CN110203275A - Driving path control method for tractor - Google Patents
Driving path control method for tractor Download PDFInfo
- Publication number
- CN110203275A CN110203275A CN201910280663.6A CN201910280663A CN110203275A CN 110203275 A CN110203275 A CN 110203275A CN 201910280663 A CN201910280663 A CN 201910280663A CN 110203275 A CN110203275 A CN 110203275A
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- China
- Prior art keywords
- tractor
- driving path
- control method
- steering
- steering angle
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention provides a kind of driving path control method for tractor, wherein driving path control method steering according to the current driving path of the tractor with respect to the deviation control in preset travel path of the tractor tractor of the present invention for tractor, so that its preset travel route along the tractor.
Description
Technical field
The present invention relates to tractor more particularly to a kind of driving path control methods for tractor, dilatory to control
Machine travels in preset travel path.
Background technique
Tractor is common agricultural machinery, is used as the power source of the agricultural operations such as arable land, sowing, fertilising.It drags
Machine drawing includes the components such as car body, engine, transmission system, steering system.Steering system is mostly hydraulic-driven, including is turned to
Disk, steering column, steering pump, steering cylinder, steering oil pipe, steeraxle and wheel etc..When not turning to, the hydraulic oil of steering pump
Pass through the intermediate bitstream oil return box of diverter；When needing to turn to, diverter rotation is controlled by steering wheel and is allowed in work
Position, the hydraulic oil of steering pump flow into steering cylinder by the oil inlet branch of the working position of diverter, so drive steeraxle and
Tire makes tractor adjust driving direction as needed.
In order to improve the efficiency of tractor, the labor intensity of operator is reduced, the utilization efficiency in soil is improved, drives automatically
Sailing tractor will have been more and more widely used in modern agriculture.In normal operation, tractor does not need manually
Operation, only when necessary, is just switched to pilot steering mode.Therefore, machine automatic drive technology is drawn to come into being.
Generally, dilatory machine automatic drive system includes navigation device, generally includes GNSS locating module, RTK difference base station, communication
Module, angular transducer, automatically controlled diverter, direction controller, navigation indicator etc..It is corrected based on difference GNSS and real-time attitude
Technology is completed to the precise positioning of working truck, by detecting actual steering angle, the dynamic steering of closed-loop control working truck,
To realize the purpose of track following.
Existing electrically controlled steering device mainly include control flow ratio control original part (proportional reversing valve), hydraulic lock,
The elements such as overflow valve, control switch.In operation process, if detecting that tractor in preset road on-line operation, is not led
Route controller, which issues instruction, makes proportional reversing valve work in corresponding working position, and a part of oil liquid of steering pump passes through diverter
Intermediate bitstream oil return box, another part oil liquid enter steering cylinder by the oil inlet branch of the working position of proportional reversing valve, in turn
It drives the components such as steeraxle, steering tire to realize to turn to, completes driving direction adjustment, make tractor according to regulation route running.
However, the vehicle hydraulic circuit of existing tractor does not have Electromagnetic Control circuit, if tractor is made to realize automatic Pilot, need to it
Oil circuit transformation is carried out, it is with high costs, while stability also bad control.
Summary of the invention
A primary object of the present invention is to provide a kind of driving path control method for tractor, wherein this hair
The bright driving path control method for tractor can control tractor traveling in preset travel path.Especially, when this is dilatory
Machine can automatically correct its driving direction according to its current driving path, to ensure that it presets row along it in automatic driving mode
Sail route.
It is another object of the present invention to provide a kind of driving path control methods for tractor, wherein the present invention
Driving path control method for tractor can be applied to existing in the case where not carrying out larger change to existing tractor
Tractor.
Other purposes and feature of the invention are able to fully demonstrate and can be by appended rights by following detailed descriptions
The combination of the means and device specially pointed out in it is required that is achieved.
According to the present invention, driving path of the present invention of foregoing purpose and other purposes and purpose for tractor can be realized
Control method, wherein driving path control method of the present invention for tractor includes the following steps:
(a) the current driving path of the tractor is detected；
(b) compare the current driving path and its preset travel path of the tractor, to determine the current line of the tractor
Sail deviation of the path with respect to the preset travel path of the tractor；With
(c) deviation according to the current driving path of the tractor with respect to the preset travel path of the tractor, control should
The steering of tractor, so that the tractor is along its preset travel route.
By the understanding to subsequent description and attached drawing, further aim of the present invention and purpose will be fully demonstrated.
These and other objects, feature and purpose of the invention, by following detailed descriptions, drawings and claims are obtained
To fully demonstrate.
Detailed description of the invention
The tractor according to the embodiment of the present invention is shown in Figure 1A.
The dilatory machine automatic drive system according to the embodiment of the present invention is shown in Figure 1B.
Fig. 2 is the side view of the above-mentioned tractor according to the embodiment of the present invention.
Fig. 3 is another side view of the above-mentioned tractor according to the embodiment of the present invention.
Fig. 4 is the perspective view of the steering assembly of the above-mentioned tractor according to the embodiment of the present invention.
Fig. 5 is the side view of the steering assembly of the above-mentioned tractor according to the embodiment of the present invention.
The partial structurtes of the steering assembly of the above-mentioned tractor according to the embodiment of the present invention are shown in Fig. 6.
Fig. 7 is the transverse sectional view of the steering assembly of the above-mentioned tractor according to the embodiment of the present invention.
Fig. 8 is the longitudinal sectional view of the steering assembly of the above-mentioned tractor according to the embodiment of the present invention.
Fig. 9 is the flow chart of the above-mentioned driving path control method for tractor according to the embodiment of the present invention.
Specific embodiment
It is described below for disclosing the present invention so that those skilled in the art can be realized the present invention.It is excellent in being described below
Embodiment is selected to be only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.It defines in the following description
Basic principle of the invention can be applied to other embodiments, deformation scheme, improvement project, equivalent program and do not carry on the back
Other technologies scheme from the spirit and scope of the present invention.
It will be understood by those skilled in the art that in exposure of the invention, term " longitudinal direction ", " transverse direction ", "upper",
The orientation or position of the instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside"
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, rather than
The device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, therefore above-mentioned
Term is not considered as limiting the invention.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
With reference to Figure 1A to Fig. 8 of description of the invention attached drawing, according to the dilatory machine automatic drive system packet of the embodiment of the present invention
Path detector 41, control module 42, steering motor 43 and steering assembly 44 are included, wherein the path detector 41 is arranged for
Detect the current driving path of the tractor, wherein the control module 42 can be connected with being powered with the path detector 41 and by
The current line that the tractor can be determined according to the current driving path for the tractor that the path detector 41 detects is set
Deviation of the path with respect to the preset travel path of the tractor is sailed, wherein the steering motor 43 and the control module 42 can be powered to ground
It is connected, which is further arranged can be pre- with respect to the tractor according to the current driving path of the tractor
If the power output of the deviation control of the driving path steering motor 43, wherein the steering group 44 is arranged on the steering motor 43
Between the steering shaft 11 of the tractor, so that the steering assembly 44 can be driven by the steering motor 43, so that this be driven to drag
The steering shaft 11 of machine drawing rotates and makes the tractor steering.
It is worth noting that, according to the path detector 41 of the dilatory machine automatic drive system of the embodiment of the present invention but utilizing
The path detector of real-time dynamic carrier phase difference technology (RTK).Further, the present invention draws machine automatic drive system
Path detector 41 includes RTK antenna 3 for receiving RTK positioning signal and works as with what the RTK antenna 3 can be connected with being powered
Preceding path-generating module 45, the positioning signal that wherein the RTK antenna receives are transferred to the current path-generating module 45,
In the current path-generating module 45 current driving that the tractor can be generated according to the positioning signal received is set
Path.Further, which can be connected with being powered with the control module 42, by the current path
The current driving path for the tractor that generation module 45 generates is sent to the control module 42, which is set energy
Enough compare the current driving path and its preset travel path of tractor, and thereby determines that the current driving path phase of the tractor
Deviation to the preset travel path of the tractor.Correspondingly, in order to which the current driving path for solving the tractor is dragged with respect to this
The deviation in the preset travel path of machine drawing, which, which is set, to deviate according to corresponding, control the tractor steering
With make its along the preset travel route.
As shown in Figure 1A to Fig. 8 of attached drawing, according to the path detection of the dilatory machine automatic drive system of the embodiment of the present invention
Device 41 further comprises at least one antenna holder 2, and wherein the antenna holder 2 is arranged for fixed RTK antenna 3.Such as attached drawing
Figure 1A to Fig. 8 shown in, the present invention draw machine automatic drive system the path detector 41 further comprise a control box 6
The receiving antenna 4 of the control box 6 is arranged on at least one, wherein the current path-generating module 45 is arranged on the control
In box 6, which is arranged for receiving and transmitting signal.The path detector 41 further comprises at least one peace
Bracket 5 is filled, wherein the mounting bracket 5 is for fixing the control box 6.Preferably, the control module 42 and the current coordinates measurement
Module 45 is arranged in the control box.It is highly preferred that the control module 42 and the current path-generating module 45 are formed certainly
The storage medium of the same sequencing.
As shown in Figure 1A to Fig. 8 of attached drawing, the dilatory machine automatic drive system according to the embodiment of the present invention further comprise to
The angle detector 50 of few one steering angle for detecting tractor wheels, wherein the angle detector 50 includes at least one
A angular transducer 9 that can be connected with being powered with the control module 42, wherein the angular transducer 9, which is set to be able to detect, drags
The steering angle of machine drawing wheel, and the steering angle for the tractor wheels that will test is sent to the control module 42, so that should
Control module 42 can determine or know the actual steering angle of the wheel of the tractor.
As shown in Figure 1A to Fig. 8 of attached drawing, detected according to the angle of the dilatory machine automatic drive system of the embodiment of the present invention
Device 50 further comprises a movable support 8 and at least one fixes bracket 7, and wherein the movable support 8 is used to angle sensor
Device 9 is mounted in the wheel side axis of the tractor, and wherein one end of the fixation bracket 7 and the bogie car bridging of the tractor connect, separately
The sensor of one end and the angular transducer 9 exports axis connection, when this draws machine automatic drive system, such as the control module
42, when providing a turn signal, which rotates together with the angular transducer 9, and the fixation bracket 7 will
Fix the angular transducer output shaft of the angular transducer 9.Further, which turns the steering angle of wheel
Become an electric signal, and is exported to control module 42.
As shown in Figure 1A to Fig. 8 of attached drawing, according to the steering assembly of the dilatory machine automatic drive system of the embodiment of the present invention
44 include steering shaft 11, the first steering column 12, gear-box 13, the second steering column 14, the first spring bearing 15, supporting pad 16, the
One shaft coupling 17, second shaft coupling 18, steering motor 19, gear shaft 20, driving gear 21, driven gear 22, upper box 23, a left side
Oil sealing 24, the first circlip 25, the second spring bearing 26, the second circlip 27, lower box 28, third circlip 29, third spring bearing
30, the components such as the 4th circlip 31, right oil sealing 32.
As shown in Figure 1A to Fig. 8 of attached drawing, further, according to this of the dilatory machine automatic drive system of the embodiment of the present invention
The upper end of first steering column 12 of steering assembly 44 is bolted on the upper box 23, which passes through the support
Pad 16 is connect with first steering column 12, which is connected to by the first shaft coupling 17 and one end of the gear shaft 20
Together, the other end of the gear shaft 20 is suitable for through the second shaft coupling 18 together with the switching valve axis connection of the tractor,
The steering valve shaft of the tractor is linked together by first spring bearing 15 with second steering column 14.
As shown in Figure 1A to Fig. 8 of attached drawing, further, which includes the upper box 23 and the lower box 28,
Upper box 23 and the lower box 28 of the gear-box 13 are bolted on together.As shown in Figure 1A to Fig. 8 of attached drawing, into
One end of one step, the gear shaft 20 is connected by second spring bearing 26 with the upper box 23, the gear shaft 20 it is another
One end is connected by the third spring bearing 30 with the lower box 28.Further, in order to ensure sealing, the gear-box 13
Be provided with left oil sealing 24 between the upper box 23 and the gear shaft 20, the lower box 28 of the gear-box 13 and the gear shaft 20 it
Between be provided with right oil sealing 32.Further, in order to guarantee the running accuracy of bearing, in the setting on one side of second spring bearing 26
The another side of first circlip 25, second spring bearing 26 is provided with second circlip 27.Further, in order to guarantee axis
The running accuracy held is provided with the third circlip 29 in the third spring bearing 30, in the third spring bearing 30 on one side
Another side is provided with the 4th circlip 31.Further, which is bolted on the upper box 23.Further
, the output shaft end of the steering motor 19 is connected with the driving gear 21, which nibbles with 22 phase of driven gear
It is combined, so that the steering motor 19 is enable to drive the driven gear 22 rotation by the driving gear 21, so that
19 driving force of steering motor is delivered to the gear shaft 20 by the driving gear 21 and the driven gear 22.
As shown in Figure 1A to Fig. 9 of attached drawing, further, according to the embodiment of the present invention, the present invention further provides a kind of use
In the driving path control method of tractor comprising following step:
(a) the current driving path of the tractor is detected；
(b) compare the current driving path and its preset travel path of the tractor, to determine the current line of the tractor
Sail deviation of the path with respect to the preset travel path of the tractor；With
(c) deviation according to the current driving path of the tractor with respect to the preset travel path of the tractor, control should
The steering of tractor, so that the tractor is along its preset travel route.Preferably, the current driving path of the tractor is logical
It crosses and the lasting RTK of the tractor is positioned to obtain.Optionally, the current driving path of the tractor is dilatory by being arranged on this
The global position system of machine obtains.
Further, the present invention includes the following steps:
(d) actual steering angle of the wheel of the tractor is detected, and is adjusted to the tractor along its preset travel
The necessary steering angle of route compares, if detecting the actual steering angle and necessity steering angle of the tractor wheels
That spends is of different sizes, then controls the size of the difference of the wheel steering of tractor necessity steering angle and the actual steering angle
Angle.It is appreciated that necessity steering angle of the wheel of the tractor passes through working as the tractor by the control module 42
Deviation of the preceding driving path with respect to the preset travel path of the tractor is calculated, and the reality of the wheel of the tractor turns
It is obtained to angle by the angle detector 50 detection.Preferably, the present invention angle detector 50 includes at least one and this
The angular transducer 9 that control module 42 can be connected with being powered, wherein the angular transducer 9, which is set, is able to detect dilatory locomotive
The steering angle of wheel, and the steering angle for the tractor wheels that will test is sent to the control module 42, so that the control mould
Block 42 can determine or know the actual steering angle of the wheel of the tractor, and in the actual steering angle of the tractor wheels
With necessity steering angle it is of different sizes when, control the wheel steering of tractor necessity steering angle and the actual steering
The angle of the size of the difference of angle.Preferably, which is set the steering that can follow the wheel of the tractor
And turn to, in real time and the actual steering angle of the wheel can be accurately detected.
Therefore, tractor draws machine automatic drive system under automatic driving mode by this, can be according to its current driving
Path, determines whether tractor deviates its preset travel path, and when deviateing, automatically controls the tractor rotation direction
It is travelled on its preset travel path.Especially, the present invention draws machine automatic drive system and can carry out to existing tractor
Under lesser change, automatic Pilot can be realized.Even, when the dilatory machine automatic drive system of the present invention is used for existing draw
When machine, the overall structure of tractor is had not significant impact.It is drawn in addition, the present invention draws machine automatic drive system compared to existing
Machine automatic drive system, it is of simple structure and low cost and easy to use.Through the above description, those skilled in the art
Completely can various changes and amendments be carried out, such as change driving wheel without departing from the scope of the technological thought of the present invention'
With worm screw, driven wheel is used instead as turbine, all within protection scope of the present invention.Unaccomplished matter of the invention, belongs to this field
The common knowledge of technical staff.
It should be understood by those skilled in the art that foregoing description and the embodiment of the present invention shown in the drawings are only used as illustrating
And it is not intended to limit the present invention.
The purpose of the present invention has been fully and effectively achieved.Function and structural principle of the invention is opened up in embodiment
Show and illustrate, under without departing from the principle, embodiments of the present invention can have any deformation or modification.
Claims (10)
1. a kind of driving path control method for tractor, which is characterized in that include the following steps:
(a) the current driving path of the tractor is detected；
(b) compare the current driving path and its preset travel path of the tractor, to determine the current driving road of the tractor
Deviation of the diameter with respect to the preset travel path of the tractor；With
(c) it is dilatory to control this for the deviation according to the current driving path of the tractor with respect to the preset travel path of the tractor
The steering of machine, so that the tractor is along its preset travel route.
2. driving path control method according to claim 1, which is characterized in that further comprise following step:
(d) actual steering angle of the wheel of the tractor is detected, and is adjusted to the tractor along its preset travel path
The necessary steering angle of traveling compares, if detecting the actual steering angle and necessity steering angle of the tractor wheels
It is of different sizes, then control the angle of the wheel steering of tractor necessity steering angle and the size of the difference of the actual steering angle
Degree.
3. driving path control method according to claim 1, which is characterized in that the current driving path of the tractor is logical
It crosses and the lasting RTK of the tractor is positioned to obtain.
4. driving path control method according to claim 2, which is characterized in that the current driving path of the tractor is logical
It crosses and the lasting RTK of the tractor is positioned to obtain.
5. driving path control method according to claim 2, which is characterized in that the actual steering angle of the tractor wheels
Degree detects to obtain by the angle detector being arranged in the wheel side axis of the tractor, and wherein energy is set in the angular transducer
It is enough that the steering angle of wheel is transformed into an electric signal.
6. driving path control method according to claim 4, which is characterized in that the actual steering angle of the tractor wheels
Degree detects to obtain by the angle detector being arranged in the wheel side axis of the tractor, and wherein energy is set in the angular transducer
It is enough that the steering angle of wheel is transformed into an electric signal.
7. driving path control method according to claim 2, which is characterized in that the angle detector is set can be with
It is turned to the steering of the wheel.
8. driving path control method according to claim 6, which is characterized in that the angle detector is set can be with
It is turned to the steering of the wheel.
9. driving path control method according to claim 2, which is characterized in that the current driving path of the tractor is logical
It crosses and the global position system of the tractor is set obtains.
10. driving path control method according to claim 8, which is characterized in that the current driving path of the tractor
Global position system by the way that the tractor is arranged in obtains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280663.6A CN110203275A (en) | 2019-04-09 | 2019-04-09 | Driving path control method for tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910280663.6A CN110203275A (en) | 2019-04-09 | 2019-04-09 | Driving path control method for tractor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110203275A true CN110203275A (en) | 2019-09-06 |
Family
ID=67785103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910280663.6A Pending CN110203275A (en) | 2019-04-09 | 2019-04-09 | Driving path control method for tractor |
Country Status (1)
| Country | Link |
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| CN (1) | CN110203275A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111578942A (en) * | 2020-04-29 | 2020-08-25 | 中国农业大学 | Navigation method and system of land leveler |
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| CN107972732A (en) * | 2017-12-04 | 2018-05-01 | 安徽农业大学 | A kind of unmanned rice transplanter automatic steering control system and its control method |
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| GB2262997B (en) * | 1992-01-06 | 1995-06-21 | Samsung Electronics Co Ltd | Robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111578942A (en) * | 2020-04-29 | 2020-08-25 | 中国农业大学 | Navigation method and system of land leveler |
| CN111578942B (en) * | 2020-04-29 | 2022-04-05 | 中国农业大学 | Navigation method and system of land leveler |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190906 |
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| RJ01 | Rejection of invention patent application after publication |