CN113406956A - Deviation detection sensing device of corn combine harvester and automatic line aligning method - Google Patents
Deviation detection sensing device of corn combine harvester and automatic line aligning method Download PDFInfo
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Abstract
The invention relates to a deviation detection sensing device of a corn combine harvester and an automatic line aligning method, the deviation between the corn combine harvester and a corn line can be accurately detected in real time, and compared with a method using a camera for detection, the device has better adaptability to weather and complex environment; meanwhile, the corn combine harvester can be suitable for various corn combine harvesters, and is low in processing cost and easy to install. The automatic alignment system can utilize the deviation detection sensing device to calculate the course angle, accurately calculate the course angle on the premise of reducing the cost, and adjust the forward-looking distance through fuzzy control, so that the automatic alignment system can simulate the habit of a human driver to carry out steering control. On the premise of ensuring safe operation, the automatic line aligning function of the corn combine harvester can be realized, and the accuracy and the reliability of an automatic line aligning system are ensured.
Description
Technical Field
The invention relates to the field of agricultural automation, in particular to a deviation detection sensing device of a corn combine harvester and an automatic alignment method.
Background
With the gradual realization of the mechanization of corn harvesting in China, the improvement of the quality and the efficiency of the corn harvesting has become a hot problem for the research of colleges and universities and scientific research institutes in China. The corn harvesting process is characterized by tight time, heavy task and severe working environment, and a driver can easily feel fatigue when driving the corn harvester for a long time to operate. In addition, working at night with reduced visibility also reduces the quality and efficiency of corn harvesting. Foreign agricultural machinery companies have already released automatic alignment systems carrying automatic alignment sensors, and some researchers in China have developed the research work of the automatic alignment systems applied to corn harvesters and obtained some results, but the overall technology is still imperfect.
In order to reduce the labor intensity of corn harvesting and realize intelligent harvesting, and solve the problem of difficult row alignment in the corn harvesting process, the deviation detection sensing device capable of detecting the transverse deviation of the corn harvester relative to corn rows in real time is provided, and an automatic row alignment system and a control method are designed.
Disclosure of Invention
The harvesting quality and efficiency of the corn harvester are affected by the row quality, and the advancing direction of the corn harvester needs to be adjusted in real time to ensure the row quality. At present, China lacks in research on an automatic row-aligning system of a corn combine harvester, and most of adopted sensors are cameras or assembled mechanical sensors, so that the problems of poor environmental adaptability, easiness in damage and the like exist.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
aiming at the problems, the invention designs an automatic row aligning system based on a corn combine harvester, which comprises: a deviation detection sensing device 10, a controller 30, a harvester state detection sensor 20 and a steering actuator 40;
the deviation detection sensing device 10 and the harvester state detection sensor 20 are respectively connected with a controller 30, and the controller 30 is connected with a steering actuating mechanism 40;
the deviation detection sensing device 10 is used for detecting a transverse deviation value E of the corn combine harvester relative to a corn row to be harvested and sending the transverse deviation value E to the controller 30 through a CAN bus, and the controller 30 calculates a course deviation angle psi according to the obtained transverse deviation value E;
the harvester state detection sensor 20 is used for detecting the running state data of the corn combine harvester and sending the running state data to the controller 30, and the controller 30 calculates the expected steering wheel angle theta according to the obtained running state data of the corn combine harvester and the heading deflection angle psi;
the steering actuator 40 is used for controlling the steering wheel to rotate according to the expected steering wheel rotation angle theta calculated by the controller 30;
the deviation detection sensing device 10 comprises a left line sensor and a right line sensor;
the left alignment sensor and the right alignment sensor are oppositely arranged at the bottoms of the dividers on two sides of the same cutting path, the controller 30 is arranged below a front passenger seat in a cab, and the steering actuating mechanism 40 is arranged below the cab;
the left row aligning sensor and the right row aligning sensor are used for contacting with the corn row when the corn combine is deviated, detecting the transverse deviation between the left row aligning sensor and the corn combine, and sending the transverse deviation value E to the controller 30 through the CAN bus.
The harvester state detection sensor 20 includes: a vehicle speed sensor 201, a rear wheel steering angle sensor 202, a steering proportional valve spool position sensor 203, and a steering wheel position sensor 204;
the speed sensor 201 is arranged on a shaft of a front wheel of the corn harvester and is used for acquiring the running speed of the corn combine harvester;
the rear wheel steering angle sensor 202 is connected with the wheels through a quadrilateral connecting rod structure and is used for collecting the rear wheel steering angle of the corn combine harvester;
the steering proportional valve core position sensor 203 is arranged below the cab and used for acquiring the position of the valve core;
the steering wheel position sensor 204 is arranged on a rotating shaft in the steering wheel and used for acquiring steering wheel rotation angle data of the corn combine harvester;
the deviation detection sensing device 10 includes: the sensor comprises a sensor outer shell 101, a signal acquisition board 102, an inner shell end cover 103, a spring baffle 104, a return spring 105, a spring seat 106, an inner shell 107, magnetic steel 108, a rolling bearing 109, a shaft retainer ring 110, a rotating shaft 111 and a touch rod 112;
the touch rod 112 is fixed at the head of the rotating shaft 111, the bottom of the rotating shaft 111 passes through the rolling bearing 109 and the shaft retaining ring 110 and then is connected with the spring seat 106, the end part of the return spring 105 is lapped on the spring seat 106, the left end of the spring baffle 104 passes through the return spring 105, the right end of the spring baffle 104 is connected with the inner shell end cover 103, the magnetic steel 108 is installed at the bottom of the rotating shaft 111 and used for providing a magnetic field for the signal acquisition plate 102, the signal acquisition plate 102 is fixed on the inner shell end cover 103, one end of the rolling bearing 109 is in contact with a boss arranged on the inner shell 107, and the other end of the rolling bearing 109 limits the axial movement of the rolling bearing 109 through the shaft retaining ring 110;
on the basis of the scheme, the touch rod 112 is perpendicular to the center line of the header and is fixed to the head of the rotating shaft 111 through a bolt, the rotating shaft 111 is connected with the spring seat 106 through an inner hexagon screw, and the signal acquisition board 102 is fixed to the inner shell end cover 103 through a copper column.
On the basis of the above scheme, the signal acquisition board includes: the device comprises a power module, a signal preprocessing module, a Hall chip, a microcontroller and a CAN (controller area network) transceiver module;
the power supply module is respectively connected with the signal preprocessing module, the Hall chip, the microcontroller and the CAN transceiving module and is used for supplying power to the signal preprocessing module, the Hall chip, the microcontroller and the CAN transceiving module;
the Hall chip is connected with the signal preprocessing module, the signal preprocessing module is connected with the microcontroller, and the microcontroller is connected with the CAN transceiver module;
the magnetic steel 108 is used for providing a magnetic field for the Hall chip, the Hall chip is used for detecting the change of the magnetic field, when the change of the magnetic field is detected, the Hall chip is used for converting the change of the magnetic field into analog voltage and sending the analog voltage to the signal preprocessing module, the signal preprocessing module is used for outputting an analog voltage value obtained by dividing, stabilizing and filtering the analog voltage to the microcontroller, the microcontroller is used for converting the analog voltage value into a transverse deviation value E, the transverse deviation value E is sent to the CAN bus through the CAN receiving and sending module, and the controller 30 receives transverse deviation information through the CAN bus.
On the basis of the above scheme, the steering actuator 40 includes a steering switch valve 401, a steering proportional solenoid valve 402, and a steering hydraulic cylinder 403; the steering switch valve 401 is used to control the supply of hydraulic oil to the steering cylinder 403; the steering proportional solenoid valve 402 controls the wheel rotation speed by controlling the magnitude of the hydraulic oil supply flow rate according to the desired steering wheel angle θ calculated by the controller 30.
The system is applied to an automatic row aligning method based on a corn combine harvester, and specifically comprises the following steps:
step 1: starting the corn combine harvester, determining whether an automatic row aligning system is started, if so, entering an automatic row aligning mode and entering the step 2, and if not, entering the step 10;
step 2: acquiring the position of a valve core through a steering proportional valve core position sensor 203, if the valve core is in the central position, entering step 3, and if the valve core is not in the central position, entering step 10;
and step 3: reading the rear wheel steering angle of the rear wheel steering angle sensor 202, if the rear wheel steering angle numerical value is read, entering the step 4, and if the angle numerical value cannot be read, entering the step 10;
and 4, step 4: reading data of a steering wheel position sensor 204, judging whether the steering angle of the steering wheel rotates, if not, entering a step 5, and if so, entering a step 10;
and 5: reading data of a deviation detection sensor 10, a vehicle speed sensor 201 and a rear wheel steering angle sensor 202 to obtain a transverse deviation value E, an actual vehicle speed V and a rear wheel steering angle theta of the corn combine harvester, and then entering step 6;
step 6: the controller 30 calculates the heading bias angle ψ by using a heading bias angle estimation formula, and then proceeds to step 7;
and 7: calculating a forward-looking distance D through a fuzzy control model according to the course deflection angle psi and the transverse deviation value E calculated in the step 6, and then entering a step 8;
and 8: calculating an expected steering wheel corner theta according to the heading drift angle psi and the transverse deviation value E calculated in the step 6 and the forward-looking distance D calculated in the step 7;
and step 9: according to the expected steering wheel rotation angle theta obtained in the step 8, the controller 30 calculates control voltage through a PID algorithm, sends a control signal in a voltage form to the steering proportional solenoid valve, further drives wheels to deflect, realizes adjustment of the vehicle body posture for one time, and then returns to the step 3;
step 10: the automatic row aligning system of the corn combine is closed.
On the basis of the above scheme, the step 6 of calculating the heading bias angle ψ by using the heading bias angle estimation formula specifically includes the following steps:
and (3) reading the data of two continuous deviation detection sensors within the time interval delta t to judge the position and posture state of the body of the corn harvester, and calculating the heading drift angle psi through a formula (1).
In the formula, E1The lateral deviation value is read for the first time; e2The lateral deviation value is read for the second time; Δ t represents a time interval; v represents a vehicle speed;
on the basis of the scheme, the input variables of the fuzzy control model in the step 7 are the transverse deviation value E and the course deflection angle, and the output variable is obtained according to the control rule of the fuzzy control model and is the foresight distance.
On the basis of the scheme, the range of the domain of the lateral deviation value is [ -25, 25], and the fuzzy set of the lateral deviation value is { LL, LM, LS, Z, RS, RM, RL }, wherein LL represents that the left side of the lateral deviation is large, LM represents that the left side deviation is medium, LS represents that the left side deviation is small, Z represents that the lateral deviation is zero, RS represents that the right side deviation is small, RM represents that the right side deviation is medium, and RL represents that the right side deviation is large;
wherein LL is a Gaussian membership function, the parameters are [ 2-25 ], LM is a triangular membership function, the parameters are [ -25, -17, -7], LS is a triangular membership function, the parameters are [ -16, -8, -3], Z is a triangular membership function, the parameters are [ -5, 0, 5], RS is a triangular membership function, the parameters are [3, 7, 16], RM is a triangular membership function, the parameters are [8, 17, 25], RL is a Gaussian membership function, and the parameters are [ -2, 25 ].
On the basis of the scheme, the scope of the heading angle psi is [ -10, 10], the fuzzy set of heading angles is { NL, NM, NS, ZO, PS, PM, PL }, wherein NL represents that the left heading angle is large, NM represents that the left heading angle is small, NS represents that the left heading angle is small, ZO represents that the heading angle is 0, PS represents that the right heading angle is small, PM represents that the right heading angle is small, and PL represents that the right heading angle is large;
wherein NL is a Gaussian membership function, parameters are [ -0.6, -10], NM is a triangular membership function, parameters are [ -10, -7, -3], NS is a triangular membership function, parameters are [ -7, -3, -1], ZO is a triangular membership function, parameters are [ -2, 0, 2], PS is a triangular membership function, parameters are [1, 3, 7], PM is a triangular membership function, parameters are [3, 7, 10], PL is a Gaussian membership function, and parameters are [0.6, 10 ].
On the basis of the above scheme, the control rule includes:
when the transverse deviation value belongs to LL and the course deviation angles belong to NL, NM, NS, ZO, PS, PM and PL, the forward-looking distances all belong to VC;
when the transverse deviation value belongs to LM and the course deflection angle belongs to NL, the forward looking distance belongs to C; ,
when the transverse deviation value belongs to LM and the course deflection angle belongs to NM, the forward-looking distance belongs to RC;
when the transverse deviation value belongs to LM and the course deflection angle belongs to NS, the forward looking distance belongs to M;
when the transverse deviation value belongs to LM and the heading deflection angle belongs to ZO, the forward looking distance belongs to RF;
when the transverse deviation value belongs to LM and the course deflection angle belongs to PS, the forward looking distance belongs to M;
when the transverse deviation value belongs to LM and the course deflection angle belongs to PM, the forward looking distance belongs to RC;
when the transverse deviation value belongs to LM and the course deflection angle belongs to PL, the forward looking distance belongs to C;
when the transverse deviation value belongs to LS and the heading deflection angle belongs to NL, the forward-looking distance belongs to C; ,
when the transverse deviation value belongs to LS and the course deviation angle belongs to NM, the forward-looking distance belongs to M;
when the transverse deviation value belongs to LS and the course deflection angle belongs to NS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to LS and the course deflection angle belongs to ZO, the forward looking distance belongs to VF;
when the transverse deviation value belongs to LS and the course deviation angle belongs to PS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to LS and the course deflection angle belongs to PM, the forward looking distance belongs to M;
when the transverse deviation value belongs to LS and the course deflection angle belongs to PL, the forward looking distance belongs to C;
when the transverse deviation value belongs to Z and the heading deflection angle belongs to NL, the forward-looking distance belongs to VC; ,
when the transverse deviation value belongs to Z and the course deviation angle belongs to NM, the forward-looking distance belongs to RC;
when the transverse deviation value belongs to Z and the course deflection angle belongs to NS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to Z and the heading deflection angle belongs to ZO, the forward looking distance belongs to VF;
when the transverse deviation value belongs to Z and the course deflection angle belongs to PS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to Z and the course deflection angle belongs to PM, the forward looking distance belongs to RC;
when the transverse deviation value belongs to Z and the course deflection angle belongs to PL, the forward looking distance belongs to VC;
when the transverse deviation value belongs to RS and the heading deflection angle belongs to NL, the forward-looking distance belongs to C; ,
when the transverse deviation value belongs to RS and the course deviation angle belongs to NM, the forward-looking distance belongs to M;
when the transverse deviation value belongs to RS and the course deflection angle belongs to NS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to RS and the course deflection angle belongs to ZO, the forward looking distance belongs to VF;
when the transverse deviation value belongs to RS and the course deviation angle belongs to PS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to RS and the course deflection angle belongs to PM, the forward looking distance belongs to M;
when the transverse deviation value belongs to RS and the course deflection angle belongs to PL, the forward looking distance belongs to RC;
when the transverse deviation value belongs to RM and the heading deflection angle belongs to NL, the forward looking distance belongs to C; ,
when the transverse deviation value belongs to RM and the course deviation angle belongs to NM, the forward-looking distance belongs to M;
when the transverse deviation value belongs to RM and the course deflection angle belongs to NS, the forward looking distance belongs to M;
when the lateral deviation value belongs to RM and the heading deviation angle belongs to ZO, the forward looking distance belongs to RF;
when the transverse deviation value belongs to RM and the course deflection angle belongs to PS, the forward looking distance belongs to M;
when the transverse deviation value belongs to RM and the course deflection angle belongs to PM, the forward looking distance belongs to RC;
when the transverse deviation value belongs to RM and the course deflection angle belongs to PL, the forward looking distance belongs to C;
when the lateral deviation value belongs to RB and the heading deviation angles belong to NL, NM, NS, ZO, PS, PM and PL, the forward-looking distance belongs to VC.
On the basis of the scheme, the range of the forward-looking distance domain is [2, 8], and the fuzzy set of forward-looking distances is { VC, C, RC, M, RF, F, VF }, wherein VC represents very close, C represents close, RC represents close, M represents moderate, RF represents far, F represents far, and VF represents very far.
Wherein VC is a Gaussian membership function, parameters are [0.1, 2], C is a triangular membership function, parameters are [2, 3, 3.6], RC is a triangular membership function, parameters are [3.2, 3.9, 4.6], M is a triangular membership function, parameters are [3.9, 5, 6.1], RF is a triangular membership function, parameters are [5.4, 6.1, 6.8], F is a triangular membership function, parameters are [6.4, 7.2, 8], VF is a Gaussian membership function, and parameters are [0.1, 8 ].
On the basis of the above scheme, the desired steering wheel angle θ in step 8 is calculated by formula (2):
in the formula, L represents the axle distance of the corn combine harvester; e represents a lateral deviation; d represents a forward looking distance; theta represents the expected turning angle of the steering wheel, and the steering wheel of the corn combine harvester is the rear wheel.
In the working process, the controller reads data of each sensor, estimates the heading deflection angle psi of the corn harvester in real time, calculates the forward-looking distance D through fuzzy control, calculates the expected rear wheel steering angle theta, and finally outputs a control signal to control the steering actuating mechanism to adjust the rear wheel steering angle, so that the posture of the vehicle body is adjusted, and automatic alignment is realized.
The invention has the following advantages:
(1) the deviation detection sensing device can accurately detect the deviation of the corn combine harvester relative to the corn rows in real time, and has better adaptability to weather and complex environment compared with a method using a camera for detection.
(2) The device of the invention can be suitable for various types of corn combine harvesters with rear wheel steering, and has low processing cost and easy installation.
(3) The automatic alignment system can utilize the deviation detection sensing device to calculate the course angle, accurately calculate the course angle on the premise of reducing the cost, and adjust the forward-looking distance through fuzzy control, so that the automatic alignment system can simulate the habit of a human driver to carry out steering control.
(4) The automatic row alignment control strategy provided by the invention can realize the automatic row alignment function of the corn combine harvester on the premise of ensuring the safe operation, and ensures the accuracy and reliability of an automatic row alignment system.
(5) The automatic line aligning system provided by the invention reduces the labor intensity of a driver and achieves the purpose of improving the corn harvesting efficiency and quality.
Drawings
The invention has the following drawings:
FIG. 1 is a block diagram of a deviation detection sensing device;
FIG. 2 is a diagram of a hardware circuit of a deviation detection sensing transposed signal acquisition board;
FIG. 3 is a schematic diagram of an automatic alignment system;
FIG. 4 is a schematic view of the mounting positions of the components of the automatic alignment system;
FIG. 5 is a flow chart of automatic line-matching system control.
FIG. 6 is a schematic diagram of the pose of the corn combine harvester
FIG. 7 is a schematic view of the pose of the corn combine harvester
FIG. 8 is a schematic diagram of a membership function and a value range of a lateral deviation
FIG. 9 is a schematic diagram of a membership function and a value range of a heading declination
FIG. 10 is a diagram illustrating membership function and value range of forward looking distance
Reference numerals:
101. a sensor housing; 102. a signal acquisition board; 103. an inner shell end cap; 104. a spring baffle; 105. a return spring; 106. a spring seat; 107. an inner shell; 108. magnetic steel; 109. a rolling bearing; 110. a retainer ring for a shaft; 111. a rotating shaft; 112. a touch lever; 10. a deviation detection sensing device; 20. a harvester state detection sensor; 30. a controller; 40. a steering actuator; 201. a vehicle speed sensor; 202. a rear wheel steering angle sensor; 203. a steering proportional valve spool position sensor; 204. a steering wheel position sensor; 401. a steering switch valve; 402. a steering proportional solenoid valve; 403. and a steering hydraulic cylinder.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings 1 to 10.
The invention relates to a deviation detection sensing device and an automatic alignment system suitable for a corn combine harvester. The system has the functions of transverse deviation detection and vehicle body posture adjustment, and can realize the automatic alignment function in the corn harvesting process.
The touch rod 110 is used for contacting with the cornstalks when the corn harvester deviates, so as to drive the rotating shaft 109 to rotate by a certain angle, and the magnetic steel 108 is arranged at the bottom of the rotating shaft and provides a magnetic field for the Hall chip arranged on the signal acquisition board 102. The Hall chip detects the magnetic field change, converts analog voltage to carry out partial pressure, steady voltage and filter after signal preprocessing signal and exports microcontroller, and microcontroller converts analog voltage value into lateral deviation value E, sends lateral deviation value E to the CAN bus through CAN transceiver module, when touching pole 110 and cornstalk separation, gets back to initial position under reset spring 105's drive, and the device CAN reduce the weeds and disturb and improve sensing device detection accuracy.
The touch rod 110 is fixed on the head of the rotating shaft 109 through a bolt, the rotating shaft 109 and the spring seat 106 pass through a hexagon socket head cap screw, a terminal of the return spring 105 is lapped on the spring seat 106, the spring baffle 104 penetrates through the return spring 105, the magnetic steel 108 is installed at the bottom of the rotating shaft, and the signal acquisition board 102 is fixed on the end cover of the inner shell through a copper column.
The automatic row aligning system suitable for the corn combine harvester consists of a deviation detection sensing device 10, a harvester state detection sensor 20, a controller 30 and a steering executing mechanism 40.
The controller 30 is installed under the front passenger seat; the deviation detection sensing device 10 is relatively arranged at the bottom of the nearside dividers on two sides of the same cutting channel, and the touch rod is perpendicular to the center line of the header; the speed sensor 201 is arranged on the shaft of the front wheel of the corn harvester and transmits data to the controller 30 through a pulse signal input port of the controller 30; the rear wheel steering angle sensor 202 is connected to the rear wheel via a quadrilateral linkage structure and transmits data to the controller 30 via an analog signal input port of the controller 30; the steering wheel position sensor 204 is mounted on a rotating shaft inside the steering wheel; the steering switch valve 401, the steering proportional solenoid valve 402, the steering hydraulic cylinder 403 and the steering proportional spool position sensor 203 are integrated and arranged below the cab, the steering switch valve 401 controls the hydraulic cylinder to supply hydraulic oil to control the rotation of the wheels, the proportional solenoid valve controls the rotation speed of the wheels by controlling the flow rate of the supplied hydraulic oil, and the steering proportional spool position sensor 203 transmits data to the controller 30 through an analog quantity signal input port of the controller 30.
The working process of the invention is as follows:
in the operation process of the corn harvester, the automatic row aligning system is started, and the corn combine harvester enters an automatic row aligning mode. Firstly, the position of a valve core is obtained through a steering proportional valve core position sensor 203, when the valve core is positioned at the middle position, the rear wheel steering angle of a rear wheel steering angle sensor 202 is read, then, data of a steering wheel position sensor 204 is read, when the steering wheel steering angle is not changed for three times continuously, data of a deviation detection sensor 10, a vehicle speed sensor 201 and the rear wheel steering angle sensor 202 are read, and the heading deflection angle is calculated through a formula (1).
As shown in fig. 6, the position and posture of the corn combine harvester are divided into 9 states, the heading deflection angles of the three states of a, b and c are all 0, and the transverse deflection is respectively a negative value, 0 and a positive value; the course deflection angles of the three states of d, e and f are negative values, and the transverse deflection is respectively a negative value, 0 and a positive value; and g, the course deflection angles of the three states of h and i are positive values, and the transverse deflection is respectively a negative value, 0 and a positive value. In the state b, the transverse deviation and the course deflection angle are both 0, and the state is a normal harvesting state and does not need to be adjusted; when the vehicle is in two states of a and c, the touch mechanism of the row sensor touches the corn straws, the control strategy controls the steering of the wheels, and the wheels are respectively converted into i and d states after being adjusted; e, in two states, the touch mechanism of the row sensor does not touch the corn straws, and the next moment is respectively converted into a d state and an i state; and g, when the two states of f are realized, the touch mechanism of the row sensor touches the corn straws, the control strategy controls the wheels to turn, and the wheels can be respectively converted into i and d states after adjustment.
In summary, the 9 states can be converted into 3 states in fig. 7:
taking the state d as an example, the pose state of the body of the corn harvester is judged by reading the data of two continuous deviation detection sensors within the time interval delta t, and the heading drift angle psi is calculated through a formula.
In the formula, E1For lateral deviation of first readingA value; e2The lateral deviation value is read for the second time; Δ t represents a time interval; v represents a vehicle speed;
after the heading drift angle psi is obtained, the required steering wheel turning angle is calculated by establishing a two-wheel vehicle kinematic model of the corn harvester, the driving habit of a driver is simulated, and the forward-looking distance is calculated by a fuzzy control model.
The input variables of the fuzzy control model are transverse deviation and course deflection angle, and the output variable is forward-looking distance.
Wherein the range of the discourse domain of the lateral deviation values is [ -25, 25], the fuzzy set of the lateral deviation values is { LL, LM, LS, Z, RS, RM, RL }, wherein LL represents that the lateral deviation left is large (negative large), LM represents that the lateral deviation is medium (negative medium), LS represents that the left deviation is small (negative small), Z represents that the lateral deviation is zero (no lateral deviation), RS represents that the right deviation is small (positive small), RM represents that the right deviation is medium (positive medium), and RL represents that the right deviation is large (positive large);
in the lateral deviation, LL is a Gaussian membership function, parameters are [2, -25], LM is a triangular membership function, parameters are [ -25, -17, -7], LS is a triangular membership function, parameters are [ -16, -8, -3], Z is a triangular membership function, parameters are [ -5, 0, 5], RS is a triangular membership function, parameters are [3, 7, 16], RM is a triangular membership function, parameters are [8, 17, 25], RL is a Gaussian membership function, and parameters are [ -2, 25 ].
The range of the course deviation angle discourse domain is [ -10, 10], the fuzzy set of the course deviation angles is { NL, NM, NS, ZO, PS, PM, PL }, wherein NL represents that the left course angle is large (negative large), NM represents that the left course angle is medium (negative medium), NS represents that the left course angle is small (negative small), ZO represents that the course deviation angle is 0, PS represents that the right course angle is small (positive small), PM represents that the right course angle is medium (positive medium), and PL represents that the right course angle is large (positive large);
in the course declination, NL is a Gaussian membership function, parameters are [ -0.6, -10], NM is a triangular membership function, parameters are [ -10, -7, -3], NS is a triangular membership function, parameters are [ -7, -3, -1], ZO is a triangular membership function, parameters are [ -2, 0, 2], PS is a triangular membership function, parameters are [1, 3, 7], PM is a triangular membership function, parameters are [3, 7, 10], PL is a Gaussian membership function, and parameters are [0.6, 10 ].
The forward looking distance domain ranges from [2, 8], and the fuzzy set of forward looking distances is { VC, C, RC, M, RF, F, VF }, where VC represents very close, C represents close, RC represents close, M represents moderate, RF represents far, F represents far, and VF represents very far.
In forward range, VC is gaussian membership function, parameters are [0.1, 2], C is triangular membership function, parameters are [2, 3, 3.6], RC is triangular membership function, parameters are [3.2, 3.9, 4.6], M is triangular membership function, parameters are [3.9, 5, 6.1], RF is triangular membership function, parameters are [5.4, 6.1, 6.8], F is triangular membership function, parameters are [6.4, 7.2, 8], VF is gaussian membership function, and parameters are [0.1, 8 ].
A total of 49 control rules were developed, as shown in Table 1.
TABLE 1 foresight distance fuzzy control rule
The desired steering wheel angle θ is calculated by the following formula:
in the formula, L represents the axle distance of the corn combine harvester; e represents a lateral deviation; d represents a forward looking distance; θ represents a desired steered wheel angle.
After the controller 30 calculates the desired steering wheel rotation angle θ, it calculates the control voltage through the PID algorithm, and sends a control signal in the form of voltage to the proportional solenoid valve, thereby driving the wheel to deflect, and realizing the adjustment of the vehicle body posture at one time.
Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. An automatic row aligning system based on a corn combine harvester is characterized by comprising: a deviation detection sensing device (10), a controller (30), a harvester state detection sensor (20) and a steering actuating mechanism (40);
the deviation detection sensing device (10) and the harvester state detection sensor (20) are respectively connected with a controller (30), and the controller (30) is connected with a steering actuating mechanism (40);
the deviation detection sensing device (10) is used for detecting a transverse deviation value E of the corn combine harvester relative to a corn row to be harvested and sending the transverse deviation value E to the controller (30) through a CAN bus, and the controller (30) calculates a course deviation angle psi according to the obtained transverse deviation value E;
the harvester state detection sensor (20) is used for detecting running state data of the corn combine harvester and sending the data to the controller (30), and the controller (30) calculates an expected steering wheel angle theta according to the obtained running state data of the corn combine harvester and the heading deflection angle psi;
the steering actuating mechanism (40) is used for controlling the steering wheel to rotate according to the expected steering wheel rotation angle theta calculated by the controller (30);
the deviation detection sensing device (10) comprises a left line sensor and a right line sensor;
the left alignment sensor and the right alignment sensor are oppositely arranged at the bottoms of the dividers on two sides of the same cutting path, the controller (30) is arranged below a front passenger seat in a cab, and the steering executing mechanism (40) is arranged below the cab;
the left row aligning sensor and the right row aligning sensor are used for contacting with a corn row when the corn combine is deviated, detecting the transverse deviation between the left row aligning sensor and the corn combine, and sending the transverse deviation value E to the controller (30) through the CAN bus;
the harvester state detection sensor (20) includes: a vehicle speed sensor (201), a rear wheel steering angle sensor (202), a steering proportional valve core position sensor (203) and a steering wheel position sensor (204);
the speed sensor (201) is arranged on a shaft of a front wheel of the corn harvester and is used for acquiring the running speed of the corn combine harvester;
the rear wheel steering angle sensor (202) is connected with the wheels through a quadrilateral connecting rod structure and is used for collecting the rear wheel steering angle of the corn combine harvester;
the steering proportional valve core position sensor (203) is arranged below the cab and used for acquiring the position of the valve core;
the steering wheel position sensor (204) is arranged on a rotating shaft in the steering wheel and is used for acquiring steering wheel rotation angle data of the corn combine harvester;
the deviation detection sensing device (10) includes: the sensor comprises a sensor outer shell (101), a signal acquisition board (102), an inner shell end cover (103), a spring baffle (104), a return spring (105), a spring seat (106), an inner shell (107), magnetic steel (108), a rolling bearing (109), a shaft retainer ring (110), a rotating shaft (111) and a touch rod (112);
the contact rod (112) is fixed on the head of the rotating shaft (111), the bottom of the rotating shaft (111) penetrates through the rolling bearing (109) and the shaft retainer ring (110) and then is connected with the spring seat (106), the end part of the return spring (105) is lapped on the spring seat (106), the left end of the spring baffle plate (104) penetrates through the return spring (105), the right end of the spring baffle plate (104) is connected with the inner shell end cover (103), the magnetic steel (108) is installed at the bottom of the rotating shaft (111) and used for providing a magnetic field for the signal acquisition plate (102), the signal acquisition plate (102) is fixed on the inner shell end cover (103), one end of the rolling bearing (109) is in contact with a boss arranged on the inner shell (107), and the other end of the rolling bearing (109) limits the axial movement of the rolling bearing (109) through the shaft retainer ring (110).
2. The automatic row aligning system of the corn combine harvester based on claim 1, characterized in that the touch rod (112) is perpendicular to the center line of the header and fixed on the head of the rotating shaft (111) through a bolt, the rotating shaft (111) is connected with the spring seat (106) through an inner hexagon screw, and the signal acquisition board (102) is fixed on the end cover (103) of the inner shell through a copper column.
3. The automated row alignment system for a corn combine as claimed in claim 1, wherein the signal acquisition board comprises: the device comprises a power module, a signal preprocessing module, a Hall chip, a microcontroller and a CAN (controller area network) transceiver module;
the power supply module is respectively connected with the signal preprocessing module, the Hall chip, the microcontroller and the CAN transceiving module and is used for supplying power to the signal preprocessing module, the Hall chip, the microcontroller and the CAN transceiving module;
the Hall chip is connected with the signal preprocessing module, the signal preprocessing module is connected with the microcontroller, and the microcontroller is connected with the CAN transceiver module;
the magnetic steel (108) is used for providing a magnetic field for the Hall chip, the Hall chip is used for detecting the change of the magnetic field, when the magnetic field is detected to change, the Hall chip is used for converting the change of the magnetic field into analog voltage and sending the analog voltage to the signal preprocessing module, the signal preprocessing module is used for outputting the analog voltage value obtained by voltage division, voltage stabilization and filtering on the analog voltage to the microcontroller, the microcontroller is used for converting the analog voltage value into a transverse deviation value E, the transverse deviation value E is sent to a CAN bus through the CAN transceiver module, and the controller (30) receives transverse deviation information through the CAN bus.
4. The automatic row aligning system of the corn combine harvester based on claim 1, characterized in that the steering actuator (40) comprises a steering switch valve (401), a steering proportional solenoid valve (402), a steering hydraulic cylinder (403); the steering switch valve (401) is used for controlling the steering hydraulic cylinder (403) to supply hydraulic oil, and the steering proportional electromagnetic valve (402) controls the wheel rotating speed by controlling the magnitude of the supply flow rate of the hydraulic oil according to the expected steering wheel rotation angle theta calculated by the controller (30).
5. The automatic row aligning system of any one of claims 1 to 4 is applied to an automatic row aligning method based on a corn combine harvester, and specifically comprises the following steps:
step 1: starting the corn combine harvester, determining whether an automatic row aligning system is started, if so, entering an automatic row aligning mode and entering the step 2, and if not, entering the step 10;
step 2: acquiring the position of a valve core through a steering proportional valve core position sensor (203), if the position is in the central position, entering step 3, and if the position is not in the central position, entering step 10;
and step 3: reading a rear wheel steering angle of a rear wheel steering angle sensor (202), if a rear wheel steering angle numerical value is read, entering a step 4, and if the numerical value cannot be read, entering a step 10;
and 4, step 4: reading data of a steering wheel position sensor (204), judging whether the steering angle of a steering wheel rotates, if not, entering a step 5, and if so, entering a step 10;
and 5: reading data of a deviation detection sensor (10), a vehicle speed sensor (201) and a rear wheel steering angle sensor (202) to obtain a transverse deviation value E, an actual vehicle speed V and a rear wheel steering angle theta of the corn combine harvester, and then entering step 6;
step 6: the controller (30) calculates a heading drift angle psi through a heading drift angle estimation formula, and then enters step 7;
and 7: calculating a forward-looking distance D through a fuzzy control model according to the course deflection angle psi and the transverse deviation value E calculated in the step 6, and then entering a step 8;
and 8: calculating an expected steering wheel corner theta according to the heading drift angle psi and the transverse deviation value E calculated in the step 6 and the foresight distance calculated in the step 7, and then entering the step 9;
and step 9: according to the expected steering wheel rotation angle theta obtained in the step 8, the controller (30) calculates control voltage through a PID algorithm, sends a control signal in a voltage form to the steering proportional solenoid valve, further drives wheels to deflect, realizes adjustment of one-time vehicle body posture, and then returns to the step 3;
step 10: the automatic row aligning system of the corn combine is closed.
6. The automatic row aligning method of a corn combine harvester as claimed in claim 5, wherein the step 6 of calculating the heading offset angle ψ by a heading offset angle estimation formula comprises the following steps:
detecting sensor data by reading two successive deviations within a time interval atTo obtain E1And E2Through E1And E2Judging the position and posture state of the body of the corn harvester, and calculating a course deflection angle psi through a formula (1);
in the formula, E1The lateral deviation value is read for the first time; e2The lateral deviation value is read for the second time; Δ t represents a time interval; v represents a vehicle speed.
7. The automatic row aligning method for corn combine harvester based on claim 5, wherein the input variables of the fuzzy control model in step 7 are the lateral deviation value E and the heading declination, and the output variable is the forward looking distance according to the control rule of the fuzzy control model.
8. The automated row alignment method for a corn combine as claimed in claim 7, wherein the range of the cross deviation value is [ -25, 25], and the fuzzy set of the cross deviation values is { LL, LM, LS, Z, RS, RM, RL }, wherein LL represents a large left side deviation, LM represents a medium left side deviation, LS represents a small left side deviation, Z represents a zero cross deviation, RS represents a small right side deviation, RM represents a medium right side deviation, and RL represents a large right side deviation;
wherein LL is a Gaussian membership function, the parameters are [ 2-25 ], LM is a triangular membership function, the parameters are [ -25, -17, -7], LS is a triangular membership function, the parameters are [ -16, -8, -3], Z is a triangular membership function, the parameters are [ -5, 0, 5], RS is a triangular membership function, the parameters are [3, 7, 16], RM is a triangular membership function, the parameters are [8, 17, 25], RL is a Gaussian membership function, and the parameters are [ -2, 25 ];
the scope of the heading angle psi is [ -10, 10], the fuzzy set of heading angles is { NL, NM, NS, ZO, PS, PM, PL }, wherein NL represents that the left heading angle is large, NM represents that the left heading angle is medium, NS represents that the left heading angle is small, ZO represents that the heading angle is 0, PS represents that the right heading angle is small, PM represents that the right heading angle is medium, and PL represents that the right heading angle is large;
wherein NL is a Gaussian membership function, parameters are [ -0.6, -10], NM is a triangular membership function, parameters are [ -10, -7, -3], NS is a triangular membership function, parameters are [ -7, -3, -1], ZO is a triangular membership function, parameters are [ -2, 0, 2], PS is a triangular membership function, parameters are [1, 3, 7], PM is a triangular membership function, parameters are [3, 7, 10], PL is a Gaussian membership function, and parameters are [0.6, 10 ].
9. The automated row alignment method for a corn-based combine harvester of claim 8, wherein the control rules comprise:
when the transverse deviation value belongs to LL and the course deviation angles belong to NL, NM, NS, ZO, PS, PM and PL, the forward-looking distances all belong to VC;
when the transverse deviation value belongs to LM and the course deflection angle belongs to NL, the forward looking distance belongs to C; ,
when the transverse deviation value belongs to LM and the course deflection angle belongs to NM, the forward-looking distance belongs to RC;
when the transverse deviation value belongs to LM and the course deflection angle belongs to NS, the forward looking distance belongs to M;
when the transverse deviation value belongs to LM and the heading deflection angle belongs to ZO, the forward looking distance belongs to RF;
when the transverse deviation value belongs to LM and the course deflection angle belongs to PS, the forward looking distance belongs to M;
when the transverse deviation value belongs to LM and the course deflection angle belongs to PM, the forward looking distance belongs to RC;
when the transverse deviation value belongs to LM and the course deflection angle belongs to PL, the forward looking distance belongs to C;
when the transverse deviation value belongs to LS and the heading deflection angle belongs to NL, the forward-looking distance belongs to C; ,
when the transverse deviation value belongs to LS and the course deviation angle belongs to NM, the forward-looking distance belongs to M;
when the transverse deviation value belongs to LS and the course deflection angle belongs to NS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to LS and the course deflection angle belongs to ZO, the forward looking distance belongs to VF;
when the transverse deviation value belongs to LS and the course deviation angle belongs to PS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to LS and the course deflection angle belongs to PM, the forward looking distance belongs to M;
when the transverse deviation value belongs to LS and the course deflection angle belongs to PL, the forward looking distance belongs to C;
when the transverse deviation value belongs to Z and the heading deflection angle belongs to NL, the forward-looking distance belongs to VC; ,
when the transverse deviation value belongs to Z and the course deviation angle belongs to NM, the forward-looking distance belongs to RC;
when the transverse deviation value belongs to Z and the course deflection angle belongs to NS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to Z and the heading deflection angle belongs to ZO, the forward looking distance belongs to VF;
when the transverse deviation value belongs to Z and the course deflection angle belongs to PS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to Z and the course deflection angle belongs to PM, the forward looking distance belongs to RC;
when the transverse deviation value belongs to Z and the course deflection angle belongs to PL, the forward looking distance belongs to VC;
when the transverse deviation value belongs to RS and the heading deflection angle belongs to NL, the forward-looking distance belongs to C; ,
when the transverse deviation value belongs to RS and the course deviation angle belongs to NM, the forward-looking distance belongs to M;
when the transverse deviation value belongs to RS and the course deflection angle belongs to NS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to RS and the course deflection angle belongs to ZO, the forward looking distance belongs to VF;
when the transverse deviation value belongs to RS and the course deviation angle belongs to PS, the forward looking distance belongs to RF;
when the transverse deviation value belongs to RS and the course deflection angle belongs to PM, the forward looking distance belongs to M;
when the transverse deviation value belongs to RS and the course deflection angle belongs to PL, the forward looking distance belongs to RC;
when the transverse deviation value belongs to RM and the heading deflection angle belongs to NL, the forward looking distance belongs to C; ,
when the transverse deviation value belongs to RM and the course deviation angle belongs to NM, the forward-looking distance belongs to M;
when the transverse deviation value belongs to RM and the course deflection angle belongs to NS, the forward looking distance belongs to M;
when the lateral deviation value belongs to RM and the heading deviation angle belongs to ZO, the forward looking distance belongs to RF;
when the transverse deviation value belongs to RM and the course deflection angle belongs to PS, the forward looking distance belongs to M;
when the transverse deviation value belongs to RM and the course deflection angle belongs to PM, the forward looking distance belongs to RC;
when the transverse deviation value belongs to RM and the course deflection angle belongs to PL, the forward looking distance belongs to C;
when the transverse deviation value belongs to RB and the heading deviation angle belongs to NL, NM, NS, ZO, PS, PM and PL, the forward-looking distance belongs to VC;
the range of the forward-looking distance domain is [2, 8], and the fuzzy set of forward-looking distances is { VC, C, RC, M, RF, F, VF }, wherein VC represents very close, C represents close, RC represents close, M represents moderate, RF represents far, F represents far, and VF represents very far;
wherein VC is a Gaussian membership function, parameters are [0.1, 2], C is a triangular membership function, parameters are [2, 3, 3.6], RC is a triangular membership function, parameters are [3.2, 3.9, 4.6], M is a triangular membership function, parameters are [3.9, 5, 6.1], RF is a triangular membership function, parameters are [5.4, 6.1, 6.8], F is a triangular membership function, parameters are [6.4, 7.2, 8], VF is a Gaussian membership function, and parameters are [0.1, 8 ].
10. The automatic row aligning method of a corn combine harvester as claimed in claim 9, wherein the desired turning wheel angle θ in step 8 is calculated by equation (2):
in the formula, L represents the axle distance of the corn combine harvester; e represents a lateral deviation; d represents a forward looking distance; θ represents a desired steered wheel angle.
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