CN108422825A - Agri-vehicle job platform pre-detection active leveling system and leveling method - Google Patents
Agri-vehicle job platform pre-detection active leveling system and leveling method Download PDFInfo
- Publication number
- CN108422825A CN108422825A CN201810213676.7A CN201810213676A CN108422825A CN 108422825 A CN108422825 A CN 108422825A CN 201810213676 A CN201810213676 A CN 201810213676A CN 108422825 A CN108422825 A CN 108422825A
- Authority
- CN
- China
- Prior art keywords
- platform
- adjustment
- vehicle
- angle
- heel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
- B60G2800/204—Stationary vehicle adjusting floor height to the loading ramp level
Abstract
The present invention relates to a kind of agri-vehicle job platform pre-detection active leveling system and leveling methods, belong to vehicle platform leveling technology field.Including：Platform, candan universal joint, pedestal, vehicle body, suspension, wheel, distance measuring sensor, car body obliqueness sensor, platform obliquity sensor, platform rolls adjustment mechanism, platform aligning elevation gear, central processing unit, agri-vehicle is in operation process of walking, car body obliqueness cycle sensor reads the pitch angle and angle of heel of vehicle body, distance measuring sensor periodic synchronous measures the relative altitude information on ground in front of wheel simultaneously, calculate the pitch angle of subsequent time vehicle body, angle of heel variable quantity, it obtains under the conditions of keeping plateau levels in advance, platform rolls the straight-line displacement adjustment amount of adjustment mechanism and platform aligning elevation gear, two adjustment mechanisms complete predetermined straight-line displacement adjustment within the adjustment period, realize the pre-detection active leveling of agri-vehicle job platform in the process of walking.
Description
Technical field
The invention belongs to vehicle platform leveling technology fields, are related to a kind of agri-vehicle job platform pre-detection active leveling
System and leveling method.
Background technology
Hills, basin occupied area are more in China's proportion of crop planting land used, and agri-vehicle is in landform such as hills, basins
When upper walking operations, there is the variations of the complicated landforms such as hills, basin, and vehicle body pitch angle and angle of heel can be caused to generate larger change
The problem of change, causes the operation effectiveness of the workpiece on vehicle operation platform or vehicle body to generate larger fluctuation；Therefore, it is necessary to
Take certain leveling technology measure that the workpiece on vehicle operation platform or vehicle body is made to be protected in certain error allowable range
Water holding is flat, and to the operation quality of safeguard work component, common agri-vehicle dynamic leveling technical measures mainly have vehicle work
Two kinds of industry platform erection and vehicle attitude control.
Vehicle operation platform erection and vehicle attitude control both leveling modes can use site error leveling method, angle
Error leveling method or the leveling strategy for being based on " Discrete Plane ", no matter which kind of dynamic leveling technical measures is examined using sensor
Then the obliquity information detected is transmitted to controller and is handled by the obliquity information of measuring car job platform or vehicle body,
Executing agency is adjusted according to the result of calculation of controller, to realize the dynamic leveling of vehicle operation platform or vehicle body；With
On leveling method belong to passive leveling method, adjustment action, which is happened at after level state does not occur, has certain delay
Property, cause leveling precision low or adjustment power consumption it is big, can not detect in advance will by ground elevation information and carry out in advance
Adjustment acts, and can not achieve vehicle body pre-detection active leveling；CN106427451A discloses a kind of farm power chassis leveling system
System and leveling method calculate each suspension adjustment amount of subsequent time to realize to vehicle body by detecting the elevation information on ground in advance
Active leveling, such method need adjust four groups of suspensions height, therefore adjust process it is more complicated, it is slow and adjustment work(
Consumption is big, is suitable for heavily loaded, slow-moving vehicle vehicle attitude control, cannot meet agri-vehicle high speed, the development trend of high-efficient homework；Cause
This, a kind of agri-vehicle job platform pre-detection active leveling system disclosure satisfy that high-speed job requirement of exploration and leveling method
It has a very important significance.
Invention content
The invention aims to provide a kind of agri-vehicle job platform pre-detection active leveling system and leveling method,
Cause vehicle body pitch angle and angle of heel to change greatly problem for the variation of the complicated landforms such as hills, basin, realizes agri-vehicle row
Walk vehicle operation platform pre-detection active leveling in operation process；By detecting ground relative altitude information in front of each wheel, meter
The variable quantity for calculating subsequent time vehicle body pitch angle, angle of heel is obtained ahead of time under the conditions of keeping vehicle operation plateau levels, puts down
The pitch angle of platform and the straight-line displacement adjustment amount for rolling angle adjusting mechanism, so as to start to adjust platform in advance for a period of time
Pitch angle, angle of heel realize the active tune of agri-vehicle vehicle operation platform in the complicated landforms walking operations such as hills, basin
It is flat.
Agri-vehicle job platform pre-detection active leveling system includes：Platform (1), candan universal joint (2), pedestal (3),
Vehicle body (4), wheel (6), distance measuring sensor (7), car body obliqueness sensor (8), platform obliquity sensor (9), is put down at suspension (5)
Platform rolls adjustment mechanism (10), platform aligning elevation gear (11), central processing unit (12), and four groups of suspensions (5) are by given axis
It is left and right symmetrically arranged on vehicle body (4) away from b and wheelspan a, four groups of suspension (5) lower parts couple with four wheels (6) respectively, four surveys
It is separately mounted on vehicle body (4), is located in front of each wheel (6) at distance s, two rotations of candan universal joint (2) away from sensor (7)
Axis Lv and Lu intersect vertically, and platform (1) is rotatablely connected with candan universal joint (2), is freely rotated around pivot center Lv, platform
(1) distance of lower surface to pivot center Lv are c, the rotation connection of pedestal (3) and candan universal joint (2), around pivot center Lu from
By rotating, the distance of pedestal (3) upper surface to pivot center Lu is d, and center line Lw is perpendicular to pivot center Lv and Lu and passes through Lv
With Lu intersection points；When platform (1) lower surface is parallel with pedestal (3) upper surface, two plan ranges be c+d, platform roll adjustment machine
Spherical surface is articulated with platform (1) lower surface and pedestal (3) upper surface respectively at structure (10) both ends, two spherical surface hinge joint lines be located at Lw and
In the plane that Lu is formed, two spherical surface hinge joint lines are parallel to Lw and are e with Lw distances；When platform (1) lower surface and pedestal
(3) when upper surface is parallel, spherical surface is articulated with platform (1) lower surface and pedestal (3) respectively at platform aligning elevation gear (11) both ends
Upper surface, two spherical surface hinge joint lines are located in the plane that Lw and Lv is formed, and two spherical surface hinge joint lines are parallel to Lw and and Lw
Distance is e；Platform (1) rolls adjustment mechanism (10) by platform relative to the double freedom rotation of pedestal (3) and platform pitching adjusts
Straight-line displacement amount adjustment, the control of mechanism (11), pedestal (3) are connected on vehicle body (4), keep pivot center Lu and vehicle body (4)
Direction of advance is vertical, and car body obliqueness sensor (8) is mounted on vehicle body (4), measures the pitch angle and angle of heel of vehicle body (4), puts down
Platform obliquity sensor (9) is mounted on platform (1), the pitch angle of measuring table (1) and angle of heel residual quantity, central processing unit
(12) it is arranged on vehicle body (4), forms agri-vehicle job platform pre-detection active leveling system.
Agri-vehicle in operation process of walking the pitch angle of car body obliqueness sensor (8) periodic reading vehicle body (4) and
Angle of heel, while distance measuring sensor (7) periodic synchronous measures the relative altitude information on ground at s in front of wheel (6), by wheel
(6) relative altitude information, the structural parameters in conjunction with vehicle body (4) and suspension (5) compatible deformation principle on front ground, by centre
Reason device (12) calculates the pitch angle of subsequent time vehicle body, angle of heel variable quantity, obtains keeping platform (1) level conditions in advance
Under, platform roll the straight-line displacement adjustment amounts of adjustment mechanism (10) and platform aligning elevation gear (11), two adjustment mechanisms exist
It adjusts and completes predetermined straight-line displacement adjustment in the period, realize the pre-detection master of agri-vehicle platform (1) in operation process of walking
Dynamic leveling；Pitch angle, the angle of heel residual quantity that leveling rear platform (1) is obtained by high-precision platform obliquity sensor (9), are used as
The offset of next adjustment two adjustment mechanism straight-line displacement adjustment amounts of period；Since the opposite of vehicle front ground can be detected
Elevation information, and drive each adjustment mechanism to complete adjustment process, agri-vehicle job platform pre-detection master according to calculation amount in advance
The active leveling of agri-vehicle vehicle operation platform in hills, basin walking operations may be implemented in dynamic leveling system.
The platform rolls adjustment mechanism (10) and platform aligning elevation gear (11) is all straight-line displacement adjustment, control
Mechanism selects linear servo-actuator to realize straight-line displacement adjustment, control, is applied to high-precision, high response speed platform erection；Choosing
Straight-line displacement adjustment, control are realized with servo electric jar, are applied to high speed, high accuracy platform leveling；Electric pushrod is selected to realize
Straight-line displacement adjustment, control are applied to the not high platform erection of control accuracy requirement；Servo hydraulic cylinder is selected to realize straight-line displacement
Adjustment, control are applied to heavily loaded platform erection；Platform (1) pitch angle, angle of heel dynamic regulation can be achieved.
Agri-vehicle job platform pre-detection active leveling method includes：
Step 1：System start-up initialisation
Initialization system parameter：The wheelbase of vehicle chassis is b, wheelspan a, and distance measuring sensor is arranged in distance s in front of wheel
F of the place positioned at vehicle body1、F2、F3、F4Point, F1F2=F3F4=a, F1F4=F2F3=b, the walking operations speed v of vehicle, ranging week
Phase T=s/v, adjustment platform pitch angle, angle of heel are 0 °；
Step 2：Sensor reads metrical information
The j moment reads 4 measured values of distance measuring sensorRead the pitching of car body obliqueness sensor
AngleAngle of heelThe pitch angle of reading platform obliquity sensorAnd angle of heelThe information read is transferred to center
Processor；
Step 3：Central processing unit carries out analysis calculating
(1) the relative altitude of j+1 moment each wheel center is calculated
By j moment vehicle body pitch anglesAngle of heelCalculate F1、F2、F3、F4Each point and F1Point is in vertical direction relative altitude
Difference, respectively：
ΔH1=0,J+1 moment each wheel center is calculated to arrive
F1The distance of horizontal plane is where point：It obtains in j+1 moment each wheel
The relative altitude of the heart is：
(2) j+1 moment vehicle bodies pitch angle, angle of heel are calculated
According to compatible deformation principle, setting x, y are respectively the deflection for corresponding to suspension 1,3 and 2,4 the j+1 moment, are enabled Simultaneous following formula：h1-h2=h4-h3、J+1 moment vehicle bodies can be solved
Pitch angleAngle of heel
(3) the straight-line displacement adjustment amount of two adjustment mechanisms is calculated
For ensure plateau levels, platform in cycle T pitch angle, angle of heel theoretical adjustment amount be Practical adjustment amount is
Platform aligning elevation gear, platform roll straight-line displacement adjustment amount of the adjustment mechanism in cycle TFor
Step 4：Two adjustment mechanisms complete adjustment action
In cycle T, the adjustment of platform aligning elevation gearPlatform rolls adjustment mechanism adjustmentIt carries out in next step；
Step 5：Judge whether to continue leveling
It then enables j=j+1 repeat step 2 to continue leveling, continue next leveling period, otherwise terminate leveling.
The beneficial effects of the present invention are agri-vehicle is in operation process of walking, by detecting ground in front of each wheel
Relative altitude information calculates the variable quantity of subsequent time vehicle body pitch angle, angle of heel, is obtained ahead of time and is keeping vehicle operation flat
Under platform level conditions, the straight-line displacement adjustment amount of two adjustment mechanisms, so as to start to adjust platform in advance for a period of time
Pitch angle, angle of heel realize agri-vehicle vehicle operation platform in the complicated landforms high speed walking operations such as hills, basin
Active leveling.Meet agri-vehicle in the plant protection of hills basin, harvest, transport high speed job requirements, improves the agriculture of hills basin
With the operation quality and application range of vehicle；This set pre-detection actively adjusts plateform system to be realized using existing mature technology, system
Operation principle and the carrier relevance of platform be not strong, therefore other than meeting agri-vehicle use, applies also for other vehicles
Platform erection.
Description of the drawings
Fig. 1 is agri-vehicle job platform pre-detection active leveling system schematic diagram；
Fig. 2 is distance measuring sensor arrangement figure in agri-vehicle job platform pre-detection active leveling system；
Fig. 3 is agri-vehicle job platform pre-detection active leveling system flow chart；
Wherein, 1：Platform；2：Candan universal joint；3：Pedestal；4：Vehicle body；5：Suspension；6：Wheel；7：Distance measuring sensor；8：
Car body obliqueness sensor；9：Platform obliquity sensor；10：Platform rolls adjustment mechanism；11：Platform aligning elevation gear；12:In
Central processor.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.
Agri-vehicle job platform pre-detection active leveling system schematic diagram shown in FIG. 1, agri-vehicle job platform are pre-
Detecting active leveling system includes：Platform (1), pedestal (3), vehicle body (4), suspension (5), wheel (6), is surveyed candan universal joint (2)
Adjustment mechanism (10), platform pitching are rolled away from sensor (7), car body obliqueness sensor (8), platform obliquity sensor (9), platform
Adjustment mechanism (11), central processing unit (12), four groups of suspensions (5) are left and right symmetrically arranged by given wheelbase b and wheelspan a in vehicle body
(4) on, four groups of suspension (5) lower parts couple respectively with four wheels (6), four distance measuring sensors (7) are separately mounted to vehicle body (4)
Above, it is located in front of each wheel (6) at distance s, is located at the F of vehicle body1、F2、F3、F4Point (as shown in Figure 2), in order to ensure that ranging passes
Sensor is not influenced when measuring ground relative altitude information by wheel, ensures r<s<b-2r；Two rotation axis of candan universal joint (2)
Line Lv and Lu intersect vertically, and platform (1) is rotatablely connected with candan universal joint (2), is freely rotated around pivot center Lv, platform (1)
The distance of lower surface to pivot center Lv are c, and pedestal (3) freely turns with candan universal joint (2) rotation connection, around pivot center Lu
Dynamic, the distance of pedestal (3) upper surface to pivot center Lu is d, and center line Lw is perpendicular to pivot center Lv and Lu and passes through Lv and Lu
Intersection point；When platform (1) lower surface is parallel with pedestal (3) upper surface, two plan ranges be c+d, platform roll adjustment mechanism
(10) spherical surface is articulated with platform (1) lower surface and pedestal (3) upper surface respectively at both ends, and two spherical surface hinge joint lines are located at Lw and Lu
In the plane of formation, two spherical surface hinge joint lines are parallel to Lw and are e with Lw distances；When platform (1) lower surface and pedestal (3)
When upper surface is parallel, spherical surface is articulated with platform (1) lower surface and pedestal (3) upper table respectively at platform aligning elevation gear (11) both ends
Face, two spherical surface hinge joint lines are located in the plane that Lw and Lv are formed, two spherical surface hinge joint lines be parallel to Lw and with Lw distances
For e；Platform (1) rolls adjustment mechanism (10) and platform aligning elevation gear relative to the double freedom rotation of pedestal (3) by platform
(11) straight-line displacement amount adjustment, control by control platform aligning elevation gear (11), roll the flexible of adjustment mechanism (10)
Pitch angle, the angle of heel of platform (1) can be adjusted separately, pedestal (3) is connected on vehicle body (4), keeps pivot center Lu and vehicle
Body (4) direction of advance is vertical, and car body obliqueness sensor (8) is mounted on vehicle body (4), measures pitch angle and the inclination of vehicle body (4)
Angle, platform obliquity sensor (9) is mounted on platform (1), the pitch angle of measuring table (1) and angle of heel residual quantity and vehicle body
Obliquity sensor (8) compares the measurement accuracy higher of platform obliquity sensor (9), and central processing unit (12) is arranged in vehicle body
(4) on, agri-vehicle job platform pre-detection active leveling system is formed.
Agri-vehicle in operation process of walking the pitch angle of car body obliqueness sensor (8) periodic reading vehicle body (4) and
Angle of heel, while distance measuring sensor (7) periodic synchronous measures the relative altitude information on ground at s in front of wheel (6), by wheel
(6) relative altitude information, the structural parameters in conjunction with vehicle body (4) and suspension (5) compatible deformation principle on front ground, by centre
Reason device (12) calculates the pitch angle of subsequent time vehicle body, angle of heel variable quantity, obtains keeping platform (1) level conditions in advance
Under, platform roll the straight-line displacement adjustment amounts of adjustment mechanism (10) and platform aligning elevation gear (11), two adjustment mechanisms exist
It adjusts and completes predetermined straight-line displacement adjustment in the period, realize the pre-detection master of agri-vehicle platform (1) in operation process of walking
Dynamic leveling；Due to that there can be certain error during adjustment, pitch angle, the angle of heel of the platform (1) after adjustment can be made not to be
0 °, in order to avoid the accumulation of error needs to eliminate error, within each adjustment period, by high-precision platform obliquity sensor
(9) pitch angle, the angle of heel residual quantity for obtaining leveling rear platform (1), are used as two adjustment mechanism straight line positions of next adjustment period
The offset for moving adjustment amount, to achieve the purpose that eliminate error；Since the relative altitude information on vehicle front ground can be detected,
And each adjustment mechanism is driven to complete adjustment process, agri-vehicle job platform pre-detection active leveling system according to calculation amount in advance
The active leveling of agri-vehicle vehicle operation platform in hills, basin walking operations may be implemented.
The platform rolls adjustment mechanism (10) and platform aligning elevation gear (11) is all straight-line displacement adjustment, control
Mechanism selects linear servo-actuator to realize straight-line displacement adjustment, control, is applied to high-precision, high response speed platform erection；Choosing
Straight-line displacement adjustment, control are realized with servo electric jar, are applied to high speed, high accuracy platform leveling；Electric pushrod is selected to realize
Straight-line displacement adjustment, control are applied to the not high platform erection of control accuracy requirement, to reduce manufacturing cost；Select servo
Hydraulic cylinder realizes straight-line displacement adjustment, control, is applied to heavily loaded platform erection；Platform (1) pitch angle can be achieved, roll angular motion
State regulates and controls, so that agri-vehicle adapts to Different Ground and operating environment.
Agri-vehicle job platform pre-detection active leveling system flow chart shown in Fig. 3, agri-vehicle job platform are pre-
Detecting active leveling method includes：
It is vehicle body (4) direction of advance to establish dextrorotation rectangular coordinate system XYZ, Y forward direction, and Z forward directions are vehicle body (4) upward direction,
Positive by the orthogonal determining X of dextrorotation, the symbol of following angle value is determined by X, Y-direction；
Step 1：System start-up initialisation
Initialization system parameter：The wheelbase of vehicle chassis is b, wheelspan a, and distance measuring sensor is arranged in distance s in front of wheel
F of the place positioned at vehicle body1、F2、F3、F4Point, F1F2=F3F4=a, F1F4=F2F3=b, the walking operations speed v of vehicle, ranging week
Phase T=s/v, adjustment platform pitch angle, angle of heel are 0 °；J=1；
Step 2：Sensor reads metrical information
The j moment reads 4 measured values of distance measuring sensorIt is relatively high that the moment ground j+1 is obtained in advance
Spend information；Read the pitch angle of car body obliqueness sensorAngle of heelThe pitch angle of reading platform obliquity sensorThe side and
Inclination angleBecauseTheoretical value be 0 °, so pitch angle leveling error isAngle of heel leveling error isIt will read
The information got is transferred to central processing unit；
Step 3：Central processing unit carries out analysis calculating
(1) the relative altitude of j+1 moment each wheel center is calculated
By j moment vehicle body pitch anglesAngle of heelCalculate F1、F2、F3、F4Each point and F1Point is in vertical direction relative altitude
Difference, respectively：
ΔH1=0,J+1 moment each wheel center is calculated to arrive
F1The distance of horizontal plane is where point：It obtains in j+1 moment each wheel
The relative altitude of the heart is：
(2) j+1 moment vehicle bodies pitch angle, angle of heel are calculated
According to compatible deformation principle, setting x, y are respectively the deflection for corresponding to suspension 1,3 and 2,4 the j+1 moment, are enabled Simultaneous following formula：h1-h2=h4-h3、J+1 moment vehicle bodies can be solved
Pitch angleAngle of heel
(3) the straight-line displacement adjustment amount of two adjustment mechanisms is calculated
From the j moment to the j+1 moment, the pitch angle variable quantity of vehicle body isAngle of heel variable quantity isPlatform theoretical adjustment amount of angle of heel in cycle T isIn the premise for keeping plateau levels
Under, the theoretical adjustment amount α of platform pitch angle in cycle TmRelational expression with Δ α, Δ β isTherefore, it is guarantor
Demonstrate,prove plateau levels, platform in cycle T pitch angle, angle of heel theoretical adjustment amount bePractical adjustment amount is αt=αm+αj p、
Platform aligning elevation gear, platform roll straight-line displacement adjustment amount of the adjustment mechanism in cycle TFor
Step 4：Two adjustment mechanisms complete adjustment action
In cycle T, the adjustment of platform aligning elevation gearPlatform rolls adjustment mechanism adjustmentIt carries out in next step；
Step 5：Judge whether to continue leveling
It then enables j=j+1 repeat step 2 to continue leveling, continue next leveling period, otherwise terminate leveling.
With reference to Cherry's PK400-B tractor chassis, experimental prototype design parameter：Wheelbase b=1966mm, wheelspan a=
1300mm, radius of wheel r=400mm, distance measuring sensor are separately mounted to be located at distance s=600mm immediately ahead of wheel on vehicle frame；
The operation of vehicle is set as spray drug operation, vehicle keeps v=10km/h linear uniform motion, sensor terrestrial information collection period
Cycle T=0.216s is adjusted with two Inclination maneuver motors.
During experiment, by detecting ground relative altitude information in front of each wheel, subsequent time vehicle body pitching is calculated
Angle, angle of heel variable quantity, be obtained ahead of time under the conditions of keeping vehicle operation plateau levels, the straight-line displacement of two adjustment mechanisms
Adjustment amount realizes agri-vehicle in hills, basin so as to start to adjust pitch angle, the angle of heel of platform in advance for a period of time
The active leveling of vehicle operation platform in the complicated landforms walking operations such as ground.There is certain leveling to make ditching machine, picking mechanical etc.
The farm machinery that industry requires has stronger use value, in addition to this it is possible to applied to some with leveling job requirements
Engineering machinery etc..
Claims (3)
1. agri-vehicle job platform pre-detection active leveling system, which is characterized in that including：Platform, candan universal joint, bottom
Seat, vehicle body, suspension, wheel, distance measuring sensor, car body obliqueness sensor, platform obliquity sensor, platform roll adjustment mechanism,
Platform aligning elevation gear, central processing unit, four groups of suspensions are left and right symmetrically arranged by given wheelbase b and wheelspan a on vehicle body,
Four groups of suspension lower parts couple with four wheels respectively, and four distance measuring sensors are separately mounted on vehicle body, are located in front of each wheel
At distance s, two pivot center Lv and Lu of candan universal joint intersect vertically, and platform is rotatablely connected, with candan universal joint around rotation
Axis Lv is freely rotated, and the distance of platform lower surface to pivot center Lv is c, and pedestal is rotatablely connected with candan universal joint, rotates
Shaft line Lu is freely rotated, and the distance of base upper surface to pivot center Lu is d, center line Lw perpendicular to pivot center Lv and Lu,
And pass through Lv and Lu intersection points；When platform lower surface is parallel with base upper surface, two plan ranges be c+d, platform roll adjustment
Spherical surface is articulated with platform lower surface and base upper surface respectively at mechanism both ends, and two spherical surface hinge joint lines are located at what Lw and Lu was formed
In plane, two spherical surface hinge joint lines are parallel to Lw and are e with Lw distances；When platform lower surface is parallel with base upper surface,
Spherical surface is articulated with platform lower surface and base upper surface respectively at platform aligning elevation gear both ends, and two spherical surface hinge joint lines are located at
In the plane that Lw and Lv is formed, two spherical surface hinge joint lines are parallel to Lw and are e with Lw distances；Platform with respect to pedestal it is double from
Straight-line displacement amount adjustment, the control of adjustment mechanism and platform aligning elevation gear are rolled by platform by degree rotation, pedestal is connected in
On vehicle body, keep pivot center Lu vertical with vehicle body direction of advance, car body obliqueness sensor is mounted on vehicle body, measures vehicle body
Pitch angle and angle of heel, platform obliquity sensor is mounted on platform, the pitch angle of measuring table and angle of heel residual quantity, center
Processor is arranged on vehicle body；
Agri-vehicle is in operation process of walking：Car body obliqueness cycle sensor reads the pitch angle and angle of heel of vehicle body, together
When distance measuring sensor periodic synchronous measure wheel in front of s place ground relative altitude information, by wheel front ground it is opposite
Elevation information, the structural parameters in conjunction with vehicle body and suspension compatible deformation principle, subsequent time vehicle body is calculated by central processing unit
Pitch angle, angle of heel variable quantity, obtain in advance under the conditions of keeping plateau levels, platform inclination adjustment mechanism and platform pitching
The straight-line displacement adjustment amount of adjustment mechanism, two adjustment mechanisms complete predetermined straight-line displacement adjustment within the adjustment period, realize agriculture
With the pre-detection active leveling of vehicle platform in operation process of walking；After leveling being obtained by high-precision platform obliquity sensor
The pitch angle of platform, angle of heel residual quantity are used as the offset of next adjustment two adjustment mechanism straight-line displacement adjustment amounts of period.
2. platform inclination adjustment mechanism according to claim 1 and platform aligning elevation gear, which are all straight-line displacement, to be adjusted,
Control mechanism selects linear servo-actuator, servo electric jar, electric pushrod or servo hydraulic cylinder that straight-line displacement tune can be achieved
Whole, control.
3. agri-vehicle job platform pre-detection active leveling method, which is characterized in that include the following steps：
Step 1：System start-up initialisation
Initialization system parameter：The wheelbase of vehicle chassis is b, wheelspan a, and distance measuring sensor is arranged in front of wheel position at distance s
In the F of vehicle body1、F2、F3、F4Point, F1F2=F3F4=a, F1F4=F2F3=b, the walking operations speed v of vehicle, ranging cycle T=
S/v, adjustment platform pitch angle, angle of heel are 0 °；
Step 2：Sensor reads metrical information
The j moment reads 4 measured values of distance measuring sensorRead the pitch angle of car body obliqueness sensor
Angle of heelThe pitch angle of reading platform obliquity sensorAnd angle of heelThe information read is transferred to central processing
Device；
Step 3：Central processing unit carries out analysis calculating
(1) the relative altitude of j+1 moment each wheel center is calculated
By j moment vehicle body pitch anglesAngle of heelCalculate F1、F2、F3、F4Each point and F1It puts in vertical direction relative height differential,
Respectively：ΔH1=0,J+1 moment each wheel center is calculated to arrive
F1The distance of horizontal plane is where point：It obtains in j+1 moment each wheel
The relative altitude of the heart is：
(2) j+1 moment vehicle bodies pitch angle, angle of heel are calculated
According to compatible deformation principle, setting x, y are respectively the deflection for corresponding to suspension 1,3 and 2,4 the j+1 moment, are enabled Simultaneous following formula：h1-h2=h4-h3、J+1 moment vehicle bodies can be solved
Pitch angleAngle of heel
(3) the straight-line displacement adjustment amount of two adjustment mechanisms is calculated
For ensure plateau levels, platform in cycle T pitch angle, angle of heel theoretical adjustment amount be Practical adjustment amount is
Platform aligning elevation gear, platform roll straight-line displacement adjustment amount of the adjustment mechanism in cycle T For
Step 4：Two adjustment mechanisms complete adjustment action
In cycle T, the adjustment of platform aligning elevation gearPlatform rolls adjustment mechanism adjustmentIt carries out in next step；
Step 5：Judge whether to continue leveling
It then enables j=j+1 repeat step 2 to continue leveling, continue next leveling period, otherwise terminate leveling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810213676.7A CN108422825B (en) | 2018-03-15 | 2018-03-15 | Pre-detection active leveling system and method for agricultural vehicle operation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810213676.7A CN108422825B (en) | 2018-03-15 | 2018-03-15 | Pre-detection active leveling system and method for agricultural vehicle operation platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108422825A true CN108422825A (en) | 2018-08-21 |
| CN108422825B CN108422825B (en) | 2020-07-24 |
Family
ID=63158703
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810213676.7A Active CN108422825B (en) | 2018-03-15 | 2018-03-15 | Pre-detection active leveling system and method for agricultural vehicle operation platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108422825B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109203901A (en) * | 2018-11-10 | 2019-01-15 | 石河子大学 | It is a kind of it is adjustable inclination and pitch angle suspension system high-clearance vehicle and its working method |
| CN110238093A (en) * | 2019-06-20 | 2019-09-17 | 内蒙古大学 | A kind of cleaning device and its application method for solar panel |
| CN110514229A (en) * | 2019-09-25 | 2019-11-29 | 哈工大机器人（合肥）国际创新研究院 | A kind of level device and leveling method measuring instrument of surveying and mapping |
| CN114486216A (en) * | 2022-01-12 | 2022-05-13 | 北京航天控制仪器研究所 | Test and evaluation method of dynamic automatic leveling device |
| CN114604325A (en) * | 2022-03-15 | 2022-06-10 | 江苏英拓动力科技有限公司 | Auxiliary leveling mechanism for whole vehicle control system of unmanned crawler vehicle carrying platform |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030060906A1 (en) * | 2001-09-25 | 2003-03-27 | Kim Boo Y. | Vehicle actuator remote control system |
| DE102004021943A1 (en) * | 2004-05-04 | 2005-12-01 | Adam Opel Ag | Motor vehicle suspension, has level control system controlling spatial adjustment of body in dynamic drive operation so that its air resistance is minimized, and control device processing signal from fuel consumption sensor |
| CN102623358A (en) * | 2012-03-27 | 2012-08-01 | 华中科技大学 | Rotationally decoupling two-degree freedom leveling mechanism |
| CN102929295A (en) * | 2012-11-08 | 2013-02-13 | 中国地质大学（武汉） | Automatic leveling control device based on single chip microcomputer (SCM) |
| CN103182916A (en) * | 2011-12-28 | 2013-07-03 | 长春孔辉汽车科技有限公司 | Leveling device and method for hydro-pneumatic suspension of multi-axle vehicle |
| CN104648072A (en) * | 2014-12-18 | 2015-05-27 | 无锡伊诺永利文化创意有限公司 | Leveling device for traveling mechanism |
| EP3045936A1 (en) * | 2015-01-13 | 2016-07-20 | XenomatiX BVBA | Surround sensing system with telecentric optics |
| CN106004312A (en) * | 2016-06-28 | 2016-10-12 | 苏州斯锐奇机器人有限公司 | Stable mobile platform of indoor service robot |
| CN106427451A (en) * | 2016-09-26 | 2017-02-22 | 中国农业大学 | Leveling system and leveling method for agricultural power chassis |
| CN106737455A (en) * | 2016-11-22 | 2017-05-31 | 上海电机学院 | Self-leveling carrying workbench peculiar to vessel |
| CN107031331A (en) * | 2016-02-03 | 2017-08-11 | 福特全球技术公司 | Cross the abnormality detection system and method for road |
| CN107303791A (en) * | 2016-04-21 | 2017-10-31 | 山东科技大学 | A kind of vehicle active suspension vehicle body attitude control system |
| CN107351613A (en) * | 2017-05-22 | 2017-11-17 | 昆明理工大学 | A kind of adaptive leveling running gear |
| CN207059675U (en) * | 2017-06-07 | 2018-03-02 | 四川农业大学 | A kind of electronic screw mandrel levelling device |
-
2018
- 2018-03-15 CN CN201810213676.7A patent/CN108422825B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030060906A1 (en) * | 2001-09-25 | 2003-03-27 | Kim Boo Y. | Vehicle actuator remote control system |
| DE102004021943A1 (en) * | 2004-05-04 | 2005-12-01 | Adam Opel Ag | Motor vehicle suspension, has level control system controlling spatial adjustment of body in dynamic drive operation so that its air resistance is minimized, and control device processing signal from fuel consumption sensor |
| CN103182916A (en) * | 2011-12-28 | 2013-07-03 | 长春孔辉汽车科技有限公司 | Leveling device and method for hydro-pneumatic suspension of multi-axle vehicle |
| CN102623358A (en) * | 2012-03-27 | 2012-08-01 | 华中科技大学 | Rotationally decoupling two-degree freedom leveling mechanism |
| CN102929295A (en) * | 2012-11-08 | 2013-02-13 | 中国地质大学（武汉） | Automatic leveling control device based on single chip microcomputer (SCM) |
| CN104648072A (en) * | 2014-12-18 | 2015-05-27 | 无锡伊诺永利文化创意有限公司 | Leveling device for traveling mechanism |
| EP3045936A1 (en) * | 2015-01-13 | 2016-07-20 | XenomatiX BVBA | Surround sensing system with telecentric optics |
| CN107031331A (en) * | 2016-02-03 | 2017-08-11 | 福特全球技术公司 | Cross the abnormality detection system and method for road |
| CN107303791A (en) * | 2016-04-21 | 2017-10-31 | 山东科技大学 | A kind of vehicle active suspension vehicle body attitude control system |
| CN106004312A (en) * | 2016-06-28 | 2016-10-12 | 苏州斯锐奇机器人有限公司 | Stable mobile platform of indoor service robot |
| CN106427451A (en) * | 2016-09-26 | 2017-02-22 | 中国农业大学 | Leveling system and leveling method for agricultural power chassis |
| CN106737455A (en) * | 2016-11-22 | 2017-05-31 | 上海电机学院 | Self-leveling carrying workbench peculiar to vessel |
| CN107351613A (en) * | 2017-05-22 | 2017-11-17 | 昆明理工大学 | A kind of adaptive leveling running gear |
| CN207059675U (en) * | 2017-06-07 | 2018-03-02 | 四川农业大学 | A kind of electronic screw mandrel levelling device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109203901A (en) * | 2018-11-10 | 2019-01-15 | 石河子大学 | It is a kind of it is adjustable inclination and pitch angle suspension system high-clearance vehicle and its working method |
| CN110238093A (en) * | 2019-06-20 | 2019-09-17 | 内蒙古大学 | A kind of cleaning device and its application method for solar panel |
| CN110514229A (en) * | 2019-09-25 | 2019-11-29 | 哈工大机器人（合肥）国际创新研究院 | A kind of level device and leveling method measuring instrument of surveying and mapping |
| CN114486216A (en) * | 2022-01-12 | 2022-05-13 | 北京航天控制仪器研究所 | Test and evaluation method of dynamic automatic leveling device |
| CN114486216B (en) * | 2022-01-12 | 2024-03-15 | 北京航天控制仪器研究所 | Test and evaluation method for dynamic automatic leveling device |
| CN114604325A (en) * | 2022-03-15 | 2022-06-10 | 江苏英拓动力科技有限公司 | Auxiliary leveling mechanism for whole vehicle control system of unmanned crawler vehicle carrying platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108422825B (en) | 2020-07-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108422825A (en) | Agri-vehicle job platform pre-detection active leveling system and leveling method | |
| CN108363404A (en) | High-precision agri-vehicle platform pre-detection active leveling system and leveling method | |
| CN106427451B (en) | Farm power chassis leveling system and its leveling method | |
| US11375706B2 (en) | Regulating and/or control system, agricultural machine comprising such a system, and method for operating an agricultural machine | |
| CN105136058B (en) | The on-line proving device and its scaling method of laser sensing three-dimension measuring system | |
| CN103659806B (en) | A kind of industrial robot zero-position scaling method | |
| CN107380204A (en) | Orbit geometry parameter detects car and orbit geometry parameter detection method | |
| CN107144273A (en) | The indoor measurement positioning system base station posture automatic compensating method sensed based on inclination angle | |
| CN103743338B (en) | There is sphere revolution runout error and compensate laser tracking measurement system and the compensation method thereof of function | |
| CN206627632U (en) | A kind of laser head intelligent space alignment system | |
| CN100344415C (en) | Bipedal walking type moving device, and walking control device and walking control method therefor | |
| CN113228900B (en) | Seedling supplementing device and method | |
| CN107091616A (en) | Special-shaped Tunnel Lining Deformation monitoring method | |
| CN108489657A (en) | Tractor trifilar suspension Spatial distributions machine load sensing device and its working method | |
| BR102020022069A2 (en) | self-propelled and/or towed agricultural machine and method for operating it | |
| CN110333523B (en) | Track line three-dimensional data generation method for RTG automatic walking system | |
| Wang et al. | Development of an agricultural vehicle levelling system based on rapid active levelling | |
| CN108437733A (en) | High speed agri-vehicle platform pre-detection active leveling system and leveling method | |
| CN107571257B (en) | Robot control method, robot control system and robot | |
| CN206707628U (en) | Engineering machinery tilt correction system based on Big Dipper direction and location technology | |
| CN106976496A (en) | A kind of balance telescoping mechanism and the balance car comprising it | |
| CN207274715U (en) | Orbit geometry parameter detects car | |
| CN110940358A (en) | Laser radar and inertial navigation combined calibration device and calibration method | |
| CN111982018B (en) | Tracking type laser three-dimensional scanner | |
| CN112268726B (en) | Test device for detecting ground posture of header |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |