CN114489031A - Flat leveling operation overload control system and method based on satellite - Google Patents
Flat leveling operation overload control system and method based on satellite Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2253—Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
Abstract
The invention discloses a satellite-based overload control system and method for flat ground leveling operation, and belongs to the technical field of automatic operation. The invention comprises a data acquisition module, a threshold selection module, an overload identification module and a control signal module; the data acquisition module receives the data of the pin shaft-shaped force sensor and the positioning data to calculate the real-time speed of the working machine, the real-time speed of the working machine calculated by the pin shaft-shaped force sensor and the positioning data is transmitted to the threshold value selection module and the overload identification module, the threshold value selection module sets a threshold value, the overload identification module judges whether the working machine is overloaded or not based on the threshold value, the real-time speed of the working machine and the real-time data of the pin shaft-shaped force sensor, the judgment result is input to the control signal module, and the control signal controls the working machine to operate.
Description
Technical Field
The invention relates to the technical field of automatic operation, in particular to a satellite-based overload control system and method for leveling operation.
Background
The automation of agricultural operation machinery is a trend, the accurate leveling of basic operation of accurate agriculture is widely accepted and applied in China, the automatic unmanned agricultural operation technology can obviously improve the productivity of social work, improve the working environment of people and improve the living standard of people, and makes great contribution to social progress;
however, the development of the leveling operation system is slow, and the leveling operation system is basically in a stagnation state towards automation and unmanned development, mainly because the current operation system cannot simulate a manual control or abnormal overload processing method, and most leveling systems in the current market state are in a manual control state;
the overload protection apparatus of the present invention, which is an invention of CN201880050141.0, uses the lifting performance of a working machine to the maximum extent according to the working state by the overload protection apparatus, and is mounted on a mobile working machine, and includes: a storage unit that stores lifting performance data in which lifting performance is set for each operation state and performance region data in which a predetermined switching angle is set for a performance region including a front region, a rear region, and a side region; and a work machine control unit that controls an operation of the mobile work machine based on the lifting performance and the actual load corresponding to the current work state of the mobile work machine. The lifting performance comprises maximum extension amplitude performance set for a front area and a rear area, and the switching angle is set for each working state based on strength factors such as stability calculation and crane strength;
however, agricultural work machines are various in types, different adjustments are required according to actual work environments, and an overload protection device in the aspect of mechanical work cannot be used for reference to solve wide agricultural leveling work.
Disclosure of Invention
The present invention is directed to a system and method for controlling overload during leveling operation based on a satellite, so as to solve the above problems.
In order to solve the technical problems, the invention provides the following technical scheme: an overload control method for leveling operation based on a satellite comprises the following steps:
the method comprises the following steps: acquiring speed data of the operation machine based on a satellite positioning technology;
step two: acquiring data of the tension of the operation machine through a force sensor technology;
step three: selecting a threshold based on the job data;
step four: judging and identifying whether the current operation machine is overloaded or not;
step five: and outputting different control signals according to whether the work machine is overloaded or not.
The method only adds one force sensor to control the operation machine to intelligently cope with the problem of overload of the operation machine, is simple and effective in implementation mode, does not need high-cost hardware and a complex system, and effectively solves the problem of overload flameout.
The specific method for acquiring the speed data of the operation machine based on the satellite positioning technology in the first step comprises the following steps: the method comprises the following steps of obtaining a positioning coordinate of the operation machine based on a satellite positioning technology, and calculating the real-time speed of the operation machine, wherein the real-time speed is specifically calculated according to a formula:
wherein S represents the real-time speed of the vehicle, (X)t，Yt，Zt) Indicating the coordinates of the work machine.
The speed of the working vehicle is measured and calculated based on the satellite positioning system, the false speed caused by tire idling is avoided, the measuring and calculating precision is 0.03m/s based on the positioning precision of the satellite positioning system RTK centimeter level, and a Bluetooth system is added to further accurately position the system in an environment needing high precision, so that the precision of measuring and calculating the speed of the working vehicle is ensured.
The specific method for installing the force sensor in the second step comprises the following steps: the operation machinery sets up pulls the structure, and the agricultural implement sets up agricultural implement and pulls the connecting piece, pull the structure and pull the connecting piece with the agricultural implement and pass through the round pin axle shape force transducer and be connected, round pin axle shape force transducer passes through the cable and transmits the atress for data processing unit in real time.
The operation machine runs to drive a traction structural part, the traction structural part drives the farm implement traction part through a pin shaft-shaped force sensor, at the moment, the pin shaft-shaped force sensor can bear two forces which are mutually reacted, one is the pulling force of the operation machine, the other is the resistance which drives the farm implement in the opposite direction, the two acting forces can form shear force analog data feedback for the force sensor, the data is transmitted to a data acquisition module through a connecting cable, and the data acquisition module carries out digital processing on the data; the pulling force of the working machine is the main force, and the resistance force driving the farm implement in the opposite direction is the passive force, so the data of the pin shaft type force sensor is the pulling force of the working machine.
The specific method for selecting the threshold value for the operation data in the third step comprises the following steps:
setting a speed threshold SthIs a fixed value, based on the pin shaft shape force sensor data NtCalculating a data threshold of the pin shaft shape force sensor;
continuously obtaining the data N of the pin shaft shape force sensor in unit time delta ttCalculating the differential force per unit time:
wherein f represents a differential force per unit time, NtRepresenting the pin shaft shape force sensor data at time t; the variation of the pulling force is obtained by calculating the differential force in unit time, and when the pulling force is close to the maximum value of the available pulling force of the working vehicle, the variation of the pulling force is lower than a threshold value;
Nmax＝max{Nt+Δt，Nt，Nmax}
wherein N isthRepresenting the process value, N, of the pin-shaped force sensor datamaxRepresenting the maximum value of the data of the pin shaft shape force sensor, wherein epsilon represents the advance of the data threshold of the pin shaft shape force sensor; n is a radical ofthAs a process quantity, preventing the tensile force threshold from being frequently obtained and judging the overload of the image operation vehicle; epsilon is used as the lead to protect the working vehicle from being overloaded; obtaining the maximum value of the tension through the comparison between the continuously obtained tension values;
Nr＝Nth，Nth<Nmax
wherein N isrIndicating a pin shape force sensor data threshold when NrContinuously obtain a value, NrAlways taking the maximum value;
the speed threshold SthAnd pin shaft type force sensor data threshold NrThe option of manual adjustment is retained.
When the pin-shaped force sensor data threshold is obtained, the moment when the pulling force reaches the threshold is also, and when the speed is lower than the speed threshold, the vehicle is overloaded.
The threshold value of the speed is a relatively stable fixed value and can be simply adjusted according to the requirements of the working environment, and the threshold value of the pulling force of the working vehicle is difficult to be fixed at a fixed value due to different vehicles and different running environments; the algorithm determines the threshold value according to the data of the tension of the working vehicle in the specific working process, does not need manual repeated tests to obtain the data, and is suitable for different environments.
The specific method for selecting the threshold value for the operation data in the third step further comprises the following steps:
outputting the current real-time speed when the operation machine is full of soil and can continuously run, and recording the current real-time speed as a speed threshold value Sth；
The operation machine controls the land leveling blade to descend and scrape soil when the real-time speed is less than the speed threshold SthRecording the data of the pin shaft-shaped force sensor at the moment as a data threshold N of the pin shaft-shaped force sensorr；
Speed threshold SthAnd pin shaft type force sensor data threshold NrThe option of human adjustment is retained.
Providing a corrected speed threshold SthAnd pin shaft type force sensor data threshold NrThe method of (3) ensures a selected applicability of the threshold.
The specific method for judging and identifying whether the current operation machine is overloaded in the fourth step is as follows:
wherein S isthRepresenting a speed threshold, S representing a real-time speed;
when S is more than or equal to SthOr Nt≤NrWhen the overload identification module outputs a non-overload signal to the control signal module;
when S is<SthAnd N ist>NrAnd the overload identification module outputs an overload signal to the control signal module.
The concrete method for outputting different control signals according to whether the operating machine is overloaded in the step five is as follows:
when the operating machinery receives the overload signal, the system finishes the automatic control state, switches to the intelligent control state and controls the land leveling shovel to ascend; when the system is in an unmanned state, the system can output an accelerator increasing control instruction, prevent the operating machine from flameout and improve the power of the operating machine;
when the operation machine receives the non-overload signal, the land leveling system is switched back to the automatic control state, and automatic leveling control is performed according to the actual terrain height difference value state.
An overload control system for leveling operation based on a satellite comprises a data acquisition module, a threshold selection module, an overload identification module and a control signal module;
the data acquisition module receives data of the pin shaft shape force sensor, digitalizes the data of the pin shaft shape force sensor and transmits the data to the threshold value selection module and the overload identification module, collects positioning data, calculates the real-time speed of the operation machine based on the positioning data, and transmits the real-time speed to the threshold value selection module and the overload identification module;
the threshold selecting module selects a threshold according to the real-time data of the pin shaft shape force sensor; the threshold value selecting module automatically determines the threshold value of the pulling force without manual setting, and meanwhile, the option of manual adjustment is reserved, so that different environmental requirements are met; the threshold selection module defaults the speed threshold to zero and retains the option of manual adjustment.
The overload identification module judges whether the operating machine is overloaded or not based on a threshold value, the real-time speed of the operating machine and the real-time data of the pin shaft-shaped force sensor, and inputs a judgment result to the control signal module;
the control signal module outputs different control signals to control the operation of the operation machine according to whether the vehicle is overloaded or not.
The control signal module receives a signal whether the operating machine is overloaded or not and controls the operating machine according to the received signal;
when the control signal module receives an overload signal, if the operating machine is controlled by personnel, the control signal module switches an automatic control state into an intelligent control state to control the land leveling shovel to ascend;
when the control signal module receives an overload signal, if the operation machine is not controlled by personnel, the control signal module outputs an accelerator increasing control instruction to control the land leveling shovel to ascend;
when the control signal module receives a non-overload signal, if the operation machine is controlled by personnel, the control signal module switches the intelligent control state into an automatic control state, and automatic leveling control is performed according to the actual terrain height difference value state;
when the control signal module receives a non-overload signal, if the operation machine is not controlled by personnel, the control signal module controls the lifting of the land leveling shovel, and the land leveling is automatically controlled according to the actual terrain height difference state.
The operating machine is divided into an intelligent control state and an automatic control state, and the state is switched according to the control of the presence or absence of a person, so that the overload problem of the operating machine can be fully solved by controlling the presence or absence of the person.
Compared with the prior art, the invention has the following beneficial effects:
1. the overload is judged according to the tension and speed data of the operation machine, only one force sensor needs to be added, the cost is low, the installation mode of the force sensor is simple, the structure is simple, the performance is stable, the tension threshold value is automatically obtained without manual debugging and calibration for many times, the state is intelligently switched according to the condition of personnel control, the overload problem of the operation machine can be fully solved by controlling whether personnel exist, the flameout phenomenon of the operation machine in the operation process is reduced, the overload phenomenon does not need to be processed by manual intervention, the fatigue degree of manual operation is reduced, and the system is promoted to be developed to automation and unmanned;
2. the invention can be widely applied to various operation conditions, is applicable to manned or unmanned operation modes, can reduce the operation of the manipulator on the leveling operation, reduce the attention of the operator to the system and reduce the fatigue of the operator when the operator operates, can lead the manipulator to pay more attention to the driving of the operation machine, and greatly improves the safety; the phenomenon that the operation machine is flamed out and stops operating due to overload of the operation machine can be processed in the unmanned operation mode, and the development of agricultural operation to intellectualization, automation and unmanned is promoted.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of an overload control system for leveling operation based on a satellite;
in the figure: s1, a data acquisition module; s2, a threshold selection module; s3, an overload identification module; and S4, a control signal module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides a technical solution:
the first embodiment is as follows: an overload control method for leveling operation based on a satellite comprises the following steps:
the method comprises the following steps: acquiring speed data of the working vehicle based on a satellite positioning technology;
step two: acquiring data of the tension of the operation machine through a force sensor technology;
step three: selecting a threshold based on the job data;
step four: judging and identifying whether the current operation machine is overloaded or not;
step five: and outputting different control signals according to whether the work machine is overloaded or not.
The method only adds one force sensor to control the work vehicle to intelligently cope with the problem of work vehicle overload, has simple and effective implementation mode, does not need high-cost hardware and complex systems, and effectively solves the problem of overload flameout.
The specific method for acquiring the speed data of the operation machine based on the satellite positioning technology in the first step comprises the following steps: the method comprises the following steps of obtaining a positioning coordinate of the operation machine based on a satellite positioning technology, and calculating the real-time speed of the operation machine, wherein the real-time speed is specifically calculated according to a formula:
wherein S represents the real-time speed of the vehicle, (X)t，Yt，Zt) Indicating the coordinates of the work machine.
The speed of the working vehicle is measured and calculated based on the satellite positioning system, the false speed caused by tire idling is avoided, the measuring and calculating precision is 0.03m/s based on the positioning precision of the satellite positioning system RTK centimeter level, and a Bluetooth system is added to further accurately position the system in an environment needing high precision, so that the precision of measuring and calculating the speed of the working vehicle is ensured.
The specific method for installing the force sensor in the second step comprises the following steps: the operation machinery sets up and pulls the structure, and the agricultural implement sets up agricultural implement and pulls the connecting piece, pulls the structure and pulls the connecting piece with the agricultural implement and passes through the round pin axle shape force transducer to be connected, and the round pin axle shape force transducer passes through the cable and transmits the atress for data processing unit in real time.
The working vehicle drives a traction structural part, the traction structural part drives the farm implement traction part through a pin shaft-shaped force sensor, at the moment, the pin shaft-shaped force sensor can bear two forces which are mutually reacted, one is the pulling force of the working vehicle, the other is the resistance which drives the farm implement in the opposite direction, the two acting forces can form shear force analog data feedback for the force sensor, the data is transmitted to a data acquisition module S1 through a connecting cable, and the data acquisition module S1 carries out digital processing on the data; the pulling force of the working vehicle is the main force, and the resistance force driving the farm implement in the opposite direction is the passive force, so the data of the pin shaft-shaped force sensor is the pulling force of the working vehicle.
The specific method for selecting the threshold value for the operation data in the third step comprises the following steps:
setting a speed threshold SthIs a fixed value, based on the pin shaft shape force sensor data NtCalculating a data threshold of the pin shaft shape force sensor;
continuously obtaining the data N of the pin shaft shape force sensor in unit time delta ttCalculating the differential force per unit time:
wherein f represents a differential force per unit time, NtRepresenting the pin shaft shape force sensor data at time t; the variation of the pulling force is obtained by calculating the differential force in unit time, and when the pulling force is close to the maximum value of the available pulling force of the working vehicle, the variation of the pulling force is lower than a threshold value;
Nmax＝max{Nt+Δt，Nt，Nmax}
wherein N isthIndicating pin shapeForce sensor data process value, NmaxRepresenting the maximum value of the data of the pin shaft shape force sensor, wherein epsilon represents the advance of the data threshold of the pin shaft shape force sensor; n is a radical ofthAs a process quantity, preventing the tensile force threshold from being frequently obtained and judging the overload of the image operation vehicle; epsilon is used as the lead to protect the working vehicle from being overloaded; obtaining the maximum value of the tension through the comparison between the continuously obtained tension values;
Nr＝Nth，Nth<Nmax
wherein N isrRepresenting a pin force sensor data threshold, when NrContinuously obtain a value, NrAlways taking the maximum value;
speed threshold SthAnd pin shaft type force sensor data threshold NrThe option of manual adjustment is retained.
When the pin-shaped force sensor data threshold is obtained, the moment when the pulling force reaches the threshold is also, and when the speed is lower than the speed threshold, the vehicle is overloaded.
The threshold value of the speed is a relatively stable fixed value and can be simply adjusted according to the requirements of the working environment, and the threshold value of the pulling force of the working vehicle is difficult to be fixed at a fixed value due to different vehicles and different running environments; the algorithm determines the threshold value according to the data of the tension of the working vehicle in the specific working process, does not need manual repeated tests to obtain the data, and is suitable for different environments.
The specific method for selecting the threshold value for the operation data in the third step further comprises the following steps:
outputting the current real-time speed when the operation machine is full of soil and can continuously run, and recording the current real-time speed as a speed threshold value Sth；
The operation machine controls the land leveling blade to descend and scrape soil when the real-time speed is less than the speed threshold SthRecording the data of the pin shaft-shaped force sensor at the moment as a data threshold N of the pin shaft-shaped force sensorr；
Speed threshold SthAnd pin shaft type force sensor data threshold NrThe option of manual adjustment is retained.
Providing a correction rateDegree threshold SthAnd pin shaft type force sensor data threshold NrThe method of (2) ensures the selected applicability of the threshold.
The specific method for judging and identifying whether the current operation machine is overloaded in the fourth step is as follows:
wherein S isthRepresenting a speed threshold, S representing a real-time speed;
when S is more than or equal to SthOr Nt≤NrIf so, the overload recognition module S3 outputs a no-overload signal to the control signal module S4;
when S is<SthAnd N ist>NrAt this time, the overload recognition module S3 outputs an overload signal to the control signal module S4.
The concrete method for outputting different control signals according to whether the operating machine is overloaded in the step five is as follows:
when the working machine receives an overload signal, if the working vehicle is controlled by a person, the working machine switches the automatic control state into an intelligent control state to control the land leveling shovel to ascend;
when the working machine receives the overload signal, if the working vehicle is not controlled by personnel, the working machine outputs an accelerator increasing control instruction to control the land leveling shovel to ascend;
when the operation machine receives the non-overload signal, if the operation vehicle is controlled by a person, the operation machine switches the intelligent control state into an automatic control state, and automatic leveling control is performed according to the actual terrain height difference value state;
when the operation machine receives the non-overload signal, if the operation vehicle is not controlled by personnel, the operation machine controls the flat shovel to ascend and descend, and automatic leveling control is performed according to the actual terrain height difference state.
The working vehicle is divided into an intelligent control state and an automatic control state, and the overload problem of the working vehicle can be fully solved by controlling whether personnel exist or not according to the control switching state of whether personnel exist or not.
An overload control system for leveling operation based on a satellite comprises a data acquisition module S1, a threshold selection module S2, an overload identification module S3 and a control signal module S4;
the data acquisition module S1 acquires positioning data and pin-shaped force sensor data, the data are processed and then transmitted to the threshold selection module S2 and the overload identification module S3, the threshold selection module S2 sets a threshold and then inputs the threshold to the overload identification module S3, the overload identification module S3 judges whether the working vehicle is overloaded or not based on the threshold, the real-time speed of the working vehicle and the real-time data of the pin-shaped force sensor, and the judgment result is input to the control signal module S4; the control signal module S4 outputs different control signals to control the work vehicle operation depending on whether the vehicle is overloaded.
The data acquisition module S1 receives the data of the pin shaft shape force sensor, the data of the pin shaft shape force sensor is transmitted to the threshold value selection module S2 and the overload identification module S3 after being processed in a digital mode, the data acquisition module S1 collects positioning data, the real-time speed of the working vehicle is calculated based on the positioning data, and the real-time speed is transmitted to the threshold value selection module S2 and the overload identification module S3.
The data acquisition module S1 receives and processes data uniformly, and facilitates later maintenance and access to new modules.
The threshold selecting module S2 selects a threshold according to the real-time data of the pin shaft shape force sensor, and meanwhile, the option of manual adjustment is reserved; the threshold value selecting module sets the speed threshold value as a fixed value and reserves options of manual adjustment. The threshold value selecting module S2 automatically determines the threshold value of the pulling force without manual setting, and meanwhile, the option of manual adjustment is reserved to adapt to different environmental requirements.
Example two: the threshold selection module S2 continuously obtains the pin shaft shape force sensor data N in unit time delta tt，NtWhere 0.3 is set for {3, 2, 4, 4.5, 2, 5, 5.1, 6, 6.2}, depending on Nmax＝max{Nt+Δt，Nt，NmaxCalculated, Nmax＝{3、3、4、4.5、4.5、5、5.1、6、6.2}；
According to
The calculation can be carried out to obtain the,
Nth＝{3、3、4、4.5、4.5、5、4.7、6、5.8}；
according to Nr＝Nth，Nth<NmaxCalculated to obtain, Nr＝{4.7、5.8}；
The overload identification module S3 continuously obtains the pin shaft force sensor data S at a unit time Δ t, where S is {11, 12, 11, 11.4, 5, 4, 7, 3, 1}, and sets a speed threshold SthWhen the ninth unit time, S is 2<SthAnd N ist>NrThe overload recognition module S3 outputs an overload signal to the control signal module S4, and the control signal module S4 outputs an accelerator increasing control instruction to control the land leveling shovel to ascend.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A leveling operation overload control method based on a satellite is characterized in that: the specific overload control method comprises the following steps:
the method comprises the following steps: acquiring speed data of the operation machine based on a satellite positioning technology;
step two: acquiring data of the tension of the operation machine through a force sensor technology;
step three: selecting a threshold based on the job data;
step four: judging and identifying whether the current operation machine is overloaded or not;
step five: and outputting different control signals according to whether the work machine is overloaded or not.
2. The overload control method for leveling operation of satellite according to claim 1, wherein: the specific method for acquiring the speed data of the operation machine based on the satellite positioning technology in the first step comprises the following steps: the method comprises the following steps of obtaining a positioning coordinate of the operation machine based on a satellite positioning technology, and calculating the real-time speed of the operation machine, wherein the real-time speed is specifically calculated according to a formula:
wherein S represents the real-time speed of the vehicle, (X)t，Yt，Zt) Indicating the coordinates of the work machine.
3. The overload control method for leveling operation of satellite according to claim 1, wherein: the specific method for installing the force sensor in the second step comprises the following steps: the operation machinery sets up pulls the structure, and the agricultural implement sets up agricultural implement and pulls the connecting piece, pull the structure and pull the connecting piece with the agricultural implement and pass through the round pin axle shape force transducer and be connected, round pin axle shape force transducer passes through the cable and transmits the atress for data processing unit in real time.
4. The overload control method for leveling operation of satellite according to claim 1, wherein: the specific method for selecting the threshold value for the operation data in the third step comprises the following steps:
setting a speed threshold SthIs a fixed value, based on the pin shaft shape force sensor data NtCalculating a data threshold of the pin shaft shape force sensor;
continuously obtaining the data N of the pin shaft shape force sensor in unit time delta ttCalculating the differential force per unit time:
wherein f represents a differential force per unit time, NtRepresenting the pin shaft shape force sensor data at time t;
Nmax＝max{Nt+Δt，Nt，Nmax}
wherein N isthRepresenting the process value, N, of the pin-shaped force sensor datamaxRepresenting the maximum value of the data of the pin shaft shape force sensor, wherein epsilon represents the advance of the data threshold of the pin shaft shape force sensor;
Nr＝Nth，Nth<Nmax
wherein N isrIndicating a pin shape force sensor data threshold when NrContinuously obtain a value, NrAlways taking the maximum value;
speed threshold SthAnd pin shaft type force sensor data threshold NrThe option of manual adjustment is retained.
5. The overload control method for leveling operation of satellite according to claim 1, wherein: the specific method for selecting the threshold value for the operation data in the third step further comprises the following steps:
outputting the current real-time speed when the operation machine is full of soil and can continuously run, and recording the current real-time speed as a speed threshold value Sth；
The operation machine controls the land leveling blade to descend and scrape soil when the real-time speed is less than the speed threshold SthRecording the data of the pin-shaped force sensor at the moment as a data threshold N of the pin-shaped force sensorr；
Speed threshold SthAnd pin-shaped force sensor data threshold NrThe option of manual adjustment is retained.
6. The overload control method for the leveling operation of the satellite, according to claim 1, is characterized in that: the specific method for judging and identifying whether the current operation machine is overloaded in the fourth step is as follows:
when S is more than or equal to SthOr Nt≤NrJudging that the overload does not occur to the operation machine, and outputting a signal of not overload;
when S is<SthAnd N ist>NrAnd judging that the overload occurs to the operation machine, and outputting an overload signal.
7. The overload control method for leveling operation of satellite according to claim 1, wherein: the concrete method for outputting different control signals according to whether the operating machine is overloaded in the step five comprises the following steps:
when the operation machine receives an overload signal, if the operation machine is controlled by a person, the operation machine switches the automatic control state into an intelligent control state to control the land leveling shovel to ascend;
when the operation machine receives an overload signal, if the operation machine is not controlled by personnel, the operation machine outputs an accelerator increasing control instruction to control the land leveling shovel to ascend;
when the operation machine receives a non-overload signal, if the operation machine is controlled by a person, the operation machine switches the intelligent control state into an automatic control state, and automatic leveling control is performed according to the actual terrain height difference value state;
when the operation machine receives the non-overload signal, if the operation machine is not controlled by personnel, the operation machine controls the flat shovel to ascend and descend, and automatic leveling control is performed according to the actual terrain height difference state.
8. The utility model provides a based on satellite flattening operation overload control system which characterized in that: the system comprises a data acquisition module (S1), a threshold selection module (S2), an overload identification module (S3) and a control signal module (S4);
the data acquisition module (S1) acquires positioning data and pin-shaped force sensor data, the data are processed and then transmitted to the threshold value selection module (S2) and the overload identification module (S3), the threshold value selection module (S2) sets a threshold value and then inputs the threshold value to the overload identification module (S3), the overload identification module (S3) judges whether the operation machine is overloaded or not based on the threshold value, the real-time speed of the operation machine and the real-time data of the pin-shaped force sensor, the judgment result is input to the control signal module (S4), and the control signal module (S4) outputs different control signals to control the operation of the operation machine according to whether the vehicle is overloaded or not.
9. The system of claim 8, wherein the system further comprises: the data acquisition module (S1) receives the data of the pin shaft shape force sensor, the data of the pin shaft shape force sensor is transmitted to the threshold value selection module (S2) and the overload identification module (S3) after being processed in a digital mode, the data acquisition module (S1) collects positioning data, the real-time speed of the working machine is calculated based on the positioning data, and the real-time speed is transmitted to the threshold value selection module (S2) and the overload identification module (S3).
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