location information from base station is received, by receiving location information with receiver in caterpillar tractor own controller 1,
Realize accurate Differential positioning.
Speed probe 6 is installed on the BOGEY WHEEL of caterpillar tractor both sides, and 4 wheel driven formula is also mountable to preceding driving in this way
On wheel, by speed probe 6 perceive both sides crawler belt speed difference, and by signal acquisition, be converted into corresponding to voltage signal it is defeated
Go out into auxiliary driving controller 1, controller 1 judges the offset of caterpillar tractor according to desired guiding trajectory, attitude information.
Agricultural display 2 is positioned in driver's cabin, with auxiliary driving controller 1, caterpillar tractor Engine ECU
(Electronic Control Unit, electronic control unit) is connected, and former instrument, vehicle-mounted display terminal can be collected information and be received
Combine in this agricultural display, the duty parameters such as engine speed, water temperature can be shown.
Hydraulic motor 5 is positioned on caterpillar tractor driving wheel, hydraulic motor rotary speed is adjusted by hydraulic pump, so as to control
Crawler belt rotating speed processed, realizes the correction of direction displacement.
Auxiliary driving controller 1 is positioned in driver's cabin, can be placed in under-seat, with agricultural display 2, high-precision phase
Position measurement double antenna 3, radio station receive antenna 4, hydraulic motor, hydraulic pump 5,6 each part of speed probe and are connected.
The caterpillar tractor DAS (Driver Assistant System) that the present embodiment provides is by receiving satellite-signal and base from vehicle body
Stand satellite-signal, realize High-precision carrier Differential positioning, the positional information of caterpillar tractor can be accurately positioned, and it is comprehensive
Acceleration information, attitude information, routing information and the speed probe of caterpillar tractor of built-in inertial nevigation apparatus offer carry
The both sides crawler belt speed difference information of confession, calculates caterpillar tractor real-time position information and the comparative information of guidance path,
And sent according to this information by hydraulic pump to hydraulic motor and rotate order, so as to complete rectification work, there is following technology effect
Fruit：
1) by the way that agricultural display is combined with crawler tractor original instrument, vehicle-mounted display terminal, crawler belt can be shown
Formula tractor duty parameter, and can show path planning, offset deviation information.
2) detection of crawler belt rotating speed is realized, and crawler tractor turn is realized by the application of hydraulic motor and hydraulic pump
To control.
3) by the crawler tractor DAS (Driver Assistant System), when caterpillar tractor carry equipment works especially in water
Under the environment of field during farming, the labor intensity of machine hand can not only be reduced, and the operation essence of caterpillar tractor can also be greatly improved
Degree.
4) the caterpillar tractor DAS (Driver Assistant System), linear precision can reach in ± 2.5cm, substantially increase operation
Efficiency and quality.
5) the caterpillar tractor DAS (Driver Assistant System), also can be used in the presence of a harsh environment, and error will not increase.
Those listed above is a series of to be described in detail only for feasibility embodiment of the invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should be included in the scope of the protection.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.
Claims (10)
- A kind of 1. caterpillar tractor DAS (Driver Assistant System), it is characterised in that including：It is built-in with display, the difference of inertial nevigation apparatus Divide positioner, speed probe and controller, the display, Differential positioning device and speed probe and the controller Connection；The display is used for the attitude information and run routing information that caterpillar tractor is obtained by built-in inertial nevigation apparatus；The Differential positioning device is used for according to the caterpillar tractor satellite positioning information from GNSS and the shoe from base station Belt tractor location information, obtain satellite difference signal；The speed probe is used for the rotary speed information for obtaining caterpillar tractor both sides crawler belt；The controller is used to be drawn according to the attitude information obtained by the inertial nevigation apparatus and the crawler type from GNSS Machine attitude information, run routing information, satellite difference signal and rotary speed information, control caterpillar drive regulation crawler belt turn Speed, to correct the skew of crawler tractor.
- 2. caterpillar tractor DAS (Driver Assistant System) according to claim 1, it is characterised in that the control implement body is used In the desired guiding trajectory according to caterpillar tractor and the attitude information, the skew of caterpillar tractor in the process of moving is obtained Amount.
- 3. caterpillar tractor DAS (Driver Assistant System) according to claim 2, it is characterised in that the display is additionally operable to Show the offset.
- 4. the caterpillar tractor DAS (Driver Assistant System) according to Claims 2 or 3, it is characterised in that the display with Engine ECU, onboard instruments, vehicle-mounted display terminal connection, for showing information of vehicles；Wherein, the information of vehicles include but It is not limited to engine speed, water temperature information and path planning information.
- 5. caterpillar tractor DAS (Driver Assistant System) according to claim 1, it is characterised in that the Differential positioning device Antenna and radio station reception antenna are measured including first phase；The first phase measurement antenna is used to receive the crawler belt from GNSS Formula tractor satellite positioning information, the radio station reception antenna are used to receive the caterpillar tractor location information from base station.
- 6. caterpillar tractor DAS (Driver Assistant System) according to claim 5, it is characterised in that also surveyed including second phase Antenna is measured, the second phase measurement antenna is used to receive the caterpillar tractor attitude information from GNSS.
- 7. caterpillar tractor DAS (Driver Assistant System) according to claim 6, it is characterised in that the first phase measurement Antenna and second phase measurement antenna are fixedly installed on the roof of caterpillar tractor by magnet.
- 8. caterpillar tractor DAS (Driver Assistant System) according to claim 7, it is characterised in that the first phase measurement It is 10-30cm that antenna measures the distance between antenna with second phase.
- 9. caterpillar tractor DAS (Driver Assistant System) according to claim 1, it is characterised in that the caterpillar drive Including hydraulic motor and hydraulic pump, the driving wheel connection of the hydraulic motor and caterpillar tractor, adjusted by the hydraulic pump The rotating speed of hydraulic motor is saved, controls the rotating speed of crawler belt.
- 10. caterpillar tractor DAS (Driver Assistant System) according to claim 1, it is characterised in that the display installation In in the driver's cabin of caterpillar tractor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710880704.6A CN107697066A (en) | 2017-09-26 | 2017-09-26 | Caterpillar tractor DAS (Driver Assistant System) |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710880704.6A CN107697066A (en) | 2017-09-26 | 2017-09-26 | Caterpillar tractor DAS (Driver Assistant System) |
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| Publication Number | Publication Date |
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| CN107697066A true CN107697066A (en) | 2018-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710880704.6A Pending CN107697066A (en) | 2017-09-26 | 2017-09-26 | Caterpillar tractor DAS (Driver Assistant System) |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110226370A (en) * | 2019-04-09 | 2019-09-13 | 丰疆智能科技股份有限公司 | The control method and its control system of crawler belt type miniature ploughing machine |
| CN112896145A (en) * | 2021-03-10 | 2021-06-04 | 浙江三一装备有限公司 | Crawler type working machine control method and device and crawler type working machine |
| CN113173071A (en) * | 2021-04-25 | 2021-07-27 | 中联重科股份有限公司 | Control method and device for crawler-type engineering equipment and crawler-type engineering equipment |
| CN113357212A (en) * | 2021-06-07 | 2021-09-07 | 上海三一重机股份有限公司 | Walking deviation rectifying method and device for operation machinery |
| CN117270535A (en) * | 2023-09-25 | 2023-12-22 | 青岛农业大学 | Auxiliary navigation system suitable for crawler-type potato harvester and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110226370A (en) * | 2019-04-09 | 2019-09-13 | 丰疆智能科技股份有限公司 | The control method and its control system of crawler belt type miniature ploughing machine |
| CN112896145A (en) * | 2021-03-10 | 2021-06-04 | 浙江三一装备有限公司 | Crawler type working machine control method and device and crawler type working machine |
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| CN117270535B (en) * | 2023-09-25 | 2024-03-12 | 青岛农业大学 | Auxiliary navigation system suitable for crawler-type potato harvester and control method |
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