CN101833334B - Tractor automatic navigation control system and method thereof - Google Patents
Tractor automatic navigation control system and method thereof Download PDFInfo
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- CN101833334B CN101833334B CN2010101499343A CN201010149934A CN101833334B CN 101833334 B CN101833334 B CN 101833334B CN 2010101499343 A CN2010101499343 A CN 2010101499343A CN 201010149934 A CN201010149934 A CN 201010149934A CN 101833334 B CN101833334 B CN 101833334B
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Abstract
The invention provides a tractor automatic navigation control system. The system comprises a navigation control device, a steering control unit and an electro-hydraulic proportion steering executing device, wherein the navigation control device receives GPS positioning data in real time, calculates a lateral deviation between a current tractor position and an operation navigation target, calculates a target steering angle of a steering wheel in a current control period according to the lateral deviation and a tractor running speed value measured in real time, converts the target steering angle into a steering control command and then sends the steering control command to the steering control unit; the steering control unit judges whether a steering angle measured value of the steering wheel of the tractor is less than a preset limit value; if the steering angle measured value is less than the preset limit value, the steering control unit compares the target steering angle with the measured value, calculates a PWM duty cycle according to a steering angle difference value and outputs a control signal for driving the electro-hydraulic proportion steering executing device; and the electro-hydraulic proportion steering executing device responds to the PWM control signal and controls the flowing direction and the flowing speed of oil of a tractor steering system by the opening of a valve core of an electro-hydraulic proportion direction valve to make a piston of a steering hydraulic cylinder extend out or retract to deflect the steering wheel to the target steering angle.
Description
Technical field
The present invention relates to the control technology field, particularly a kind of automatic navigation control system and method thereof that is applicable to the fluid-link steering tractor.
Background technology
In tractor farm work process,, easily influence throughput rate because of backsetting, balk or walking distance more because operation unit maneuverability is poor.In order to reduce recast between adjacent operation ridge and to leak the generation of making phenomenon, the method that prior art adopts the scriber line more or sprays foam is carried out the foundation of mark as driver's operation navigation in the field.Along with carrying out of domestic precision agriculture technical research in recent years, the researchist has developed agricultural machinery navigation indication mechanism, adopts GPS, PC104 computing machine and navigation indication optical wand to provide the navigation indication for the agricultural machinery farm work.Yet all there is certain defective in above-mentioned two kinds of navigation indicating means that are used for agricultural machinery working.
Infeasible substantially or the navigation indicating effect is very poor under the situation that the method that line of traditional employing scriber and foam spray is lower in farmland operation environment visibility, farmland surface does not have obvious reference substance and surface relief is bigger, do not reach the purpose of navigation and raising operation quality.
Existing navigation indication mechanism adopts the RS232/RS485 bus more, causes numerous and diverse, the poor reliability of system wiring, and the versatility of each module of system is not strong, poor compatibility.Simultaneously, this class navigation indication mechanism is subjected to the manual operation factor affecting bigger, and the operation navigation accuracy is poor, can not satisfy the application demand of the higher farmland operation of accuracy requirement as links such as sowings.In addition, the operation control of existing navigation indication mechanism still needs human pilot to finish, and is actually a kind of less important work navigational system, and human pilot labour intensity is still bigger.
Summary of the invention
The technical matters that will solve of the present invention is above-mentioned at least one defective that overcomes prior art, realizes the self-navigation control of fluid-link steering tractor.
For solving the problems of the technologies described above, technical scheme of the present invention discloses a kind of tractor automatic navigation control system on the one hand, comprising:
Navigation Control Unit, receive in real time the GPS locator data and calculate the tractor current location and the operation navigation target between lateral deviation, calculate the target rotation angle of deflecting roller in the current control cycle and be converted into according to described lateral deviation and the tractor travel speed value measured in real time and send to steering control device after turning to steering order, and, when the steering order error message that receives steering control device, send the detection false command or stop automatic steering order to it;
Steering control device, whether the outer corner measurement value of judging the tractor steering wheel is less than preset limit value, if, then described target rotation angle value and measured value are compared, calculate the pwm control signal of PWM dutycycle and output driving electric-hydraulic proportion steering gear according to the corner difference; Otherwise, send the steering order error message to described Navigation Control Unit;
The electric-hydraulic proportion steering actuator, respond described pwm control signal and control the fluid flow direction and the flow velocity of tractor steering system, the hydraulic steering cylinder piston is stretched out or regain deflecting roller is deflected into described target steering angle by the spool aperture of electrohydraulic proportional directional valve; Perhaps, response is described stops automatic steering order and makes electromagnetic switch valve outage.
Wherein, realize the transmission of information and instruction between described Navigation Control Unit and the described steering control device by the CAN bus.
Wherein, described Navigation Control Unit obtains the latitude and longitude coordinates value of tractor current location by RTK-GPS; By the current travel speed value of ground velocity radargrammetry tractor.
Wherein, described steering control device is by the corner value of steering wheel angle sensor measurement tractor when steering front wheel.
Another aspect of the present invention also discloses a kind of tractor automatic navigation control method, may further comprise the steps:
S101: Navigation Control Unit receive the GPS locator data in real time and calculate the tractor current location and the operation navigation target between lateral deviation, according to described lateral deviation and the tractor travel speed value measured in real time, calculate the target rotation angle of deflecting roller in the current control cycle and be converted into according to pid control algorithm and send to steering control device after turning to steering order;
S102: whether steering control device judges the outer corner measurement value of tractor steering wheel less than preset limit value, if then read the level signal of pressure switch transmission and judge the current automatic steering state that whether is in, if then enter next step;
S103: steering control device compares described target rotation angle value and measured value, calculates the PWM dutycycle according to the corner difference according to pid control algorithm, and output drives the pwm control signal of electric-hydraulic proportion steering gear;
S104: the electric-hydraulic proportion steering actuator responds described pwm control signal and controls the fluid flow direction and the flow velocity of tractor steering system by the spool aperture of electrohydraulic proportional directional valve, the hydraulic steering cylinder piston is stretched out or regains deflecting roller is deflected into the expectation steering angle.
Further, in the step 102, if steering control device judges the outer corner measurement value of tractor steering wheel and be not less than described preset limit value, then the navigation control device sends the steering order error message, and Navigation Control Unit receives to return after the described error message and stops the self-navigation instruction.
Further, in the step 102, if the level signal that pressure switch sends shows the current manual steering state that is in, steering control device navigation control device sends and stops direction information, and Navigation Control Unit receives to return after the described information and stops the self-navigation instruction.
Wherein, hydraulic steering gear that makes electrohydraulic proportional directional valve or tractor by pressure-gradient control valve and the switching that turns to the oil cylinder oil circuit to be connected to realize between tractor self-steering and the manual steering.
Compared with prior art, the advantage of technical solution of the present invention is:
1,, made up a kind of tractor automatic navigation system of mechanical-electrical-hydraulic integration based on the hydro-steering tractor; Realize the tractor Navigation Control Unit and the steering controller of software and hardware integration from system construction and method for designing, and used the fieldbus method realization Navigation Control Unit of suitable farm working machinery and the real-time Communication for Power between the steering controller.
2, utilization electro-hydraulic proportional control technology, propose a kind of on hydro-steering tractor steering system-based and connect the method for electric-hydraulic proportion steering control system, design realizes electric-hydraulic proportion steering hydraulic mechanism and device, makes the Digital Control of tractor steering become possibility.
3, propose and realize, and support artificial steering operation shielding to turn to control automatically and based on the Navigation Control Unit and the steering controller synchronous operation function of steering pressure detection based on the tractor self-steering PID control method of real-time detection tractor steering wheel corner as feedback quantity.
4, propose and realize Navigation Control Unit method for designing based on software, design is based on the navigation PID control method of lateral deviation and realize that tractor is according to the default accurate operation in path.Simultaneously, Navigation Control Unit is supported tractor automatic navigation system core unit status self check and status monitoring function, and can carry out manual, the steady switching of operation room automatically of tractor steering according to system state.
Description of drawings
Fig. 1 is the structural drawing of an embodiment of the automatic navigation control system that is applicable to the hydro-steering tractor of the present invention;
Fig. 2 is the structural drawing of the automatic hydraulic knuckle section of tractor automatic navigation control system of the present invention;
Fig. 3 is the process flow diagram that the steering control device of tractor automatic navigation control system of the present invention is carried out steering order;
Fig. 4 is the process flow diagram that the Navigation Control Unit of tractor automatic navigation control system of the present invention is carried out Navigation Control.
1, data radio station antenna 2, RTK-GPS antenna 3, vehicle-mounted control computing machine 4, terminal box 5, steering controller 6, steering gear 7, pressure switch 8, pressure-gradient control valve 9, to turn to be oil supply system 10, turn to oil cylinder 11, accumulator 12, rotary angle transmitter 13, electronic pressure transmitter 14, electromagnetic switch valve 15, electrohydraulic proportional directional valve 16, valve block assembly 17, ground velocity radar 18, RTK-GPS receiver 19, data radio station
Embodiment
Below in conjunction with drawings and Examples, system and method for the present invention is described in further detail.Following examples are used to illustrate purpose of the present invention, but are not used for limiting scope of the present invention.
Be illustrated in figure 1 as the structural drawing of an embodiment of the automatic navigation control system that is applicable to the hydro-steering tractor of the present invention, it is made of Navigation Control Unit, steering control device and three parts of electric-hydraulic proportion steering actuator.
Navigation Control Unit mainly comprises: vehicle-mounted control computing machine 3, RTK-GPS receiver 18, RTK-GPS receiver antenna 2, data radio station 19, data radio station antenna 1, ground velocity radar 17.Store tractor navigation operation base map and operation in the vehicle-mounted control computing machine 3 navigation control program is arranged, navigation control program can generate the operation leading line that covers the entire job plot to reaching working width automatically according to the operator of operation plot on the operation base map and setting, also planning in other softwares or the operation leading line vector data of creating can be imported in the software as the operation leading line.Offset distance (abbreviation lateral deviation) between the locator data of the RTK-GPS that navigation control program calculating receives in real time and the operation leading line (operation navigation target) of storage or generation, ground velocity radar 17 is measured the real time running velocity amplitude that obtains tractor, with the lateral deviation that calculates in the current control cycle input quantity as navigation control program, calculate the steering angle of tractor steering wheel in real time according to pid control algorithm, with it as the controlled target in the current control cycle, and by the communications protocol that customizes, controlled target is converted to steering order sends to steering controller, finish the Navigation Control process of a control cycle.
Steering control device mainly comprises: based on the steering controller 5 of microprocessor, (its in operation turn to PID control program), tractor steering wheel rotary angle transmitter 12 and and vehicle-mounted control computing machine 3, electrohydraulic proportional directional valve 15 etc. partly constitute.Steering controller 5 receive that vehicle-mounted control computing machine 3 sends turn to steering order after, operation turns to the corner PID control program in the control program, compare with the target rotation angle of deflecting roller with by rotary angle transmitter 12 real-time detected front-wheel actual rotational angles, and according to pid control algorithm, output can directly drive the pwm control signal of electro-hydraulic proportional valve 15, the flow and the direction of control electrohydraulic proportional directional valve 15, and then the driving hydraulic steering mechanism rotates according to predetermined direction.
The electric-hydraulic proportion steering actuator mainly comprises: tractor steering device oil supply system 9, electrohydraulic proportional directional valve 15, electromagnetic switch valve 14, pressure-gradient control valve 8, pressure switch 7, Closed Hydraulic steering gear 6 and turn to oil cylinder 10.Wherein, Hydraulic Elements such as electrohydraulic proportional directional valve 15, electromagnetic switch valve 14, pressure switch 7 connect by the valve piece, and in parallel with the oil circuit of tractor hydraulic steering gear 6 by fluid pressure line.Described electric-hydraulic proportion steering actuator responds described pwm control signal, control the fluid flow direction and the flow velocity of tractor steering system by the spool aperture of electrohydraulic proportional directional valve 15, the hydraulic steering cylinder piston is stretched out or regain deflecting roller being deflected into described target steering angle, thereby realize the tractor self-steering function.In addition, by pressure-gradient control valve 8 and electromagnetic switch valve 14 described electrohydraulic proportional directional valve 15 or hydraulic steering gear 6 are connected with the oil circuit that turns to oil cylinder 10 realize turn to automatically and manual steering between freely switch, and guarantee the right of priority of any moment manual steering function.Simultaneously, when the tractor self-steering control function lost efficacy, support artificial steering wheel rotation to realize pilot steering.
Figure 2 shows that by above-mentioned truck-mounted computer 3, steering controller 5, pressure-gradient control valve 8, electrohydraulic proportional directional valve 15, electromagnetic switch valve 14, hydraulic steering gear 6, turn to oil cylinder 10, steering angle sensor 12, turn to the structural drawing of the automatic hydraulic knuckle section that is the native system that constitutes of oil supply system 9 and pressure switch 7.The present invention is on the steering of hydro-steering tractor and meet the electrohydraulic proportional directional valve system, when the hydraulic circuit by pressure-gradient control valve 8 control steering is entered when turning to oil cylinder 10 by electrohydraulic proportional directional valve 15, just can realize tractor steering system and deflecting roller are expected the Digital Control of corner by steering controller 5.
Particularly, as shown in Figure 2, the pressure sensitive mouth LS of pressure-gradient control valve 8 and the control mouth of tractor steering device 6 are connected, the CF mouth is connected with pressure switch 7 with the steering gear oil-in, and the EF mouth is connected with the oil-in of electrohydraulic proportional directional valve 15.When system pressure foundation and when steering gear 6 is not worked, the CF mouth of pressure-gradient control valve 8 is in closed state, this moment, the pressure of LS mouth was zero, the oil-feed of spool right-hand member, action of hydraulic force is at the spool right-hand member, overcome the precompression of valve core spring, spool is moved to the left, this moment, the P mouth was communicated with the EF mouth, the pressure oil that tractor steering device oil supply system 9 pumps flows to electrohydraulic proportional directional valve 15, make electrohydraulic proportional directional valve 15 be communicated with the oil circuit that turns to oil cylinder 10, this moment, the tractor self-steering function was effective, can be by electromagnetic switch valve 14 being powered up and the Digital Control of electrohydraulic proportional directional valve 15 being realized real-time control to the rotation direction and the angle of deflecting roller.When steering gear 6 work, when just being in manual operation state, the pressure sensitive mouth LS of pressure-gradient control valve 8 makes the P mouth be communicated with the CF mouth under the effect of pressure oil, at this moment, steering gear 6 is communicated with the oil circuit that turns to oil cylinder 10, the pressure oil that steering oil pump 9 pumps enters by pressure-gradient control valve 8 and steering gear 6 and turns to oil cylinder 10, makes tractor steering.
Figure 3 shows that steering controller 5 carries out the process flow diagram that turns to steering order of truck-mounted computers 3, as shown in FIG., at first to CAN bus, each state parameter relevant of steering controller 5 with turn to and control pid parameter and carry out initialization with turning to control; Then the state that turns to the steering angle sensor 12 in the closed-loop control system is detected, read its current measured value, judge whether this value surpasses the ultimate value of default (this ultimate value is taken turns from in-line position to the left-hand rotation dead point according to tractor steering and the maximum deflection angle at right-hand rotation dead point is decided), if the value of overstepping the extreme limit, then send the steering order error message to the CAN bus, after Navigation Control Unit is accepted and is resolved to this error message, stop immediately sending and turn to control messages, and, remind the user to detect the state of rotary angle transmitter 12 by the error message of human-computer interaction interface angles of display sensor value; If the detected value (less than this ultimate value) in normal range that steering angle sensor 12 is current, be that message sends on the CAN bus with this detected value according to the ISO11783 protocol conversion then, Navigation Control Unit should value show by man-machine interface after receiving this message; Simultaneously, steering controller 5 receives the control messages that turns to that Navigation Control Unit mails to bus in real time, and read the status information of the pressure switch 7 that indicates human pilot manual steering operation, if being in, the current system of pressure switch 7 signs turns to state of a control automatically, steering controller 5 powers up to electromagnetic switch valve 14 and makes it be in closed condition, and the electric-hydraulic proportion steering actuator begins build-up pressure; Simultaneously, steering controller 5 calls and turns to the PID control program, the PID control program is in the corner value of current detection relatively with after turning to expectation corner value in the control messages, the corner difference is carried out the linear adjustment of PID, calculate the PWM dutycycle, the spool aperture of control electrohydraulic proportional directional valve 15 is come control system fluid flow direction and flow velocity, the piston of hydraulic steering cylinder 10 is stretched out or get the control deflecting roller back to deflect into desired locations and realize tractor self-steering, thereby finish the control action of one-period; When steering controller 5 receive that Navigation Control Unit sends stop to turn to message the time, 14 outages of control electromagnetic switch valve make its conducting, electrohydraulic proportional directional valve 15 outages are controlled in the off-load of electric-hydraulic proportion automatic steering system simultaneously, stop to turn to automatically; If when steering controller 5 is in automatic steering state, need artificial steering wheel rotation, then the pressure oil circuit is switched to steering gear 6 by pressure-gradient control valve 8, the oil circuit of electrohydraulic proportional directional valve 15 is cut off, and pressure oil liquid supplies to the steering gear oil circuit, realizes manual steering; Meanwhile, pressure switch 7 produces low level, steering controller 5 gives electromagnetic switch valve 14 outages after receiving the level signal of pressure switch 7, make electromagnetic switch valve be in conducting state, and 15 outages of control electrohydraulic proportional directional valve, transmission simultaneously stops to turn to control messages to Navigation Control Unit automatically.
Figure 4 shows that the process flow diagram of Navigation Control Unit execution Navigation Control, as shown in FIG., after Navigation Control Unit starts, at first carry out initialization procedure, mainly finish initialization CAN bus and set up the CAN communication and connect, set up work such as correlation behavior parameter such as RTK-GPS communication connection, initialization Navigation Control Unit control cycle, pid parameter; After initialization procedure is finished, Navigation Control Unit begins to detect the key sensor (comprising rotary angle transmitter 12 and RTK-GPS18) of whole automatic navigation control system and the duty of steering controller 5, if arbitrary parts can't operate as normal, Navigation Control Unit all will write down its state parameter, and the mode of relevant information with literal and audible alarm is reflected in the human-computer interaction interface of vehicle-mounted control computing machine 3 according to the classification of different parts and abnomal condition, obtain handling and operate as normal up to relevant abnomal condition, otherwise Navigation Control Unit is not carried out the self-navigation operation; If System self-test passes through, the user can interactive operation begin the tractor automatic navigation operation, at first by picking up on the Navigation Control Unit software operation base map an effective navigation target or the modes such as mode by definition operation direction generate an operation navigation target, Navigation Control Unit moves the self-navigation process according to the control cycle and the corresponding pid parameter of initializing set then: read the latitude and longitude coordinates value of GPS current location and be converted to planimetric coordinates, current location and the distance between the navigation target, i.e. transversal discrepancy that calculating is represented with planimetric coordinates; Start lateral deviation PID control program, calculate the corner controlled quentity controlled variable of tractor steering wheel in the current control cycle, and the corner controlled quentity controlled variable is converted to turns to control messages, mail to steering controller 5, carry out the control procedure that turns to shown in Fig. 3 flow process by steering controller 5, thereby finish the Navigation Control process one time, write down related datas such as the interior GPS longitude of this control cycle, latitude, UTC time, course, corner, controlled quentity controlled variable simultaneously.Navigation Control Unit is after System self-test and state are normal, can start the status monitoring process of a steering controller 5 simultaneously, be used for monitoring in real time the state of manual steering sensor (pressure switch 7) and the duty of rotary angle transmitter 12, when the signal condition that has that monitors pressure switch 7 at any time, just the manual direction of operating dish of driver the time, Navigation Control Unit stops the self-navigation process at once, stop to turn to control messages to the steering controller transmission, the outage of steering controller control electromagnetic switch valve, electromagnetic switch valve is in conducting state, automatic steering system is in unloading condition, the outage of the electrohydraulic proportional directional valve of steering controller control simultaneously, the hydrostatic control automatic steering system quits work, and tractor is in the manual steering mode of operation.When the steering controller observation process monitor corner value that rotary angle transmitter measures unusual after, stop equally sending and turn to control messages to steering controller, make tractor hydraulic control automatic steering system quit work, be in the manual steering mode of operation.
The present invention is with tractor operation Navigation Control, turn to control to be combined into a complete system automatically, realize that tractor is according to the accurate operation of setting of operation route, and shielding turns to control function automatically under the situation of artificial steering operation intervention, and the assurance system can safety work.Hydro-steering tractor automatic navigation of the present invention system can guarantee that tractor precisely stablizes operation according to preset path, effectively reduce overlapping and omission between the operation ridge of farmland in the complex line operation process, significantly improve operation quality and efficient, and can alleviate the labour intensity of operation human pilot.The tractor automatic navigation system relies on the GPS of energy all weather operations as main location navigation sensor, therefore also can effectively prolong the activity duration of tractor operation unit.
Above embodiment only is used to illustrate the present invention; and be not limitation of the present invention; the those of ordinary skill in relevant technologies field; under the situation that does not break away from the spirit and scope of the present invention; can also make various variations and modification; therefore all technical schemes that are equal to also belong to category of the present invention, and scope of patent protection of the present invention should be defined by the claims.
Claims (5)
1. a tractor automatic navigation control system is characterized in that, comprising:
Navigation Control Unit, receive in real time the GPS locator data and calculate the tractor current location and the operation navigation target between lateral deviation, calculate the target rotation angle of deflecting roller in the current control cycle and be converted into according to described lateral deviation and the tractor travel speed value measured in real time and send to steering control device after turning to steering order, and, when the steering order error message that receives steering control device, send the detection false command or stop automatic steering order to it;
Steering control device, whether the outer corner measurement value of judging the tractor steering wheel is less than preset limit value, if, then described target rotation angle value and measured value are compared, calculate the PWM dutycycle according to the corner difference, and drive the pwm control signal of electric-hydraulic proportion steering actuator according to described dutycycle output; Otherwise, send the steering order error message to described Navigation Control Unit;
The electric-hydraulic proportion steering actuator, respond described pwm control signal, control the fluid flow direction and the flow velocity of tractor steering system by the spool aperture of electrohydraulic proportional directional valve, the hydraulic steering cylinder piston is stretched out or regain deflecting roller is deflected into described target steering angle; Perhaps, response is described stops automatic steering order and makes electromagnetic switch valve outage.
2. tractor automatic navigation control system as claimed in claim 1 is characterized in that, realizes the transmission of information and instruction between described Navigation Control Unit and the described steering control device by the CAN bus.
3. tractor automatic navigation control system as claimed in claim 1 is characterized in that, described Navigation Control Unit comprises:
RTK-GPS is used to obtain the latitude and longitude coordinates value of tractor current location,
The ground velocity radar is used to measure the current travel speed value of tractor.
4. tractor automatic navigation control system as claimed in claim 1 is characterized in that described steering control device comprises the steering wheel angle sensor, is used to measure the corner value of tractor when steering front wheel.
5. the arbitrary described tractor automatic navigation control system of utilization such as claim 1～4 carries out the method for self-navigation control, it is characterized in that, may further comprise the steps:
S101: Navigation Control Unit receive the GPS locator data in real time and calculate the tractor current location and the operation navigation target between lateral deviation, calculate the target rotation angle of deflecting roller in the current control cycle according to pid control algorithm and be converted into according to described lateral deviation and the tractor travel speed value measured in real time and send to steering control device after turning to steering order;
S102: steering control device judges that whether the outer corner measurement value of tractor steering wheel is less than preset limit value, if, then read the level signal of pressure switch transmission and judge the current automatic steering state that whether is in, otherwise, the navigation control device sends the steering order error message, and Navigation Control Unit receives to return after the described error message and stops the self-navigation instruction;
If the level signal that pressure switch sends shows the current automatic steering state that is in, then enter next step, otherwise steering control device navigation control device sends and to stop direction information, Navigation Control Unit receive described stop to return behind the direction information stop the self-navigation instruction;
S103: steering control device compares described target rotation angle value and measured value, calculates the PWM dutycycle according to the corner difference according to pid control algorithm, and output drives the pwm control signal of electric-hydraulic proportion steering gear;
S104: the electric-hydraulic proportion steering actuator responds described pwm control signal and controls the fluid flow direction and the flow velocity of tractor steering system by the spool aperture of electrohydraulic proportional directional valve, the hydraulic steering cylinder piston is stretched out or regains deflecting roller is deflected into the expectation steering angle.
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