CN103324200A - Automatic leveling control system of vehicle body of mountainous region agricultural robot - Google Patents

Abstract

The invention discloses an automatic leveling control system for a mountain agricultural robot body, which comprises an inclination sensor module (1), a central processor module (2), an execution module (3) and a limit switch module (4). The inclination sensor module obtains the inclination angle information of the vehicle body and transmits the information to the central processor; the limit switch module detects the stroke end position of the hydraulic cylinder, and transmits the state signal of the limit switch to the central processor; the central processor processes The first two signals are displayed on the LCD, and then the automatic leveling algorithm is run to make a leveling decision, and then the body is adjusted up and down by controlling the up and down movement of the hydraulic cylinder in the execution module, so that the mountain agricultural robot realizes the automatic leveling of the body. Leveling. The body automatic leveling control system meets the adaptability and stability requirements of the mountain agricultural robot under complex environmental conditions, and improves the working safety and reliability of the mountain agricultural robot.

Description

An automatic leveling control system for a mountainous agricultural robot body

technical field

The invention relates to a vehicle body automatic leveling control system, in particular to a vehicle body automatic leveling control system applied to mountain agricultural robots, and belongs to the technical field of vehicle body automatic leveling control.

Background technique

Mountain agricultural robots mainly work in hilly areas. In order to improve their reliability in complex terrain environments, the automatic body leveling control system has become an inevitable requirement for mountain agricultural robots. The body automatic leveling control system is widely used in four-legged engineering vehicles. Because of the particularity of the working environment of mountain agricultural robots, there are few body automatic leveling control systems applied to mountain agricultural robots. The automatic body leveling can not only Improving the stability of mountain agricultural robots in complex environments can also meet their needs in practical applications. Therefore, the present invention proposes an automatic leveling control system for a mountainous agricultural robot body that can meet the real-time and stability requirements in complex working environments.

Contents of the invention

In order to improve the adaptability and stability of the mountain agricultural robot in the complex working environment, the present invention provides an automatic leveling control system for the body of the mountain agricultural robot, which can detect the inclination state of the body in real time and automatically level the body to meet the requirements The real-time and stability requirements of mountain agricultural robots in complex working environments.

The technical solution of the present invention is: an automatic leveling control system for a mountain agricultural robot body, comprising an inclination sensor module (1), a central processor module (2), an execution module (3) and a limit switch module (4), the inclination angle The sensor module obtains the inclination angle information of the mountain agricultural robot, the limit switch module judges whether the body can continue to be leveled, the execution module enables the mountain agricultural robot body to be adjusted up and down, and the central processor module processes the inclination angle information and limit switch information and runs automatically The leveling algorithm makes a leveling decision, and the vehicle body is automatically leveled by controlling the execution module.

The inclination sensor module includes an inclination sensor and an A/D conversion circuit placed under the center of the mountain agricultural robot body. The inclination sensor detects the inclination angle of the vehicle body and outputs a corresponding analog voltage signal. The analog voltage signal is converted by A/D to obtain a corresponding Digital signal, the digital signal is transmitted to the STC89C52 microcontroller for processing.

The limit switch module includes an upper limit switch for detecting whether the hydraulic cylinder has reached the end position of the upper stroke, a lower limit switch for detecting whether the hydraulic cylinder has reached the end position of the lower stroke, and a signal processing circuit. The upper limit switch and the lower limit switch are in the normally open state. When the switch is touched, the switch is closed, and the signal processing circuit transmits the state information of the limit switch to the single-chip microcomputer STC89C52 for processing in the form of a digital signal. The state signal can judge whether the hydraulic cylinder is at the end position of the stroke, so as to judge whether the body can continue to be leveled .

The executive module includes relays, solenoid valves and hydraulic cylinders on both sides of the body. The hydraulic cylinders are connected to the body. The on-off time of the solenoid valve is controlled by the relay. The up and down movement of the cylinder drives the two sides of the vehicle body to adjust up and down.

The central processor module includes the central processor STC89C52 single-chip microcomputer, LCD display circuit and relay control circuit. The STC89C52 single-chip microcomputer receives the digital signal of the body tilt angle transmitted by the A/D conversion circuit of the inclination sensor module and the signal processing circuit of the limit switch module. The digital signal of the status of the limit switch is received, and after processing, the tilt angle information and the status information of the limit switch are displayed on the LCD, and then the automatic leveling algorithm is run to make a leveling decision, and then the solenoid valve is controlled through the relay. The up and down movement of the hydraulic cylinders on both sides of the body drives the up and down adjustment of the sides of the body, so that the mountain agricultural robot can automatically level the body.

To sum up, the automatic leveling control system of the mountain agricultural robot body provided by the present invention obtains the inclination angle information of the body through the inclination sensor and transmits the angle information to the STC89C52 single-chip microcomputer for processing, and the limit switch detects the stroke end position of the hydraulic cylinder , and output the state signal of the limit switch to the STC89C52 microcontroller for processing, the STC89C52 microcontroller processes the signals of the two and displays them on the LCD, then runs the automatic leveling algorithm and makes a leveling decision, and then controls the on-off time of the relay To control the on-off time of the solenoid valve, thereby adjusting the action time of the hydraulic cylinder, the up and down movement of the hydraulic cylinder drives the body to adjust, and finally enables the mountain agricultural robot to achieve automatic body leveling. The automatic body leveling control system meets the requirements of mountain agriculture. The adaptability and stability requirements of the robot under complex environmental conditions improve the working reliability of the mountain agricultural robot.

Description of drawings

Further illustrate the present invention below in conjunction with accompanying drawing.

Figure 1 is a structural block diagram of the automatic leveling control system of the mountain agricultural robot body.

Fig. 2 is the working flow chart of the automatic leveling control system of the mountain agricultural robot body.

In the figure: 1 is an inclination sensor module, 2 is a central processor module, 3 is an execution module, and 4 is a limit switch module.

Detailed ways

Fig. 1 is a structural block diagram of the control system of the present invention. The structure includes inclination sensor, A/D conversion circuit, upper limit switch, lower limit switch, limit switch signal processing circuit, STC89C52 single chip microcomputer, LCD display circuit, relay control circuit, solenoid valve and hydraulic cylinder. The inclination sensor detects the inclination of the body of the mountain agricultural robot in real time. When the body is inclining, the inclination sensor outputs a corresponding analog voltage signal. After the analog voltage signal is A/D converted, the inclination angle information is transmitted to the microcontroller in the form of a digital signal. STC89C52 processes it. At the same time, the state information of the limit switch is also processed by the signal processing circuit, and then transmitted to the single-chip microcomputer STC89C52 for processing in the form of digital signals. The single-chip microcomputer STC89C52 processes the signals of the two and displays them on the LCD. Combining the inclination information and the state information of the limit switch to carry out the calculation of the automatic leveling algorithm, and then the single-chip microcomputer outputs the control signal to control the on-off of the relay, the closing time of the relay determines the closing time of the solenoid valve, and finally controls the closing time of the solenoid valve The action time of the hydraulic cylinder, the hydraulic cylinder is connected with the vehicle body, and the sides of the vehicle body are adjusted up and down through the up and down movement of the hydraulic cylinders on both sides of the vehicle body, and the body of the mountain agricultural robot is adjusted in real time through the real-time acquisition of inclination angle information. Finally, the vehicle body is automatically leveled.

Fig. 2 is a flow chart of the automatic leveling work of the present invention. The process steps are as follows:

1) Power on the system, initialize the system, set the accuracy requirement of the tilt angle α as -2°<α<2°, and when α>0°, the vehicle body is tilted to the left, and when α<0° , the vehicle body is tilted to the right;

2) Display the tilt angle α on the LCD;

3) Judging whether the inclination angle α meets the accuracy requirements, if it meets the requirements, no leveling is performed, and if it does not meet the requirements, automatic leveling is performed;

4) Judging whether the tilt angle meets the accuracy requirements, if it meets the requirements, the leveling ends; if the tilt angle α > 2°, the vehicle body tilts to the left at this time, first judge whether the right hydraulic cylinder can be lowered, if possible, right side Lower the hydraulic cylinder to lower the right side of the body, if not possible, raise the left hydraulic cylinder to raise the left side of the body; if the inclination angle α<-2°, the body tilts to the right at this time, first judge the left hydraulic cylinder Whether it can be lowered, if yes, the left hydraulic cylinder is lowered to lower the left side of the body, if not, the right hydraulic cylinder is raised to raise the right side of the body;

5) Judging whether the inclination angle α satisfies the set accuracy requirements, if it is satisfied, the leveling ends, if not, repeat step 4.

According to the above description, relevant staff can make various changes and modifications within the scope of not departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the contents of the description, and any modifications and equivalent replacements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (1)

1. automatic levelling control system of mountain farming robot automobile body is characterized in that:

This system comprises obliquity sensor module (1), center processor module (2), execution module (3) and limit switch module (4), the obliquity sensor module is obtained the angle of inclination information of mountain farming robot, the limit switch module judges whether vehicle body can continue leveling, execution module can be adjusted the mountain farming robot automobile body up and down, center processor resume module angle of inclination information and limit switch information are also moved automatic leveling algorithm, make the leveling decision-making, make vehicle body carry out automatic leveling by the control execution module;

Described obliquity sensor module comprises obliquity sensor and the A/D change-over circuit that is placed on mountain farming robot automobile body centre below, obliquity sensor detects the angle of inclination of vehicle body and exports the corresponding simulating voltage signal, analog voltage signal is through obtaining corresponding digital signal after the A/D conversion, and this digital data transmission handles for the STC89C52 single-chip microcomputer;

Described limit switch module comprises the upper limit position switch that detects hydraulic cylinder and whether arrive position, stroke end, upper end, lower position switch and the signal processing circuit whether the detection hydraulic cylinder arrives position, stroke end, lower end, upper limit position switch and lower position switch are in normally open, when touch switch, switch closure, signal processing circuit is transferred to single-chip microcomputer STC89C52 with the status information of limit switch in the mode of digital signal and handles, this status signal can judge whether hydraulic cylinder is in the position, stroke end, thereby judges whether vehicle body can continue leveling;

Described execution module comprises the hydraulic cylinder of relay, solenoid valve and vehicle body both sides, hydraulic cylinder links to each other with vehicle body, make-and-break time by relay control solenoid valve, control actuation time of hydraulic cylinder by the make-and-break time of solenoid valve, the moving up and down of vehicle body both sides hydraulic cylinder drives the vehicle body both sides and adjusts up and down;

Described center processor module comprises center processor STC89C52 single-chip microcomputer, LCD display circuit and control relay circuit, the digital signal of the limit switch state that the digital signal of the body sway angle that the A/D change-over circuit transmission of STC89C52 single-chip microcomputer reception obliquity sensor module comes and the signal processing circuit transmission of limit switch module come, and through show the status information of angle of inclination information and limit switch after handling at LCD, move automatic leveling algorithm then, make the leveling decision-making, make-and-break time by relay control solenoid valve actuation time of coming the regulator solution cylinder pressure afterwards, the drive vehicle body both sides that move up and down of vehicle body both sides hydraulic cylinder are adjusted up and down, thereby make the mountain farming robot realize the automatic leveling of vehicle body.

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