CN103171556B - Automatic straight walking control system suitable for ditching operation tractor - Google Patents
Automatic straight walking control system suitable for ditching operation tractor Download PDFInfo
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- CN103171556B CN103171556B CN201310087075.3A CN201310087075A CN103171556B CN 103171556 B CN103171556 B CN 103171556B CN 201310087075 A CN201310087075 A CN 201310087075A CN 103171556 B CN103171556 B CN 103171556B
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Abstract
The present invention provides a kind of automatic straight walking control systems suitable for ditching operation tractor, the system includes: laser orientation system, the laser orientation system puts down face for emitting laser, and it is in a vertical shape that the laser emitted puts down face, and is overlapped with pre- trench digging track；With walk straight control system, it is described walk straight control system be used to receive the laser that the laser orientation system issues and sweep planed signal, and control tractor moves ahead along the track that the laser face of putting down is marked accordingly；Automatic straight walking control system provided by the invention suitable for ditching operation tractor, the blank in laser ditching operation field is filled up, so that ditching operation is can be realized intelligence and walks straight purpose, and have the characteristics that linear precision height and labor intensity are low, and effectively reduce the cost that lineal system is walked in ditching operation intelligence.
Description
Technical field
The present invention relates to the equipment of ditching operation more particularly to a kind of automatic straight walking controls suitable for ditching operation tractor
System processed.
Background technique
Ditching equipment is mainly used to meet that infrastructure construction trench digging, optical cable, cable, pipeline are laid with and farmland is transplanted and opened
Ditch etc..Ditching equipment generally uses farm tractor as pulling equipment in operation, in order to guarantee the linearity of trench digging, tradition
Method be drawstring method, that is, in ditching operation, tractor-drawn ditching equipment come in front of rope direction guarantee trench digging it is straight
Linearly.
For drawstring method auxiliary trench digging is walked directly, have following limitation: (1) time is long, and operating efficiency is low；
(2) drawstring method is affected by manual operation factor, and trench digging linearity is poor, and not being able to satisfy the more demanding ditching operation of linearity needs
It asks；(3) more demanding to driver's skilled operation degree, machine hand is not easy to grasp；(4) in addition, drawstring method is assisting navigation work
Industry, there is still a need for driver's completion, driver's labor intensity is larger for operation control.
In addition, currently, being based on GNSS(Global Navigation Satellite System, Global Satellite Navigation System)
Agricultural machinery automated navigation system, due to the fact that, may not apply to ditching operation tractor: (1) based on the tractor of GNSS
Self-navigation it is at high cost, it is difficult to promote and apply；(2) ditching operation speed is generally 0.3-0.8km/h, and existing tractor is certainly
Dynamic navigation system carries out requiring Running Speed of Tractor to be higher than 1.0km/h when navigation operation, can not be applied to ditching operation.
Summary of the invention
(1) technical problems to be solved
The purpose of the invention patent is to walk the technologies such as straight operation manipulation difficulty is big, precision is low to solve existing trench digging to ask
Topic.
(2) technical solution
In order to solve the above technical problems, the present invention provides a kind of automatic straight walking controls suitable for ditching operation tractor
System, the system include:
Laser orientation system, the laser orientation system put down face for emitting laser, and the laser face of putting down emitted is in
Vertical shape, and be overlapped with pre- trench digging track；
With walk straight control system, it is described walk straight control system be used to receive the laser that the laser orientation system issues and put down
Face signal, and control tractor moves ahead along the track that the laser face of putting down is marked accordingly.
Preferably, the laser orientation system includes Geoplane and A-frame, the Geoplane activity peace
On A-frame, and the position of Geoplane and deflection angle are adjustable.
Preferably, it is described walk straight control system include laser pickoff, controller, electrohydraulic proportional directional valve, for driving
The steering cylinder of tractor steering wheel and angular displacement sensor for measuring steering wheel angle, the laser pickoff and angle position
The output end of the input terminal of displacement sensor access controller, the controller connects electrohydraulic proportional directional valve, the electric-hydraulic proportion
Direction valve drives steering cylinder.
Preferably, the controller sweeps planed signal according to the laser that the laser pickoff receives and calculates current fortune
Line position sets the lateral deviation with track of ditching in advance, and calculates target rotation angle according to the lateral deviation, by the target rotation angle and angle
Displacement sensor real-time detection to current yaw angle degree compare, formulate corresponding action command according to comparison result, and with
The action command is sent to electrohydraulic proportional directional valve by the form of pwm power signal.
Preferably, the operation method of the target rotation angle of the controller uses Navigation Control algorithm, and the controller moves
Make the operation method instructed using corner control algolithm.
Preferably, the laser pickoff includes the front-end receiver and postposition receiver positioned at same level.
Preferably, the front-end receiver has several photocells for being arranged into a horizontal linear, several photocells
The straight line being arranged into is perpendicular to pre- trench digging track.
Preferably, the postposition receiver has several several photocells for being arranged into a horizontal linear, the straight line and institute
It is parallel and be located at same level, the photocell of the postposition receiver to state straight line that the photocell of front-end receiver is arranged into
It is arranged in a one-to-one correspondence with the photocell of the front-end receiver along the direction front and back of pre- trench digging track, and, the preamble reception
The photronic surface for being located at pre- trench digging track in the center of the center photocell of device and the postposition receiver.
Preferably, it is described walk straight control system further include:
For driving the hydraulic steering gear of steering cylinder, for realizing the hydraulic steering gear of manual manipulation and for real
The electrohydraulic proportional directional valve now manipulated automatically is in parallel；
With the switching switch for controlling switching hydraulic steering gear and electrohydraulic proportional directional valve, the switching switch connection control
Device processed.
Preferably, which further includes control panel,
Several indicator lights of front-end receiver and postposition receiver are placed on the control panel, which passes through control
Device processed connects laser pickoff, for the current trench digging position of substantially mark；
Switching push button and corresponding indicator light are additionally provided on the control panel, the switching push button connection switching is opened
It closes, presses switching push button and automatically switch to manual manipulation state；
Power supply and emergency button are additionally provided on the control panel, the emergency button connects emergency stop switch, presses emergency
Button, that is, automatic straight walking control system failure.
(3) beneficial effect
Automatic straight walking control system provided by the invention suitable for ditching operation tractor, has filled up laser ditching operation
The blank in field has started the beginning for combining the technologies such as laser positioning, electrical-liquid control and being used for ditching operation, makes to ditch
Operation can be realized intelligence and walk straight purpose, and have the characteristics that linear precision height and labor intensity are low, and effectively reduce
The cost of lineal system is walked in ditching operation intelligence.It is specific:
1, automatic straight walking control system of the invention, which makes tractor walk straight control function, can be realized Digital Control, be
The guarantee that tractor walks straight navigation, improves trench digging quality, mitigates driver's operation labor intensity；It is led than auxiliary such as traditional drawstring methods
Control method of navigating is more accurate, and not by farmland operation environmental restrictions；It is lower than the tractor automatic navigation cost based on GNSS,
Reduce popularization threshold；
2, automatic straight walking control system of the invention make tractor steering it is manual, be automatically brought into operation between switching it is flexible, mention
High system reliability and ease for operation；When unusual condition occurs in automatic straight walking control system by scram button, straight control is walked
System cut-off failure, is switched to pilot steering state, ensure that the safety of tractor automatic straight walking system.
3, automatic straight walking control system of the invention can effectively improve under the premise of not destroying tractor existing turning function
The installation of system and the simplicity used reduce the dependence during this method and device promote and apply to tractor-trailer equipment
Property.
Detailed description of the invention
Fig. 1 is schematic top plan view of the invention；
Fig. 2 is schematic front view of the invention；
Fig. 3 is the principle of the present invention block diagram；
Fig. 4 is structural schematic diagram of the invention；
Fig. 5 is receiver photocell arrangement schematic diagram of the invention；
Fig. 6 is master control panel embodiment schematic diagram of the invention；
Fig. 7 is control method flow chart of the invention；
Wherein: 100, laser orientation system, 101, Geoplane, 102, A-frame, 200, walk straight control system,
201, laser pickoff, 202, controller, 203, electrohydraulic proportional directional valve, 204, steering cylinder, 205, angular displacement sensor,
206, hydraulic steering gear, 207, switching switch, 208, emergency stop switch, 209, battery, 210, terminal box.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
As shown in Figure 1, a kind of automatic straight walking control system suitable for ditching operation tractor, which includes that laser is fixed
Position system 100 puts down face for emitting laser with straight control system 200, laser orientation system 100 therein is walked, and what is emitted swashs
It is in a vertical shape that light puts down face, and is overlapped with pre- trench digging track；It walks straight control system 200 and is sent out for receiving laser orientation system 100
Laser out sweeps planed signal, and controls the preceding line direction of tractor accordingly, makes it before the track that the laser face of putting down is marked
Row.The technical solution has filled up the blank in laser ditching operation field, has started technologies such as laser positioning, electrical-liquid controls
The beginning for ditching operation is combined, so that ditching operation is can be realized intelligence and walks straight purpose, and have linear precision high
The feature low with labor intensity, and effectively reduce the cost that lineal system is walked in ditching operation intelligence.
As shown in Fig. 2, laser orientation system 100 is preferably provided with as by structures such as Geoplane 101 and A-frames 102
At Geoplane 101 is movably arranged on A-frame 102 in a manner of hinged etc., to improve its flexibility, in use, will
A-frame 102 is fixed on ground, is adjusted position and the deflection angle of Geoplane 101, is emitted Geoplane 101
Laser put down face state in a vertical shape, and is overlapped with pre- trench digging track, and then straight accuracy is walked in raising.
As shown in Fig. 3,4 and 5, straight control system 200 is walked mainly by laser pickoff 201, controller 202, electric-hydraulic proportion
Direction valve 203, steering cylinder 204 and angular displacement sensor 205 etc. are constituted, and laser pickoff 201 and angular displacement sensor 205 connect
Enter the input terminal of controller 202, the output end of controller 202 connects electrohydraulic proportional directional valve 203, electrohydraulic proportional directional valve 203
Connect steering cylinder 204；In addition, the system further includes that such as 210 component of battery 209 and terminal box, terminal box 210 are connected to
Between controller 202 and each equipment, for optimizing connection line, battery 209 connects controller 202 etc., to supply power supply.It should
System is combined using electro-hydraulic proportional control technology with laser positioning technology, realizes the intelligence of ditching operation, and this is
The structure of system is simple, and the trench digging compared with GNSS positioning walks lineal system, and the cost of the system is low, is especially not only restricted to 0.3-
The trench digging speed of 0.8km/h, is more advantageous to popularization and application.
Firstly, the laser signal input controller 202 that laser pickoff 201 receives, controller 202 is according to laser signal
The lateral deviation between current trench digging position and pre- trench digging track is calculated, and calculates target rotation angle according to the lateral deviation,
Specific: as shown in figures 2 and 5, laser pickoff 201 is preferably arranged to include the front-end receiver positioned at same level with after
Receiver is set, front-end receiver and postposition receiver respectively include several photocells for receiving laser signal, front-end receiver
Several photocells are arranged in horizontal linear shape, and the straight line is perpendicular to line direction before tractor, i.e., perpendicular to pre- trench digging track；Afterwards
The photocell for setting receiver is arranged into a horizontal linear, and the photocell of the horizontal linear and postposition receiver be arranged into it is straight
Line is parallel and is located at same level, also, each photocell of postposition receiver and the photocell of front-end receiver are along pre-
Course bearing of ditching corresponds；Especially, front-end receiver and the centrally located photocell of postposition receiver are all located at pre- open
The surface of ditch track, when the straight line and Geoplane that the center photocell of front-end receiver and postposition receiver is linked to be
When 101 laser emitted are put down face and are overlapped, that is, show that the lateral deviation of tractor trench digging position is zero, i.e. trench digging track and pre-
Trench digging track is overlapped, as long as at this point, the center photocell of front-end receiver and the laser face of putting down is kept to be constantly in plumbness
It can guarantee that trench digging track is accurate, realize in normal operation, can be carried out to walk automatically using separate unit laser pickoff signal
Straight control, improves control efficiency；When the photocell of the non-center position of front-end receiver and postposition receiver be linked to be it is straight
When line is overlapped with the laser face of putting down that Geoplane 101 is emitted, show that tractor trench digging position and pre- trench digging track have one
Fixed deviation, i.e. lateral deviation, the lateral deviation is by controller 202 according to received front-end receiver and postposition receiver
Laser signal obtained by Navigation Control algorithm operation, and target rotation angle is further calculated by Navigation Control algorithm,
The target rotation angle, which refers to, eliminates the lateral slip angle theoretically required angle deflected.
Meanwhile the deflection angle information input controller of tractor steering wheel that 205 real-time detection of angular displacement sensor arrives
202, controller 202 is corresponding with the current deflection state that 205 real-time detection of angular displacement sensor arrives by target rotation angle above-mentioned,
With multiple target corner compared with deflection angle, the angle that deflecting roller need to actually rotate is calculated using corner control algolithm, according to
According to the operation result, sending action is instructed to electrohydraulic proportional directional valve 203 in the form of pwm power signal.
Then, steering cylinder 204 is driven to act by electrohydraulic proportional directional valve 203, and then it is (preceding to change tractor steering wheel
Wheel) corner, enable its be reset in time correctly trench digging track on.Whereby, the precision of control system of the invention is high, through trying
It tests, the deviation of practical trench digging track of the invention and pre- trench digging track is positively retained within 5cm.
In addition, as shown in Figures 3 and 4, the present invention is to further decrease the installation application cost of equipment, improve use it is flexible
Property, achieving the purpose that intelligent control system not influences existing manual manipulation system, and it further includes hydraulic for walking straight control system 200
Diverter 206, switching switch 207 and emergency stop switch 208 switch 207 access controller 202 of switch, the access control of emergency stop switch 208
Device 202 processed, the hydraulic steering gear 206 for realizing manual manipulation and the electric-hydraulic proportion direction for realizing intelligent automatic manipulation
Valve 203 is in parallel, and switching switch 207 is used to control the switching of the two, and emergency stop switch 208 is used for system jam or urgent feelings
Automatic straight walking control system power-off failure when condition.Present invention preserves original manual manipulation systems, and can realize manually and from
The free switching of dynamic manipulation state, it is more practical.
It as shown in Figures 6 and 7, is the intelligence for more fully realizing manipulation, the invention also discloses the tools of above-described embodiment
Body control method:
Such as the control panel of Fig. 6, several indicator lights of front-end receiver and postposition receiver are placed on the panel, this refers to
Show that lamp connects laser pickoff by controller, for substantially identifying current trench digging position, when helping manual manipulation to ditch
For ditch position assurance, as labeled as " in " two indicator lights simultaneously it is bright, indicate lateral deviation at this time be zero, that is, ditch
Track is overlapped with pre- trench digging track, if only one in two lighted indicator light or zero " in " indicator light, then it represents that by
Certain deflection angle needs manually or automatically to adjust；It is additionally provided with switching push button on the control panel and refers to accordingly
Show that lamp, switching push button connection switching switch 207 press switching push button and automatically switch to manual manipulation state；On the panel also
There are power supply and emergency button, emergency button connects emergency stop switch 208, can press emergency button when encountering bursty state, walk straight control
System cut-off failure processed.
Such as Fig. 7, specific the step of manipulating, includes:
Step 1, to controller control the period, input and output, Navigation Control parameter, course changing control parameter, state variable into
Row initialization, including operating mode mark position are that manual mode and manual indicator light are lighted.
Step 2 judges whether manual/auto key is pressed:
If manual/auto press key pressing, judge whether operating mode flag bit is automatic mode: if automatic mode, then
Switching push button operating mode mark position is manual mode, and automatic mode indicator light extinguishes, and manual mode indicator light is lighted；If not
Automatic mode, then operating mode mark position is automatic mode, and manual mode indicator light extinguishes, and automatic mode indicator light is lighted.
Step 3 reads front-end receiver state, and corresponding indicator light is lighted, other 4 indicator lights extinguish；Postposition is read to connect
Device state is received, corresponding indicator light is lighted, other 4 indicator lights extinguish；
Step 4 judges whether operating mode flag bit is automatic mode:
If not the duty ratio of automatic mode, pwm power signal is set to 0, step 2 is jumped to；
Step 5, the state computation lateral deviation based on front-end receiver and postposition receiver, using Navigation Control algorithm meter
Calculate directive wheel target rotation angle；Angular displacement sensor measured value is read, directive wheel is calculated and works as front hook and angular speed, directive wheel target
Corner is compared with measurement corner, is calculated using shift control algorithm and is exported pwm power signal.
Step 6 jumps to step 2.
To sum up, the present invention is for drawstring method assisting navigation, reaches li the invention enables ditching operation linear precision
Meter level, operation process do not need manual control steering operation, to improve trench digging linearity to greatest extent, improve operation quality,
Effectively mitigate driver's labor intensity simultaneously；It can also effectively solve the problems, such as that drawstring method bad adaptability, trench digging linearity are poor,
The line tracking for improving ditching operation process controls precision, improves trench digging efficiency and ditching operation quality.Especially, base is breached
In rate limitation of the tractor automatic navigation system in ditching operation of GNSS, and cost is sufficiently lowered, so that of the invention
Intelligent ditching operation equipment there is higher promotional value.
Finally it should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although reference
Preferred embodiment describes the invention in detail, it will be appreciated by those skilled in the art that can be to technical side of the invention
Case is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered in this hair
In bright scope of the claims.
Claims (7)
1. a kind of automatic straight walking control system suitable for ditching operation tractor, which is characterized in that the system includes:
Laser orientation system, the laser orientation system put down face for emitting laser, and the laser emitted puts down face in vertical
Shape, and be overlapped with pre- trench digging track；
With walk straight control system, it is described walk straight control system be used to receive the laser that the laser orientation system issues and put down face letter
Number, and control tractor moves ahead along the track that the laser face of putting down is marked accordingly；
It is described walk straight control system include laser pickoff, angular displacement sensor and controller；
The laser pickoff is connected with the angular displacement sensor with the input terminal of the controller, the output of the controller
End is connected with tractor steering wheel；
The laser pickoff includes the front-end receiver and postposition receiver positioned at same level；
The front-end receiver has several photocells for being arranged into a horizontal linear, the photocell arrangement of the front-end receiver
At straight line perpendicular to pre- trench digging track；
The postposition receiver has several photocells for being arranged into a horizontal linear, the photocell arrangement of the postposition receiver
At straight line, it is parallel with the straight line that the photocell of the front-end receiver is arranged into and be located at same level；
The photocell of the postposition receiver and the photocell of the front-end receiver are along before and after the direction of pre- trench digging track one
One is correspondingly arranged；The center of the center photocell of the front-end receiver and the postposition receiver is photronic be located at it is pre-
The surface of trench digging track.
2. the automatic straight walking control system according to claim 1 suitable for ditching operation tractor, it is characterised in that: institute
Stating laser orientation system includes Geoplane and A-frame, and the Geoplane is movably arranged on A-frame, and
The position of Geoplane and deflection angle are adjustable.
3. the automatic straight walking control system according to claim 1 suitable for ditching operation tractor, it is characterised in that: institute
Stating away straight control system includes laser pickoff, controller, electrohydraulic proportional directional valve, the steering for driving tractor steering wheel
Oil cylinder and angular displacement sensor for measuring steering wheel angle, the laser pickoff and angular displacement sensor access controller
Input terminal, the output end of the controller connects electrohydraulic proportional directional valve, and the electrohydraulic proportional directional valve drives steering cylinder.
4. the automatic straight walking control system according to claim 3 suitable for ditching operation tractor, it is characterised in that: institute
It states controller and sweeps planed signal according to the laser that the laser pickoff receives and calculate current running position and pre- trench digging rail
The lateral deviation of mark, and target rotation angle is calculated according to the lateral deviation, which is examined in real time with angular displacement sensor
The current yaw angle degree measured compares, and formulates corresponding action command according to comparison result, and in the form of pwm power signal
The action command is sent to electrohydraulic proportional directional valve.
5. the automatic straight walking control system according to claim 4 suitable for ditching operation tractor, it is characterised in that: institute
The operation method of the target rotation angle of controller is stated using Navigation Control algorithm, the operation method of the action command of the controller is adopted
With corner control algolithm.
6. the automatic straight walking control system according to claim 1 suitable for ditching operation tractor, which is characterized in that institute
State away straight control system further include:
For driving the hydraulic steering gear of steering cylinder, for realizing the hydraulic steering gear of manual manipulation and for realizing certainly
The electrohydraulic proportional directional valve of dynamic manipulation is in parallel；
With the switching switch for controlling switching hydraulic steering gear and electrohydraulic proportional directional valve, the switching switch connection control
Device.
7. the automatic straight walking control system according to claim 6 suitable for ditching operation tractor, it is characterised in that: institute
Stating away straight control system further includes control panel,
Several indicator lights of front-end receiver and postposition receiver are placed on the control panel, which passes through controller
Laser pickoff is connected, for the current trench digging position of substantially mark；
Switching push button and corresponding indicator light are additionally provided on the control panel, the switching push button connection switching switch is pressed
Lower switching push button automatically switches to manual manipulation state；
Power supply and emergency button are additionally provided on the control panel, the emergency button connects emergency stop switch, presses emergency button
I.e. automatic straight walking control system fails.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310087075.3A CN103171556B (en) | 2013-03-19 | 2013-03-19 | Automatic straight walking control system suitable for ditching operation tractor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310087075.3A CN103171556B (en) | 2013-03-19 | 2013-03-19 | Automatic straight walking control system suitable for ditching operation tractor |
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| CN103171556B true CN103171556B (en) | 2019-02-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102013012779A1 (en) * | 2013-07-31 | 2015-02-05 | Valeo Schalter Und Sensoren Gmbh | Method for operating a driver assistance device for the autonomous guidance of a motor vehicle and motor vehicle |
| CN103955219B (en) * | 2014-04-26 | 2016-05-25 | 安徽农业大学 | A kind of correlation laser tractor assisting navigation control system |
| CN104678999B (en) * | 2014-12-15 | 2023-04-28 | 刘丙炎 | Intelligent tractor |
| CN105388894A (en) * | 2015-06-23 | 2016-03-09 | 现代富博（天津）智能装备科技有限公司 | Method and device for defining autonomous walking trajectory |
| CN111552281A (en) * | 2020-04-13 | 2020-08-18 | 程国军 | Intelligent cultivation system and device thereof |
| CN112698564A (en) * | 2020-12-21 | 2021-04-23 | 桂林航天工业学院 | Intelligent control method of self-propelled land leveler based on dynamic double-triangle principle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB9323298D0 (en) * | 1993-11-11 | 1994-01-05 | Mastenbroek & Co Ltd J | Improvements in and relating to excavating apparatus |
| JP5267588B2 (en) * | 2010-03-26 | 2013-08-21 | 株式会社デンソー | Marking line detection apparatus and marking line detection method |
| CN101869014B (en) * | 2010-06-12 | 2012-07-04 | 北京农业信息技术研究中心 | Laser land leveling control device and method |
| JP5389002B2 (en) * | 2010-12-07 | 2014-01-15 | 日立オートモティブシステムズ株式会社 | Driving environment recognition device |
| CN201938029U (en) * | 2011-01-21 | 2011-08-24 | 北京农业信息技术研究中心 | Laser land leveling device |
| CN102518160B (en) * | 2011-12-26 | 2014-11-12 | 中国农业机械化科学研究院 | Elevation control method and system based on global position system (GPS) and laser technology |
| CN202617639U (en) * | 2012-03-31 | 2012-12-26 | 北京农业智能装备技术研究中心 | Laser land leveling shovel draft gear |
| CN102934544A (en) * | 2012-10-17 | 2013-02-20 | 贾相征 | Method and device for implementing unmanned management of farmland |
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Address after: 1107, block a, Nongke building, No. 11, Shuguang garden middle road, Haidian District, Beijing, 100097 Patentee after: Intelligent equipment technology research center of Beijing Academy of agricultural and Forestry Sciences Address before: 100097, A, building 11, agricultural building, 318 middle garden, Shuguang garden, Beijing, Haidian District, China Patentee before: BEIJING RESEARCH CENTER OF INTELLIGENT EQUIPMENT FOR AGRICULTURE |