CN108058753A - A kind of adaptive levelling control system of mountainous region crawler tractor based on monocular vision - Google Patents
A kind of adaptive levelling control system of mountainous region crawler tractor based on monocular vision Download PDFInfo
- Publication number
- CN108058753A CN108058753A CN201711325379.3A CN201711325379A CN108058753A CN 108058753 A CN108058753 A CN 108058753A CN 201711325379 A CN201711325379 A CN 201711325379A CN 108058753 A CN108058753 A CN 108058753A
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- China
- Prior art keywords
- leveling
- tractor
- mountainous region
- crawler tractor
- region crawler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/08—Tractors having means for preventing overturning or tipping
- B62D49/085—Counterweight
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Geometry (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Road Repair (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of adaptive levelling control systems of mountainous region crawler tractor based on monocular vision, it is made of video camera, image processor, leveling controller and leveling actuator, the leveling actuator is the attitude-adjusting system of mountainous region crawler tractor, is made of solenoid directional control valve and hydraulic cylinder.The system can pass through the video camera, image processor and leveling controller, attitude angle information of the mountainous region crawler tractor in hillside fields contour operation is independently converted to the movable information of the leveling actuator, and control its action, further to adjust the lateral attitude angle of tractor so that its body can adapt to the variation of slope transverse direction ramp angles and remain horizontal automatically.The system can be used for pose adjustment self adaptive control of the mountainous region crawler tractor in hillside fields contour operation, highly practical, there is stronger popularization and application value.
Description
Technical field
The invention belongs to technical field of agricultural machinery control more particularly to a kind of mountainous region crawler belt based on monocular vision to draw
The adaptive levelling control system of machine.
Background technology
With the development of China's hilly land agriculture mechanization, Hills are more next for the demand of mountainous region crawler tractor
More urgent, all kinds of crawler tractors suitable for hilly and mountainous land working environment emerge in an endless stream.
Hilly and mountainous land crawler tractor is commonly used for the contour operation on horizontal ramp, therefore to it in slope
Lateral stability requirement is high.Its lateral stability in slope is mostly improved using hydraulic pressure difference high-tech at this stage, it is main
Principle is to make tractor body holding on horizontal ramp horizontal using hydraulic leveling mechanism.However current hydraulic leveling process
Mostly manually or remote control, mountainous region crawler tractor in itself can not according to ramp angles and the autonomous leveling of itself posture, with
Body is made to remain horizontal on horizontal ramp.
For above-mentioned present situation and actual demand, it is necessary to which to design a kind of mountainous region crawler tractor based on monocular vision adaptive
Levelling control system, for pose adjustment self adaptive control of the mountainous region crawler tractor in contour traveling or operation so that
Its body can adapt to the variation of horizontal ramp angles automatically and remain horizontal.
The content of the invention
It is adaptive that the technical problems to be solved by the invention are to provide a kind of mountainous region crawler tractor based on monocular vision
Levelling control system, the control system can be pose adjustment of the mountainous region crawler tractor in hillside fields contour traveling or operation
Self adaptive control provides theoretical foundation.
The technical solution adopted in the present invention is：A kind of mountainous region crawler tractor pose adjustment adaptive control system
It is made of video camera, image processor, leveling controller and leveling actuator.
The leveling actuator is the attitude-adjusting system of mountainous region crawler tractor, by solenoid directional control valve and hydraulic cylinder structure
Into including left side solenoid directional control valve, left side hydraulic cylinder, right side solenoid directional control valve and right side hydraulic cylinder.
The video camera is mounted on tractor forepart, and camera lens are directed toward the front of tractor travel direction always.
Video camera shoots to obtain headstock forward image of the mountainous region crawler tractor in hillside fields contour traveling or operation, raw
Into picture signal, and pass to image processor.Image processor handles it and is analyzed and generates lateral attitude angle number
It is believed that number and pass to leveling controller.Solenoid directional control valve in leveling actuator carries out certain time according to leveling control signal
Connection forward or backwards, and further control hydraulic cylinder piston rod stretch, to realize posture of the tractor in horizontal slope
Adjust function.
The invention has the advantages that the adaptive levelling control system of mountainous region crawler tractor based on monocular vision is somebody's turn to do,
Available for pose adjustment self adaptive control of the mountainous region crawler tractor in hillside fields contour operation so that its body can be automatic
It adapts to the variation of horizontal ramp angles and remains horizontal, to improve the stability of tractor.The present invention it is highly practical, have compared with
Strong popularization and application value.
Description of the drawings
Fig. 1 is a kind of adaptive levelling control system of mountainous region crawler tractor based on monocular vision provided by the invention
Structure diagram；
Fig. 2 is the structure diagram of leveling actuator provided by the invention；
Fig. 3 is camera installation locations schematic diagram of the present invention；
Fig. 4 is the picture signal schematic diagram of video camera shooting of the present invention；
In figure：1. video camera, 2. image processors, 3. leveling controllers, 4. leveling actuators, 4-1. left sides solenoid directional control valve,
Hydraulic cylinder on the left of 4-2., 4-3. right sides solenoid directional control valve, 4-4. right sides hydraulic cylinder.
Specific embodiment
The present invention provides a kind of adaptive levelling control systems of mountainous region crawler tractor based on monocular vision, can be used for
Pose adjustment self adaptive control of the mountainous region crawler tractor in hillside fields contour operation so that its body can adapt to horizontal stroke automatically
Remain horizontal to the variation of ramp angles, to improve the stability of tractor.
Fig. 1 show the structure diagram of the adaptive levelling control system of mountainous region crawler tractor based on monocular vision.
The adaptive levelling control system of mountainous region crawler tractor based on monocular vision is by video camera（1）, image processor（2）, adjust
Flat controller（3）And leveling actuator（4）Composition.
Fig. 2 show the leveling actuator（4）Structure diagram, the leveling actuator（4）It is drawn for mountainous region crawler belt
The attitude-adjusting system of machine, is made of solenoid directional control valve and hydraulic cylinder, including left side solenoid directional control valve（4-1）, left side hydraulic cylinder
（4-2）, right side solenoid directional control valve（4-3）With right side hydraulic cylinder（4-4）.
It is the video camera described in Fig. 3（1）Schematic view of the mounting position.The video camera（1）Mounted on tractor forepart,
Camera lens should be directed toward the front of tractor travel direction always.
The video camera（1）For shooting mountainous region crawler tractor in front of the headstock in hillside fields contour traveling or operation
Image, while picture signal is generated, and the signal is passed into image processor（2）.
Fig. 4 show the video camera（1）The picture signal schematic diagram taken, AC and BD is respectively the side of image in figure
Boundary, dash area represent ground, and EF is ground border.
When picture signal is transferred to image processor（2）Afterwards, image processor（2）It is handled and is analyzed, respectively
Calculate the ratio of EC and FD in AC and BD, i.e. η1=EC/FD, η2=AC/BD, and according to η1And η2Generate lateral attitude angle number
It is believed that number and pass to leveling controller（3）.
Leveling controller（3）To η1And η2It is compared.
Define left side as described below first and right side be respectively mountainous region crawler tractor travel direction left side and right side.
Work as η1=η2When, illustrate that tractor body is in horizontality, be not required to carry out leveling, such as Fig. 4（a）It is shown, then leveling
Controller（3）Without being further processed；
Work as η1>η2When, illustrate that tractor needs carry out left side leveling, such as Fig. 4（b）It is shown, then leveling controller（3）Further root
According to η1And η2Calculate the required left side hydraulic cylinder of side leveling（4-2）The stroke of piston rod, and further according to system pressure
The parameters such as power and flow calculate left side solenoid directional control valve（4-1）The time connected forward or backwards, while generate leveling control
Signal is transferred to leveling actuator（4）.Leveling actuator（4）In left side solenoid directional control valve（4-1）According to leveling control signal
Carry out the connection forward or backwards of certain time, and further control left side hydraulic cylinder（4-2）Stretching for piston rod, is dragged with realizing
Left side levelling function of the machine drawing on horizontal ramp；
Work as η1<η2When, illustrate that tractor needs carry out right side leveling, such as Fig. 4（c）It is shown, then leveling controller（3）Further root
According to η1And η2Calculate the required right side hydraulic cylinder of side leveling（4-4）The stroke of piston rod, and further according to system pressure
The parameters such as power and flow calculate right side solenoid directional control valve（4-3）The time connected forward or backwards, while generate leveling control
Signal is transferred to leveling actuator（4）.Leveling actuator（4）In right side solenoid directional control valve（4-3）According to leveling control signal
Carry out the connection forward or backwards of certain time, and further control right side hydraulic cylinder（4-4）Stretching for piston rod, is dragged with realizing
Right side levelling function of the machine drawing on horizontal ramp.
Aforementioned process is a control loop, when tractor lateral attitude changes, then again by image processor（2）Into
Row image procossing, and enter next control loop.
The structure ＆ working mechanism of the present invention is explained with specific embodiment above, the invention is not limited in above realities
Example is applied, according to above-mentioned description, all any modification, equivalent replacement and improvements made on spirit of the invention with principle
Deng should all be included in the protection scope of the present invention.
Claims (1)
1. a kind of adaptive levelling control system of mountainous region crawler tractor based on monocular vision, including video camera, image procossing
Device, leveling controller and leveling actuator, it is characterised in that：
The video camera is mounted on tractor forepart, and camera lens are directed toward the front of tractor travel direction always；
Headstock forward image of the video camera shooting mountainous region crawler tractor in hillside fields contour traveling or operation, it is raw simultaneously
Image processor is passed into picture signal, and by the signal；Image processor handles it and is analyzed and generates transverse direction
Attitude angle data signal simultaneously passes to leveling controller；
The leveling controller further calculates the required hydraulic cylinder of pose adjustment according to lateral attitude angular data signal and lives
Stopper rod stroke, and further according to system pressure and flow when parameters calculate that solenoid directional control valve connects forward or backwards
Between, while leveling control signal is generated, it is transferred to leveling actuator；
The leveling actuator is the attitude-adjusting system of mountainous region crawler tractor, is made of solenoid directional control valve and hydraulic cylinder, is wrapped
Include left side solenoid directional control valve, left side hydraulic cylinder, right side solenoid directional control valve and right side hydraulic cylinder；
Solenoid directional control valve in the leveling actuator carries out the connection forward or backwards of certain time according to leveling control signal,
And further control hydraulic cylinder piston rod stretches, to realize pose adjustment function of the tractor in horizontal slope；
Aforementioned process is a control loop, when tractor lateral attitude changes, then carries out image by image processor again
Processing, and enter next control loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711325379.3A CN108058753A (en) | 2017-12-13 | 2017-12-13 | A kind of adaptive levelling control system of mountainous region crawler tractor based on monocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711325379.3A CN108058753A (en) | 2017-12-13 | 2017-12-13 | A kind of adaptive levelling control system of mountainous region crawler tractor based on monocular vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108058753A true CN108058753A (en) | 2018-05-22 |
Family
ID=62138329
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711325379.3A Pending CN108058753A (en) | 2017-12-13 | 2017-12-13 | A kind of adaptive levelling control system of mountainous region crawler tractor based on monocular vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108058753A (en) |
-
2017
- 2017-12-13 CN CN201711325379.3A patent/CN108058753A/en active Pending
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180522 |
|
| WD01 | Invention patent application deemed withdrawn after publication |