CN103324200A - Automatic leveling control system of vehicle body of mountainous region agricultural robot - Google Patents
Automatic leveling control system of vehicle body of mountainous region agricultural robot Download PDFInfo
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- CN103324200A CN103324200A CN2013102209854A CN201310220985A CN103324200A CN 103324200 A CN103324200 A CN 103324200A CN 2013102209854 A CN2013102209854 A CN 2013102209854A CN 201310220985 A CN201310220985 A CN 201310220985A CN 103324200 A CN103324200 A CN 103324200A
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Abstract
The invention discloses an automatic leveling control system of a vehicle body of a mountainous region agricultural robot. The automatic leveling control system comprises a tilt angle sensor module (1), a central processor module (2), an execution module (3) and a limit switch module (4). The tilt angle sensor module obtains tilt angle information of the vehicle body and transmits the tilt angle information to a central processor. The limit switch module detects the final position of the stroke of a hydraulic cylinder and transmits status signals of a limit switch to the central processor. The central processor processes the above two sorts of signals and displays the signals on an LCD. Afterwards, an automatic leveling algorithm is operated, a leveling decision is made, then the vehicle body is adjusted up and down by the way that the hydraulic cylinder in the execution module is controlled to be moved up and down, and thus automatic leveling of the vehicle body of the mountainous region agricultural robot can be achieved. The automatic leveling control system meets the requirements of the adaptability and the stability of the mountainous region agricultural robot under the condition of the complex environment, and improves the working safety and the reliability of the mountainous region agricultural robot.
Description
Technical field
The present invention relates to the automatic levelling control system of a kind of vehicle body, especially be applied to the automatic levelling control system of vehicle body of mountain farming robot, belong to the automatic leveling control technology of vehicle body field.
Background technology
The mountain farming robot operates mainly in the knob, and in order to improve its functional reliability under the complex-terrain environment, the automatic levelling control system of vehicle body becomes the inevitable requirement of mountain farming robot.The automatic levelling control system of vehicle body is widely used in the four supporting leg engineering trucks, because the singularity of mountain farming robot working environment, be applied in the mountain farming robot the automatic levelling control system of vehicle body seldom, vehicle body can carry out automatic leveling can not only improve the stability of mountain farming robot under complex environment, can also satisfy its needs in actual applications.Therefore, the present invention proposes and a kind ofly can satisfy real-time under the complex work environment and the automatic levelling control system of mountain farming robot automobile body of stability requirement.
Summary of the invention
In order to improve adaptability and the stability of mountain farming robot in the complex work environment, the invention provides the automatic levelling control system of a kind of mountain farming robot automobile body, can detect the heeling condition of vehicle body in real time and make vehicle body carry out automatic leveling, satisfy real-time and the stability requirement of mountain farming robot under the complex work environment.
Technical scheme of the present invention is: the automatic levelling control system of a kind of mountain farming robot automobile body, comprise 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.
The 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.
The 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.
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.
The 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.
In sum, the automatic levelling control system of mountain farming robot automobile body provided by the invention, obtain the angle of inclination information of vehicle body and this angle information be transferred to the STC89C52 single-chip microcomputer to handle by obliquity sensor, limit switch detects the position, stroke end of hydraulic cylinder, and the status signal of output limit switch handles for the STC89C52 single-chip microcomputer, the STC89C52 single-chip microcomputer is handled both signals and is shown at LCD, move automatic leveling algorithm then and make the leveling decision-making, control the make-and-break time of solenoid valve afterwards by the make-and-break time of pilot relay, thereby come the actuation time of regulator solution cylinder pressure, the drive vehicle body that moves up and down of hydraulic cylinder is adjusted, finally make the mountain farming robot realize the automatic leveling of vehicle body, the automatic levelling control system of this vehicle body has satisfied adaptability and the stability requirement of mountain farming robot under complicated environmental condition, has improved the functional reliability of mountain farming robot.
Description of drawings
Further specify the present invention below in conjunction with accompanying drawing.
Fig. 1 is the automatic levelling control system structured flowchart of mountain farming robot automobile body.
Fig. 2 is the automatic levelling control system workflow diagram of mountain farming robot automobile body.
Among the figure: the 1st, obliquity sensor module, the 2nd, center processor module, the 3rd, execution module, the 4th, limit switch module.
Embodiment
Fig. 1 is control system structured flowchart of the present invention.This structure comprises obliquity sensor, A/D change-over circuit, upper limit position switch, lower position switch, limit switch signal treatment circuit, STC89C52 single-chip microcomputer, LCD display circuit, control relay circuit, solenoid valve and hydraulic cylinder.Obliquity sensor detects the body sway situation of mountain farming robot in real time, when vehicle body has inclination, obliquity sensor is exported corresponding analog voltage signal, analog voltage signal is through after the A/D conversion, this angle of inclination information is transferred to single-chip microcomputer STC89C52 with the form of digital signal and handles, meanwhile, after the status information of limit switch is also handled by signal processing circuit, being transferred to single-chip microcomputer STC89C52 in the mode of digital signal handles, single-chip microcomputer STC89C52 handles both signals and shows at LCD, single-chip microcomputer carries out the computing of automatic leveling algorithm in conjunction with the status information of obliquity information and limit switch then, the break-make of the control signal of single-chip microcomputer output afterwards pilot relay, the closure time of relay has determined the closure time of solenoid valve, control the actuation time of hydraulic cylinder at last by the closure time of solenoid valve, hydraulic cylinder links to each other with vehicle body, by moving up and down of vehicle body both sides hydraulic cylinder the vehicle body both sides are adjusted up and down, by obtaining in real time of angle of inclination information adjusted in real time to the vehicle body of mountain farming robot, finally make vehicle body realize automatic leveling.
Fig. 2 is automatic leveling workflow diagram of the present invention.This process step is as follows:
1) system's electrifying startup carries out initialization to system, and the accuracy requirement of setting tilt angle alpha be-2 °＜α＜2 °, and when α＞0 °, vehicle body is inclination to the left, and when α＜0 °, vehicle body is inclination to the right;
2) show tilt angle alpha at LCD;
3) judge whether tilt angle alpha satisfies accuracy requirement, if meet the demands, then do not carry out leveling, if do not meet the demands, then carry out automatic leveling;
4) judge whether the angle of inclination satisfies accuracy requirement, if meet the demands, then leveling finishes; If tilt angle alpha＞2 °, this moment, vehicle body tilted to the left, judged at first whether the right side hydraulic cylinder can descend, if can, thereby the right side hydraulic cylinder descends the vehicle body right side is descended, if cannot, thereby then the left side hydraulic cylinder rises and is risen in the vehicle body left side; If tilt angle alpha＜-2 °, this moment, vehicle body tilted to the right, judged at first whether the left side hydraulic cylinder can descend, if can, thereby the left side hydraulic cylinder descends the vehicle body left side is descended, if cannot, thereby then the right side hydraulic cylinder rises to make on the vehicle body right side and rises;
5) judge whether tilt angle alpha satisfies the accuracy requirement of setting, and satisfied then leveling finishes, and does not satisfy then repeating step 4.
According to above-mentioned description, the related work personnel can carry out various change and modification fully in the scope that does not depart from this invention technological thought.The technical scope of this invention is not limited to the content on the instructions, and all any modifications of doing within the spirit and principles in the present invention and be equal to replacement etc. all should be included within 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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| CN2013102209854A CN103324200A (en) | 2013-05-29 | 2013-05-29 | Automatic leveling control system of vehicle body of mountainous region agricultural robot |
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Cited By (5)
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| CN106774366A (en) * | 2016-12-23 | 2017-05-31 | 山河智能装备股份有限公司 | A kind of bionical unmanned vehicle control and its control method |
| CN110001801A (en) * | 2019-05-06 | 2019-07-12 | 新疆农垦科学院 | A kind of self propelled harvester tool chassis automatic-balancing system and balance regulation method |
| CN110908390A (en) * | 2019-12-12 | 2020-03-24 | 长安大学 | Automatic leveling control system for carrying platform of crawler carrier |
| CN111824082A (en) * | 2020-07-27 | 2020-10-27 | 广西民族大学 | Automatic control method and system for transfer of self-propelled sugarcane transfer vehicle |
| CN114403114A (en) * | 2022-01-26 | 2022-04-29 | 安徽农业大学 | High-ground-clearance plant protection locomotive body posture balance control system and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110908390A (en) * | 2019-12-12 | 2020-03-24 | 长安大学 | Automatic leveling control system for carrying platform of crawler carrier |
| CN111824082A (en) * | 2020-07-27 | 2020-10-27 | 广西民族大学 | Automatic control method and system for transfer of self-propelled sugarcane transfer vehicle |
| CN114403114A (en) * | 2022-01-26 | 2022-04-29 | 安徽农业大学 | High-ground-clearance plant protection locomotive body posture balance control system and method |
| CN114403114B (en) * | 2022-01-26 | 2022-11-08 | 安徽农业大学 | High-ground-clearance plant protection locomotive body posture balance control system and method |
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Application publication date: 20130925 |