CN108422825B - Pre-detection active leveling system and method for agricultural vehicle operation platform - Google Patents
Pre-detection active leveling system and method for agricultural vehicle operation platform Download PDFInfo
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- CN108422825B CN108422825B CN201810213676.7A CN201810213676A CN108422825B CN 108422825 B CN108422825 B CN 108422825B CN 201810213676 A CN201810213676 A CN 201810213676A CN 108422825 B CN108422825 B CN 108422825B
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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Abstract
The invention relates to a pre-detection active leveling system and a pre-detection active leveling method for an agricultural vehicle operation platform, and belongs to the technical field of vehicle platform leveling. The method comprises the following steps: the agricultural vehicle comprises a platform, a cross universal joint, a base, a vehicle body, a suspension, wheels, a distance measuring sensor, a vehicle body inclination angle sensor, a platform roll adjusting mechanism, a platform pitch adjusting mechanism and a central processing unit.
Description
Technical Field
The invention belongs to the technical field of vehicle platform leveling, and relates to a pre-detection active leveling system and a leveling method for an agricultural vehicle operation platform.
Background
The occupied areas of hills and basins in the crop planting land in China are large, and when an agricultural vehicle travels on the hills, basins and other terrains, the problem that the pitch angle and the roll angle of the vehicle body are greatly changed due to the change of the complex terrains such as the hills and the basins exists, so that the operation effect of a vehicle operation platform or a working part on the vehicle body is greatly fluctuated; therefore, certain leveling technical measures need to be adopted to enable working components on a vehicle operation platform or a vehicle body to be kept horizontal within a certain error allowable range, so that the operation quality of the working components is guaranteed, and the common agricultural vehicle dynamic leveling technical measures mainly comprise two types of vehicle operation platform leveling and vehicle body leveling.
The two leveling modes of the vehicle operation platform leveling and the vehicle body leveling can adopt a position error leveling method, an angle error leveling method or a leveling strategy based on a discrete plane, no matter what dynamic leveling technical measures are that a sensor is used for detecting the inclination angle information of the vehicle operation platform or the vehicle body, then the detected inclination angle information is transmitted to a controller for processing, and an executing mechanism is used for adjusting according to the calculation result of the controller, so that the dynamic leveling of the vehicle operation platform or the vehicle body is realized; the leveling methods all belong to passive leveling methods, and the leveling action has certain delay after the uneven state occurs, so that the leveling precision is low or the adjustment power consumption is large, the height information of the ground to be passed cannot be detected in advance, the adjustment action cannot be carried out in advance, and the pre-detection active leveling of the vehicle body cannot be realized; CN106427451A discloses an agricultural power chassis leveling system and leveling method, which realizes active leveling of a vehicle body by detecting height information of the ground in advance and calculating the adjustment quantity of each suspension at the next moment, and the method needs to adjust the heights of four groups of suspensions, so that the adjustment process is complex and slow, the adjustment power consumption is large, the method is suitable for leveling the vehicle body of heavy-load and low-speed vehicles, and the development trend of high-speed and high-efficiency operation of agricultural vehicles can not be met; therefore, it is of great significance to explore a pre-detection active leveling system and a leveling method for an agricultural vehicle operation platform which can meet the high-speed operation requirement.
Disclosure of Invention
The invention aims to provide a pre-detection active leveling system and a pre-detection active leveling method for an agricultural vehicle operation platform, aiming at the problem that the pitch angle and the roll angle of a vehicle body are changed greatly due to the change of complex terrains such as hills, basins and the like, the pre-detection active leveling of the vehicle operation platform in the walking operation process of an agricultural vehicle is realized; the method comprises the steps of calculating the variation of the pitch angle and the roll angle of the vehicle body at the next moment by detecting the relative height information of the ground in front of each wheel, and obtaining the adjustment amount of the pitch angle and the roll angle of the platform and the linear displacement of the roll angle adjusting mechanism under the condition of keeping the vehicle operation platform horizontal in advance, so that the pitch angle and the roll angle of the platform can be adjusted at a certain time in advance, and the active leveling of the vehicle operation platform in the walking operation of the agricultural vehicle in complex terrains such as hills and basins is realized.
The agricultural vehicle operation platform pre-detection active leveling system comprises a platform 1, a cross universal joint 2, a base 3, a vehicle body 4, suspensions 5, wheels 6, a distance measuring sensor 7, a vehicle body inclination angle sensor 8, a platform inclination angle sensor 9, a platform side-tipping adjusting mechanism 10, a platform pitching adjusting mechanism 11 and a central processing unit 12, wherein four groups of suspensions 5 are arranged on the vehicle body 4 in a left-right symmetry mode according to a given axle distance b and a wheel distance a, the lower parts of the four groups of suspensions 5 are respectively connected with the four wheels 6, the four distance measuring sensors 7 are respectively arranged on the vehicle body 4 and positioned in front of the wheels 6 at a distance s, two rotating axes L v and L u of the cross universal joint 2 are vertically intersected, the platform 1 is rotatably connected with the cross universal joint 2 and freely rotates around a rotating axis L v, the distance from the lower surface of the platform 1 to a rotating axis L v is c, the base 3 is rotatably connected with the cross universal joint 2 and freely rotates around a rotating axis L u, the upper surface of the base 3 to a rotating axis L u is d, a central line is perpendicular to a rotating axis L v, a rotating axis 586 v, the rotating axis is perpendicular to the rotating axis of the cross universal joint, the platform 3, the platform is parallel to the platform, the upper surface of the platform 11 is parallel to the platform, the platform is parallel to the platform, the platform inclination angle measuring mechanism is parallel to the platform, the platform is parallel to the platform, the platform is parallel to the platform.
The method comprises the following steps that a vehicle body inclination angle sensor 8 periodically reads a pitch angle and a roll angle of a vehicle body 4 in the walking operation process of the agricultural vehicle, a distance measuring sensor 7 periodically and synchronously measures relative height information of the ground in front of a wheel 6 at a position s, a central processing unit 12 calculates the pitch angle and the roll angle variation of the vehicle body at the next moment according to the relative height information of the ground in front of the wheel 6, structural parameters of the vehicle body 4 and a suspension frame 5 coordinated deformation principle, linear displacement adjustment quantities of a platform roll adjusting mechanism 10 and a platform pitch adjusting mechanism 11 under the condition that a platform 1 is kept horizontal are obtained in advance, and the two adjusting mechanisms complete preset linear displacement adjustment in an adjustment period, so that the pre-detection active leveling of the platform 1 in the walking operation process of the agricultural vehicle is; the high-precision platform inclination angle sensor 9 obtains the residual quantity of the pitch angle and the roll angle of the leveled platform 1, and the residual quantity is used as a compensation value of the linear displacement adjustment quantity of the two adjustment mechanisms in the next adjustment period; the pre-detection active leveling system of the agricultural vehicle operation platform can realize active leveling of the vehicle operation platform when the agricultural vehicle travels on hills and basins.
The platform side-tipping adjusting mechanism 10 and the platform pitching adjusting mechanism 11 are both linear displacement adjusting and controlling mechanisms, a linear servo motor is selected to realize linear displacement adjustment and control, and the linear displacement adjusting and controlling mechanism is applied to leveling of a platform with high precision and high response speed; a servo electric cylinder is selected to realize linear displacement adjustment and control, and the method is applied to leveling a high-speed and high-precision platform; an electric push rod is selected to realize linear displacement adjustment and control, and the device is applied to leveling of a platform with low control precision requirement; a servo hydraulic cylinder is selected to realize linear displacement adjustment and control, and the method is applied to the leveling of a heavy-load platform; the dynamic regulation and control of the pitch angle and the roll angle of the platform 1 can be realized.
The pre-detection active leveling method for the agricultural vehicle operation platform comprises the following steps:
step 1: system start-up initialization
Setting system parameters: the wheel base of the vehicle chassis is b, the wheel base is a, and the distance measuring sensor is arrangedF at the vehicle body at a distance s in front of the wheels1、F2、F3、F4Dot, F1F2＝F3F4＝a、F1F4＝F2F3B, adjusting the pitch angle and the roll angle of the platform to be 0 degree, wherein the walking operation speed v of the vehicle is equal to s/v, the distance measurement period T is equal to s/v;
step 2: sensor reading measurement information
At time j, reading four-point measurement value of distance measuring sensor
Reading pitch angle of vehicle body inclination sensor
Roll angle
Pitch angle of reading platform tilt sensor
And roll angle
Transmitting the read information to a central processing unit;
and step 3: the central processing unit performs analysis and calculation
⑴ calculate the relative height of each wheel center at time j +1
From moment j to the pitch angle of the vehicle body
Roll angle
Calculating F1、F2、F3、F4Each point and F1The relative height difference of the points in the vertical direction is respectively as follows: Δ H1＝0，
Calculating the center of each wheel to F at time j +11The distance of the horizontal plane where the points are located is as follows:
the relative height of each wheel center at time j +1 is found to be:
⑵ calculating the pitch angle and roll angle of the car body at the moment of j +1
According to the coordinated deformation principle, the deformation quantities of the suspensions 1, 3 and 2, 4 are set when x and y are respectively j +1, and the deformation quantities are controlled to be
The following equations are associated:
h1-h2＝h4-h3、
the pitch angle of the vehicle body at the moment of j +1 can be solved
Roll angle
⑶ calculating the linear displacement adjustment of the two adjustment mechanisms
In order to ensure that the platform is horizontal, the theoretical adjustment quantity of the pitch angle and the roll angle of the platform in the period T is
The actual adjustment amount is
Linear displacement regulating quantity of platform pitching regulating mechanism and platform side-tipping regulating mechanism in period T
Is composed of
And 4, step 4: two adjusting mechanisms complete adjusting action
Within period T, the platform pitch adjustment mechanism adjusts
Adjustment of platform roll adjustment mechanism
Carrying out the next step;
and 5: judging whether to continue leveling
And if the leveling is to be continued, repeating the step 2 by j +1, and continuing the next leveling period, otherwise, ending the leveling.
The invention has the advantages that the variable quantities of the pitch angle and the roll angle of the vehicle body at the next moment are calculated by detecting the relative height information of the ground in front of each wheel in the walking process of the agricultural vehicle, and the linear displacement adjustment quantities of the two adjusting mechanisms under the condition of keeping the vehicle operation platform horizontal are obtained in advance, so that the pitch angle and the roll angle of the platform can be adjusted at a time in advance, and the active leveling of the vehicle operation platform in the complex terrain high-speed walking operation of the agricultural vehicle on hills, basins and the like is realized. The requirements of high-speed operation of the agricultural vehicle on plant protection, harvesting and transportation in the hilly basin are met, and the operation quality and the application range of the agricultural vehicle in the hilly basin are improved; the set of pre-detection active leveling platform system is realized by adopting the existing mature technology, and the working principle of the system and the relevance of a carrier of a platform are not strong, so that the system is not only suitable for agricultural vehicles, but also suitable for the platform leveling of other vehicles.
Drawings
FIG. 1 is a schematic diagram of a pre-detection active leveling system for an agricultural vehicle work platform;
FIG. 2 is a diagram of a ranging sensor arrangement in a pre-detection active leveling system of an agricultural vehicle work platform;
FIG. 3 is a flow chart of a pre-detection active leveling system for an agricultural vehicle work platform;
wherein, 1: a platform; 2: a cross universal joint; 3: a base; 4: a vehicle body; 5: a suspension; 6: a wheel; 7: a ranging sensor; 8: a vehicle body inclination angle sensor; 9: a platform tilt sensor; 10: a platform side-tipping adjustment mechanism; 11: a platform pitch adjustment mechanism; 12, a central processing unit.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
Fig. 1 shows a schematic diagram of a pre-detection active leveling system for an agricultural vehicle operation platform, the pre-detection active leveling system for the agricultural vehicle operation platform comprises: the four-wheel-type vehicle comprises a platform 1, a cross universal joint 2, a base 3, a vehicle body 4, suspensions 5, wheels 6, distance measuring sensors 7, a vehicle body inclination angle sensor 8, a platform inclination angle sensor 9, a platform side-tipping adjusting mechanism 10, a platform pitching adjusting mechanism 11 and a central processing unit 12, wherein four groups of suspensions 5 are arranged on the vehicle body 4 in a bilateral symmetry mode according to a given axle distance b and a given wheel distance a, the lower parts of the four groups of suspensions 5 are respectively connected with the four wheels 6, the four distance measuring sensors 7 are respectively arranged on the vehicle body 4 and are positioned at a distance s in front of each wheel 6 and positioned1、F2、F3、F4Point (as shown in fig. 2), to ensure that the distance measuring sensor is not influenced by the wheel when measuring the relative height information of the ground, ensure r<s<b-2r, two rotation axes L v and L u of the cross universal joint 2 are vertically crossed, the platform 1 is rotatably connected with the cross universal joint 2 and freely rotates around the rotation axis L v, the distance from the lower surface of the platform 1 to the rotation axis L v is c, the base 3 is rotatably connected with the cross universal joint 2 and rotates around the rotation axisThe line L u rotates freely, the distance from the upper surface of the base 3 to the rotation axis L u is d, the center line L w is perpendicular to the rotation axes L v and L u and passes through the intersection point of L v and L u, the distance between two planes is c + d when the lower surface of the platform 1 is parallel to the upper surface of the base 3, two ends of the platform roll adjusting mechanism 10 are respectively and spherically hinged to the lower surface of the platform 1 and the upper surface of the base 3, the connecting line of two spherical hinge points is located in the plane formed by L w and L u, the connecting line of two spherical hinge points is parallel to L w and has a distance of e from L w, when the lower surface of the platform 1 is parallel to the upper surface of the base 3, two ends of the platform pitch adjusting mechanism 11 are respectively and spherically hinged to the lower surface of the platform 1 and the upper surface of the base 3, the connecting line of two spherical hinge points is located in the plane formed by L w and L v, the connecting line of two spherical hinge points is parallel to L w and has a distance of e from L w, the platform pitch adjusting mechanism is mounted on the platform 1 and a vehicle body tilt angle measuring mechanism, the platform is mounted on the vehicle body tilt adjusting mechanism, the platform is mounted on the vehicle body tilt angle measuring mechanism, the vehicle body tilt angle measuring mechanism is mounted on the platform, the vehicle body tilt angle measuring mechanism is mounted on the.
The method comprises the following steps that a vehicle body inclination angle sensor 8 periodically reads a pitch angle and a roll angle of a vehicle body 4 in the walking operation process of the agricultural vehicle, a distance measuring sensor 7 periodically and synchronously measures relative height information of the ground in front of a wheel 6 at a position s, a central processing unit 12 calculates the pitch angle and the roll angle variation of the vehicle body at the next moment according to the relative height information of the ground in front of the wheel 6, structural parameters of the vehicle body 4 and a suspension frame 5 coordinated deformation principle, linear displacement adjustment quantities of a platform roll adjusting mechanism 10 and a platform pitch adjusting mechanism 11 under the condition that a platform 1 is kept horizontal are obtained in advance, and the two adjusting mechanisms complete preset linear displacement adjustment in an adjustment period, so that the pre-detection active leveling of the platform 1 in the walking operation process of the agricultural vehicle is; because certain errors exist in the adjusting process, the pitch angle and the roll angle of the adjusted platform 1 are not 0 degrees, in order to avoid the accumulation of the errors, the residual quantity of the pitch angle and the roll angle of the leveled platform 1 is obtained by a high-precision platform tilt angle sensor 9 in each adjusting period and is used as a compensation value of the linear displacement adjusting quantity of two adjusting mechanisms in the next adjusting period, so that the purpose of eliminating the errors is achieved; the pre-detection active leveling system of the agricultural vehicle operation platform can realize active leveling of the vehicle operation platform when the agricultural vehicle travels on hills and basins.
The platform side-tipping adjusting mechanism 10 and the platform pitching adjusting mechanism 11 are both linear displacement adjusting and controlling mechanisms, a linear servo motor is selected to realize linear displacement adjustment and control, and the linear displacement adjusting and controlling mechanism is applied to leveling of a platform with high precision and high response speed; a servo electric cylinder is selected to realize linear displacement adjustment and control, and the method is applied to leveling a high-speed and high-precision platform; an electric push rod is selected to realize linear displacement adjustment and control, and the device is applied to the leveling of a platform with low control precision requirement so as to reduce the manufacturing cost; a servo hydraulic cylinder is selected to realize linear displacement adjustment and control, and the method is applied to the leveling of a heavy-load platform; the dynamic regulation and control of the pitch angle and the roll angle of the platform 1 can be realized, so that the agricultural vehicle can adapt to different ground and operation environments.
Fig. 3 is a flow chart of the pre-detection active leveling system for the farm vehicle work platform, and the pre-detection active leveling method for the farm vehicle work platform includes:
establishing a right-handed rectangular coordinate system XYZ, wherein the positive Y direction is the advancing direction of the vehicle body 4, the positive Z direction is the upward direction of the vehicle body 4, the positive X direction is determined by right-handed orthogonality, and the symbols of the following angle values are determined by the X, Y direction;
step 1: system start-up initialization
Setting system parameters: the wheel base of the vehicle chassis is b, the wheel base is a, and the distance measuring sensor is arranged in front of the wheels at a distance s and positioned at F of the vehicle body1、F2、F3、F4Dot, F1F2＝F3F4＝a、F1F4＝F2F3B, adjusting the pitch angle and the roll angle of the platform to be 0 degree, wherein the walking operation speed v of the vehicle is equal to s/v, the distance measurement period T is equal to s/v; j is 1;
step 2: sensor reading measurement information
At time j, reading four-point measurement value of distance measuring sensor
Acquiring ground relative height information at the moment j +1 in advance; reading pitch angle of vehicle body inclination sensor
Roll angle
Pitch angle of reading platform tilt sensor
And roll angle
Because of the fact that
The theoretical value of (1) is 0 DEG, so the pitch angle leveling error is
The side tilt angle leveling error is
Transmitting the read information to a central processing unit;
and step 3: the central processing unit performs analysis and calculation
⑴ calculate the relative height of each wheel center at time j +1
From moment j to the pitch angle of the vehicle body
Roll angle
Calculating F1、F2、F3、F4Each point and F1The relative height difference of the points in the vertical direction is respectively as follows: Δ H1＝0，
Calculating the center of each wheel to F at time j +11The distance of the horizontal plane where the points are located is as follows:
the relative height of each wheel center at time j +1 is found to be:
⑵ calculating the pitch angle and roll angle of the car body at the moment of j +1
According to the coordinated deformation principle, the deformation quantities of the suspensions 1, 3 and 2, 4 are set when x and y are respectively j +1, and the deformation quantities are controlled to be
The following equations are associated:
h1-h2＝h4-h3、
the pitch angle of the vehicle body at the moment of j +1 can be solved
Roll angle
⑶ calculating the linear displacement adjustment of the two adjustment mechanisms
From time j to time j +1, the pitch angle variation of the vehicle body is
The amount of change of the roll angle is
The theoretical adjustment amount of the platform at the inner side inclination angle of the period T is
Theoretical adjustment α of platform pitch angle in period T on the premise of keeping platform horizontalmAnd Δ α, Δ β are in the form of
Therefore, in order to ensure that the platform is horizontal, the theoretical adjustment amount of the pitch angle and the roll angle of the platform in the period T is
The actual adjustment amount is
Linear displacement regulating quantity of platform pitching regulating mechanism and platform side-tipping regulating mechanism in period T
Is composed of
And 4, step 4: two adjusting mechanisms complete adjusting action
Within period T, the platform pitch adjustment mechanism adjusts
Adjustment of platform roll adjustment mechanism
Carrying out the next step;
and 5: judging whether to continue leveling
And if the leveling is to be continued, repeating the step 2 by j +1, and continuing the next leveling period, otherwise, ending the leveling.
Referring to the Chery PK400-B tractor chassis, the design parameters of a test prototype are as follows: the wheel base b is 1966mm, the wheel base a is 1300mm, the wheel radius r is 400mm, and the distance measuring sensors are respectively arranged on the frame and positioned at the front of the wheels by a distance s of 600 mm; the operation of the vehicle is set as spraying operation, the vehicle keeps constant-speed linear motion with v being 10km/h, and the ground information acquisition period of the sensor and the adjustment periods T of the two inclination angle adjusting motors are 0.216 s.
In the test process, the variation of the pitch angle and the roll angle of the vehicle body at the next moment is calculated by detecting the relative height information of the ground in front of each wheel, and the linear displacement adjustment quantity of the two adjusting mechanisms under the condition of keeping the vehicle operation platform horizontal is obtained in advance, so that the pitch angle and the roll angle of the platform can be adjusted at a time in advance, and the active leveling of the vehicle operation platform in the walking operation of the agricultural vehicle in complex terrains such as hills, basins and the like is realized. The leveling device has a strong use value for agricultural machinery with certain leveling operation requirements such as a ditcher and a picking machine, and can be applied to engineering machinery with leveling operation requirements and the like.
Claims (3)
1. The agricultural vehicle operation platform pre-detection active leveling system is characterized by comprising a platform, a cross universal joint, a base, a vehicle body, suspensions, wheels, distance measuring sensors, a vehicle body inclination angle sensor, a platform tilting adjusting mechanism, a platform pitching adjusting mechanism and a central processing unit, wherein four groups of suspensions are symmetrically arranged on the vehicle body left and right according to a given axle distance b and a given wheel distance a, the lower parts of the four groups of suspensions are respectively connected with the four wheels, the four distance measuring sensors are respectively arranged on the vehicle body and positioned at a distance s in front of each wheel, two rotating axes L v and L u of the cross universal joint are vertically crossed, the platform is rotatably connected with the cross universal joint and freely rotates around a rotating axis L v, the distance from the lower surface of the platform to a rotating axis L v is c, the base is rotatably connected with the cross universal joint and freely rotates around a rotating axis L u 2u, the distance from the upper surface of the base to a rotating axis L u is d, a central line L w is perpendicular to rotating axes L v and L u and is parallel to the lower surface of the platform, the platform is hinged to a spherical surface of a spherical surface and a spherical surface, when two tilting angle adjusting mechanism is parallel to the platform, the platform is positioned on the upper surface of the vehicle body, the platform is parallel to the platform, the platform is positioned in the two parallel to the two tilting adjusting mechanism, the two tilting adjusting mechanism is positioned on the two tilting adjusting mechanism, the platform is positioned on the platform;
during the walking operation process of the agricultural vehicle: the method comprises the following steps that a vehicle body inclination angle sensor periodically reads a pitch angle and a roll angle of a vehicle body, a distance measuring sensor periodically and synchronously measures relative height information of the ground in front of a wheel at s, a central processing unit calculates the pitch angle and the roll angle variation of the vehicle body at the next moment according to the relative height information of the ground in front of the wheel, structural parameters of the vehicle body and a suspension frame coordinated deformation principle, linear displacement adjustment quantities of a platform roll adjusting mechanism and a platform pitch adjusting mechanism under the condition of keeping the platform horizontal are obtained in advance, and the two adjusting mechanisms complete preset linear displacement adjustment in an adjustment period, so that the pre-detection active leveling of the platform in the walking operation process of the agricultural vehicle is realized; and obtaining the pitch angle and the roll angle residual quantity of the leveled platform by using a high-precision platform tilt angle sensor, and using the residual quantity as compensation values of the linear displacement adjustment quantity of the two adjustment mechanisms in the next adjustment period.
2. The agricultural vehicle work platform pre-detection active leveling system of claim 1, wherein the platform roll adjustment mechanism and the platform pitch adjustment mechanism are both linear displacement adjustment and control mechanisms, and linear displacement adjustment and control can be achieved by using linear servo motors, servo electric cylinders, electric push rods or servo hydraulic cylinders.
3. An agricultural vehicle work platform pre-detection active leveling system method based on claim 1, comprising the steps of:
step 1: system start-up initialization
Setting system parameters: the wheel base of the vehicle chassis is b, the wheel base is a, the radius of the wheel is r, and the distance measuring sensor is arranged in front of the wheel by a distance s and positioned at F of the vehicle body1、F2、F3、F4Dot, F1F2＝F3F4＝a、F1F4＝F2F3B, adjusting the pitch angle and the roll angle of the platform to be 0 degree, wherein the walking operation speed v of the vehicle is equal to s/v, the distance measurement period T is equal to s/v;
step 2: sensor reading measurement information
At time j, reading four-point measurement value of distance measuring sensor
Reading pitch angle of vehicle body inclination sensor
Roll angle
Pitch angle of reading platform tilt sensor
And roll angle
Transmitting the read information to a central processing unit;
and step 3: the central processing unit performs analysis and calculation
⑴ calculate the relative height of each wheel center at time j +1
From moment j to the pitch angle of the vehicle body
Roll angle
Calculating F1、F2、F3、F4Each point and F1The relative height difference of the points in the vertical direction is respectively as follows: Δ H1＝0，
Calculating the center of each wheel to F at time j +11The distance of the horizontal plane where the points are located is as follows:
the relative height of each wheel center at time j +1 is found to be:
⑵ calculating the pitch angle and roll angle of the car body at the moment of j +1
According to the coordinated deformation principle, the deformation quantities of the suspensions 1, 3 and 2, 4 are set when x and y are respectively j +1, and the deformation quantities are controlled to be
The following equations are associated:
h1-h2＝h4-h3、
the pitch angle of the vehicle body at the moment of j +1 can be solved
Roll angle
⑶ calculating the linear displacement adjustment of the two adjustment mechanisms
In order to ensure that the platform is horizontal, the theoretical adjustment quantity of the pitch angle and the roll angle of the platform in the period T is
The actual adjustment amount is
Linear displacement regulating quantity of platform pitching regulating mechanism and platform side-tipping regulating mechanism in period T
Is composed of
And 4, step 4: two adjusting mechanisms complete adjusting action
In the period T, the platform is pitchedAdjustment of the whole mechanism
Adjustment of platform roll adjustment mechanism
Carrying out the next step;
and 5: judging whether to continue leveling
And if the leveling is to be continued, repeating the step 2 by j +1, and continuing the next leveling period, otherwise, ending the leveling.
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| 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 |
| CN110901325A (en) * | 2019-11-29 | 2020-03-24 | 北京理工大学重庆创新中心 | Active suspension control method and system |
| 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 |
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