CN106956660A - A kind of tumble pre-alarming control system and control method for orchard supervisor - Google Patents

A kind of tumble pre-alarming control system and control method for orchard supervisor Download PDF

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Publication number
CN106956660A
CN106956660A CN201710305831.3A CN201710305831A CN106956660A CN 106956660 A CN106956660 A CN 106956660A CN 201710305831 A CN201710305831 A CN 201710305831A CN 106956660 A CN106956660 A CN 106956660A
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China
Prior art keywords
orchard
supervisor
warning
orchard supervisor
tumbling
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CN201710305831.3A
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Chinese (zh)
Inventor
樊桂菊
王永振
张昊
刘理民
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Shandong Agricultural University
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Shandong Agricultural University
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Priority to CN201710305831.3A priority Critical patent/CN106956660A/en
Publication of CN106956660A publication Critical patent/CN106956660A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R2021/01306—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring vehicle inclination

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Catching Or Destruction (AREA)

Abstract

The present invention relates to a kind of tumble pre-alarming control system and its control method for orchard management platform, including detection of platform module, tumble and judge control module and anti-tipping warning module；Detection of platform module includes velocity sensor, obliquity sensor, acceleration transducer and pressure sensor；Tumble and judge control module for single-chip microcomputer；Single-chip microcomputer is connected with described velocity sensor, obliquity sensor, acceleration transducer, pressure sensor respectively；The acquisition of orchard supervisor current state amount is specifically included, the calculating for judge index of tumbling and anti-tipping prediction policy, judge index of tumbling is using tumble pre-warning time and the vehicle transverse load rate of transform.Pre-warning time and the vehicle transverse load rate of transform of the invention while setting is tumbled are as judge index of tumbling, active forewarning is realized, to the rollover conditions that may occur, orchard supervisor active brake or active steering is realized, realize dual anti-tipping measure, safety and reliability.

Description

A kind of tumble pre-alarming control system and control method for orchard supervisor
Technical field
It is more particularly to a kind of the present invention relates to a kind of tumble pre-alarming control system and control method for orchard supervisor Early warning control of tumbling for hilly and mountainous land orchard supervisor.
Background technology
China is vast in territory, and planting fruit trees area is larger.Orchard physical features is in diversity, and Hills are the masters of orchard planting Will area, the not whole big rise and fall in plot, orchard supervisor orchard operation machinery in play key player, from pruning fruit tree to Picking fruit arrives hauling operation again, and management platform all plays irreplaceable effect.Orchard kind in face of with a varied topography, many hillside fields Implant model, existing orchard supervisor versatility is not strong, and rollover stability performance is poor, lacks corresponding safe early warning measure, tumbles The research of stability and early warning technology of tumbling is significant to the adaptability of orchard supervisor.Therefore, developing one kind is used for The pre-alarming control system of tumbling of orchard supervisor is particularly significant.
The content of the invention
In order to solve the above problems, the present invention provides a kind of for orchard supervisor for existing orchard supervisor Tumble pre-alarming control system and its control method, mainly include the acquisition of orchard supervisor current state amount, judge index of tumbling Calculating and anti-tipping prediction policy, judge index of tumbling is using tumbling pre-warning time and the vehicle transverse load rate of transform.This hair It is bright effectively to judge the operation attitude of orchard supervisor, different Forewarning Measures are made to different operating environments, improves and makees The safety guarantee coefficient of industry personnel.
A kind of pre-alarming control system of tumbling for orchard supervisor, including detection of platform module, judgement control mould of tumbling Block and anti-tipping warning module；
The detection of platform module includes velocity sensor, obliquity sensor, acceleration transducer and pressure sensor；It is flat Platform detection module is used for the motion state for obtaining existing orchard supervisor；Described velocity sensor, obliquity sensor and acceleration Sensor is spent to be arranged in the frame of existing orchard supervisor；Described pressure sensor is arranged on the wheel of existing orchard supervisor On tire；Described velocity sensor, obliquity sensor, acceleration transducer and pressure sensor is respectively used to determine orchard management Pace, vehicle angle of heel, roll angle acceleration and the tire pressure of machine；
Described tumble judges control module for single-chip microcomputer；Single-chip microcomputer respectively with described velocity sensor, obliquity sensor, Acceleration transducer, pressure sensor connection.Be stored with the control method (control of anti-tipping early warning of anti-tipping early warning in single-chip microcomputer Method processed can write according to prior art), content includes the early warning and the early warning for pre-warning time of tumbling to the transverse load rate of transform； The early warning of the vehicle transverse load rate of transform is that the difference and tire of the vertical load using left side tire and right side tire are born The ratio of the vertical full payload of orchard management platform is judged, carries out active brake simultaneously during active steering；Tumble pre- The alert time is to utilize vehicle angle of heel, rolls angular rate of change and roll angle acceleration, and judgement is reached corresponding to critical rollover conditions Critical angle of heel required for time.Described single-chip microcomputer will tumble pre-warning time and the vehicle transverse load rate of transform while setting For warning index, as long as reaching any index in tumble pre-warning time or the vehicle transverse load rate of transform, just show that whole machine is turned over The tendency of car；
The anti-tipping warning module includes warning system and management platform start stop switch；Described warning system includes honeybee Ring device and alarm lamp；Described orchard supervisor start stop switch, buzzer and alarm lamp is connected with single-chip microcomputer respectively.
The invention further relates to a kind of pre-warning and control method of tumbling for orchard supervisor, step is as follows：
Single-chip computer control system using obliquity sensor, acceleration transducer obtain current orchard supervisor angle of inclination, Orchard operation platform angle of heel initial velocity and orchard supervisor roll acceleration, calculate pre-warning time of tumbling, together by formula (1) When single-chip computer control system detect tire pressure value using pressure sensor, pass through formula (2) and calculate vehicle transverse load and shift Rate, pre-warning time of tumbling is set to first anti-tipping index, regard the vehicle transverse load rate of transform as anti-tipping Two indexs；When pre-warning time of tumbling is more than pre-warning time setting value, (the pre-warning time setting value is flat according to orchard operation The anti-tipping ability of reality of platform is determined in advance), or when the absolute value of the vehicle transverse load rate of transform is more than rate of transform setting value When, single-chip computer control system control buzzer buzzing and the alarm lamp flicker orchard supervisor of single-chip computer control system control simultaneously are opened Guard's valve, realizes the active brake or active steering of orchard supervisor；As long as reaching tumble pre-warning time or vehicle transverse load Any index in the rate of transform, just shows that whole machine has the tendency of overturning, control system is alarmed at once, prevents accident.
Tumble running status of the pre-warning time by current orchard supervisor, including vehicle angle of heel, angle of heel initial velocity Orchard supervisor is calculated with roll angle acceleration to tumble pre-warning time, is calculated according to formula (1)：
Wherein, φlimFor orchard supervisor angle of heel critical value, φ0For orchard supervisor angle of heel initial value,For fruit Garden supervisor angle of heel initial velocity,For orchard supervisor roll angle acceleration, t tumbles pre-warning time value for orchard supervisor. Vehicle angle of heel, angle of heel initial velocity and roll angle acceleration are measured by each sensor.φlimAccording to orchard supervisor Actual anti-tipping ability is previously set.
The vehicle transverse load rate of transform is calculated by formula (2)：
Wherein, LTR is the transverse load rate of transform, FriAnd FliVertical load on respectively i-th axletree or so tire, n For axletree sum.2 sensors are installed on every axletree.
As LTR=0, represent that both sides tire force is equal, now orchard supervisor is in most stable of running status, when During LTR=± 1, represent that wherein single wheel all leaves road surface, unstability occurs for orchard supervisor, and LTR values are bigger to be represented The stability of orchard supervisor is poorer.
Existing orchard supervisor active forewarning function can be achieved in the present invention.The present invention focus on and meanwhile set tumble it is pre- Alert time and the vehicle transverse load rate of transform realize active forewarning as judge index of tumbling, to the rollover conditions that may occur, Orchard supervisor active brake or active steering are realized, dual anti-tipping measure, safety and reliability is realized.
Brief description of the drawings
Fig. 1 is present system frame diagram；
Specific embodiment
It is described below in conjunction with the accompanying drawing and characteristics of principle in the embodiment of the present invention, it is clear that described embodiment Only it is a part of embodiment of the present invention, is not intended to limit the scope of the present invention.Present invention is mainly used for existing orchard management Machine, can realize its anti-tipping warning function.Control system scheme is provided according to the present invention, illustrates the present invention below with reference to Fig. 1 The operation principle of the pre-alarming control system of tumbling of management platform.
As shown in figure 1, velocity sensor, obliquity sensor, acceleration transducer and pressure sensor respectively with single-chip microcomputer Control system is connected, and single-chip computer control system obtains information, and buzzer, alarm lamp and orchard supervisor start and stop are controlled after processing The action of switch.
The invention provides preferred embodiment, below using existing orchard supervisor as embodiment, but without the limitation present invention Scope：
Embodiment：
The present invention includes the acquisition of orchard supervisor current state amount, the calculating for judge index of tumbling and anti-tipping pre- whips a horse on Slightly.STM32 single-chip microcomputers are selected in the calculating for judge index of tumbling, and velocity sensor is rubbed PLR2300 speed rotary encoders from match, Obliquity sensor need to use MTI-300 obliquity sensors, and acceleration transducer selects MPU6050 acceleration transducers, pressure sensing Device selects FSR402 resistance-type diaphragm pressure sensors, and STM32 single-chip microcomputers obtain the orchard supervisor speed of travel, in real time detection fruit Garden supervisor angle of inclination, STM32 single-chip microcomputers gather current orchard supervisor using obliquity sensor and acceleration transducer and inclined Rake angle, orchard supervisor initial angular velocity and orchard supervisor roll acceleration, it is determined that pre-warning time of tumbling.Setting, which is worked as, tumbles When pre-warning time is less than 5s, STM32 Single-chip Controlling orchard supervisor start stop switches realize orchard supervisor active brake or master It is dynamic to turn to, realize the anti-tipping function of active forewarning；When pre-warning time of tumbling is more than 5s, orchard supervisor normal operation, meanwhile, To strengthen anti-tipping ability, while setting the transverse load rate of transform as second index of control system.STM32 single-chip microcomputers Tire pressure value is gathered using pressure sensor, the vehicle transverse load rate of transform is determined, judges the vehicle transverse load rate of transform.If When the settled vehicle transverse load rate of transform is more than 0.5, single-chip computer control system control buzzer buzzing and alarm lamp flicker are simultaneously Start actively anti-tipping sliding block action, realize the adjustment of active accommodation orchard supervisor attitude；When the vehicle transverse load rate of transform During less than 0.5, orchard supervisor normal operation.Above-mentioned two index tumbles pre-warning time and the transverse load rate of transform is not done mutually Disturb, as long as having the tendency of an index shows that vehicle has overturning, control system is just acted at once, prevents the further hair of accident It is raw.
Orchard supervisor pre-alarming control system of tumbling realizes management platform actively anti-tipping warning function, passes through and sets two Individual judge index is to tumble pre-warning time and the transverse load rate of transform it is ensured that the safety of operating personnel, and fruit is controlled while passing through Garden supervisor active brake, the action of active steering and the anti-tipping sliding block of active are adjusted to the attitude of orchard supervisor, are carried The operating efficiency of high operating personnel, has significance to the raising of the mechanical automatization level of orchard operation.
In use, step is as follows：
Single-chip computer control system using obliquity sensor, acceleration transducer obtain current orchard supervisor angle of inclination, Orchard operation platform angle of heel initial velocity and orchard supervisor roll acceleration, calculate pre-warning time of tumbling, together by formula (1) When single-chip computer control system detect tire pressure value using pressure sensor, pass through formula (2) and calculate vehicle transverse load and shift Rate, pre-warning time of tumbling is set to first anti-tipping index, regard the vehicle transverse load rate of transform as anti-tipping Two indexs；When pre-warning time of tumbling is more than pre-warning time setting value, (the pre-warning time setting value is flat according to orchard operation The anti-tipping ability of reality of platform is determined in advance), or when the absolute value of the vehicle transverse load rate of transform is more than rate of transform setting value When, single-chip computer control system control buzzer buzzing and the alarm lamp flicker orchard supervisor of single-chip computer control system control simultaneously are opened Guard's valve, realizes the active brake or active steering of orchard supervisor；As long as reaching tumble pre-warning time or vehicle transverse load Any index in the rate of transform, just shows that vehicle has the tendency of overturning, control system is alarmed at once, prevents accident.
Tumble running status of the pre-warning time by current orchard supervisor, including vehicle angle of heel, angle of heel initial velocity Orchard supervisor is calculated with roll angle acceleration to tumble pre-warning time, is calculated according to formula (1)：
Wherein, φlimFor orchard supervisor angle of heel critical value, φ0For orchard supervisor angle of heel initial value,For fruit Garden supervisor angle of heel initial velocity,For orchard supervisor roll angle acceleration, t tumbles pre-warning time value for orchard supervisor. Vehicle angle of heel, angle of heel initial velocity and roll angle acceleration are measured by each sensor.φlimAccording to orchard supervisor Actual anti-tipping ability is previously set.
The vehicle transverse load rate of transform is calculated by formula (2)：
Wherein, LTR is the transverse load rate of transform, FriAnd FliVertical load on respectively i-th axletree or so tire, n For axletree sum.2 sensors are installed on every axletree.
As LTR=0, represent that both sides tire force is equal, now orchard supervisor is in most stable of running status, when During LTR=± 1, represent that wherein single wheel all leaves road surface, unstability occurs for orchard supervisor, and LTR values are bigger to be represented The stability of orchard supervisor is poorer.
The preferable case study on implementation of the present invention is the foregoing is only, is not intended to limit the invention, all spirit in the present invention Within principle, any modifications, equivalent substitutions and improvements made etc. should be included within the scope of the present invention.

Claims (2)

1. a kind of pre-alarming control system of tumbling for orchard supervisor, it is characterised in that including detection of platform module, tumble and sentence Disconnected control module and anti-tipping warning module；
The detection of platform module includes velocity sensor, obliquity sensor, acceleration transducer and pressure sensor；Platform is examined Survey the motion state that module is used to obtain orchard supervisor；Described velocity sensor, obliquity sensor and acceleration transducer In the frame of existing orchard supervisor；Described pressure sensor is arranged on the tire of orchard supervisor；Described Velocity sensor, obliquity sensor, acceleration transducer and pressure sensor are respectively used to determine the advance speed of orchard supervisor Degree, vehicle angle of heel, roll angle acceleration and tire pressure；
Described tumble judges control module for single-chip microcomputer；Single-chip microcomputer respectively with velocity sensor, obliquity sensor, acceleration sensing Device, pressure sensor connection；The control that is stored with single-chip microcomputer is tumbled the control program of early warning, and content includes shifting transverse load The early warning of rate and the early warning for pre-warning time of tumbling；The early warning of the vehicle transverse load rate of transform is to utilize left side tire and right side tire Vertical load difference and the ratio of the vertical full payload of orchard supervisor that is born of tire judged, in active steering process In simultaneously carry out active brake；Pre-warning time of tumbling is to utilize vehicle angle of heel, rolls angular rate of change and roll angle acceleration, sentences Time required for the disconnected critical angle of heel reached corresponding to critical rollover conditions；
The anti-tipping warning module includes warning system and supervisor start stop switch；Described warning system include buzzer and Alarm lamp；Described orchard supervisor start stop switch, buzzer and alarm lamp is connected with single-chip microcomputer respectively.
2. a kind of pre-warning and control method of tumbling for orchard supervisor as claimed in claim 1, it is characterised in that step is such as Under：
The single-chip computer control system obtains orchard supervisor angle of inclination, orchard using obliquity sensor, acceleration transducer Supervisor angle of heel initial velocity and orchard supervisor roll acceleration, calculate pre-warning time of tumbling, while monolithic by formula (1) Machine control system detects tire pressure value using pressure sensor, calculates the vehicle transverse load rate of transform by formula (2), will incline Turn over pre-warning time and be set to first anti-tipping index, regard the vehicle transverse load rate of transform as second anti-tipping finger Mark；When pre-warning time of tumbling is more than pre-warning time setting value, the pre-warning time setting value is according to the reality of orchard supervisor Anti-tipping ability is determined in advance；Or when the absolute value of the vehicle transverse load rate of transform is more than rate of transform setting value, single-chip microcomputer Control system controls buzzer buzzing and the alarm lamp flicker orchard supervisor start stop switch of single-chip computer control system control simultaneously, real The active brake or active steering of existing orchard management platform；As long as reaching in tumble pre-warning time or the vehicle transverse load rate of transform Any index, just shows that whole machine has the tendency of overturning, control system is alarmed at once, prevents accident；
φ lim = φ 0 + φ · 0 t + 1 2 φ ·· c 0 t 2 - - - ( 1 )
Wherein, φlimFor orchard supervisor angle of heel critical value, φ0For orchard supervisor angle of heel initial value,For orchard management Pusher side inclination angle initial velocity,For orchard supervisor roll angle acceleration, t tumbles pre-warning time value for orchard supervisor；Vehicle side Inclination angle, angle of heel initial velocity and roll angle acceleration are measured by each sensor；φlimIt is anti-according to the reality of orchard supervisor The ability of tumbling is previously set；
L T R = Σ i = 1 n ( F r i - F l i ) Σ i = 1 n ( F r i + F l i ) - - - ( 2 )
Wherein, LTR is the transverse load rate of transform, FriAnd FliVertical load on respectively i-th axletree or so tire, n is car Axle sum；2 sensors are installed on every axletree；
As LTR=0, represent that both sides tire force is equal, now orchard supervisor is in most stable of running status, works as LTR When=± 1, represent that wherein single wheel all leaves road surface, unstability occurs for orchard supervisor, and LTR values are bigger to represent orchard The stability of supervisor is poorer.
CN201710305831.3A 2017-05-03 2017-05-03 A kind of tumble pre-alarming control system and control method for orchard supervisor Pending CN106956660A (en)

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Cited By (1)

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CN108162955A (en) * 2017-12-28 2018-06-15 长沙理工大学 A kind of vehicle active anti-rollover control system and method with time lag compensation

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CN105557669A (en) * 2015-12-22 2016-05-11 中国农业大学 Side-tilting prewarning method and system for chemical spraying machine

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Publication number Priority date Publication date Assignee Title
JP2007106257A (en) * 2005-10-13 2007-04-26 Toyota Motor Corp Method and device for controlling suspension for vehicle
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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN108162955A (en) * 2017-12-28 2018-06-15 长沙理工大学 A kind of vehicle active anti-rollover control system and method with time lag compensation
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