CN115004883A - Self-adaptive paddy field land leveler and self-adaptive method thereof - Google Patents
Self-adaptive paddy field land leveler and self-adaptive method thereof Download PDFInfo
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- 238000007667 floating Methods 0.000 claims description 12
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/02—Other machines for working soil not specially adapted for working soil on which crops are growing with non-rotating tools
- A01B35/10—Other machines for working soil not specially adapted for working soil on which crops are growing with non-rotating tools mounted on tractors
- A01B35/14—Other machines for working soil not specially adapted for working soil on which crops are growing with non-rotating tools mounted on tractors with rigid tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/20—Tools; Details
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/20—Tools; Details
- A01B35/22—Non-rotating tools; Resilient or flexible mounting of rigid tools
- A01B35/26—Rigid tools
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/32—Other machines for working soil not specially adapted for working soil on which crops are growing with special additional arrangements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
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- Mechanical Engineering (AREA)
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Abstract
An adaptive paddy field grader and an adaptive method thereof, the adaptive paddy field grader comprising: a main frame; the adjusting rack is connected with the main rack, and the land leveling shovel plate is arranged on the adjusting rack; the antenna is arranged on the adjusting rack and is positioned right above the flat shovel plate; the intelligent control terminal is installed in a cab of the tractor and comprises a micro control unit and a display screen, wherein the micro control unit is used for data resolving and control signal output, and the display screen is used for displaying position, running speed and leveling track parameters; the driving box is arranged above the main rack; the angle sensor is arranged on a cross beam of the adjusting rack, is connected with the intelligent control terminal through a shielding wire, and is communicated with the micro control unit through a serial port protocol and transmits data; and the master control servo electric cylinder is respectively connected with the main frame and the adjusting frame, is positioned right above the flat shovel plate and is used for realizing double closed-loop self-adaptive flat land. The invention also provides a self-adaptive method of the self-adaptive paddy field grader.
Description
Technical Field
The invention relates to an agricultural intelligent technology, in particular to a dual-drive double-closed-loop self-adaptive paddy field grader and a self-adaptive method thereof.
Background
In the production process of rice, the paddy field fine land leveling technology is an important measure for ensuring high and stable yield of rice, and the paddy field land leveling technology applied in the production of rice has important social significance and application prospect for saving irrigation water, reducing the dosage of an insecticide herbicide, inhibiting weed growth, improving the yield of rice, reducing land ridge occupation area, reducing production cost and the like.
The prior art paddy field grader has the following disadvantages:
1) the elevation and horizontal adjustment of the paddy field grader are separately driven by two sets of power devices, redundant actions are inevitable in the self-adaption process, and the energy consumption is high;
2) the elevation and the horizontal of the paddy field grader are driven separately, so that the mechanical structure is complex, the obvious shaking instability problem exists, and the leveling precision is influenced;
3) the elevation control of the paddy field land leveler mostly controls the whole machine frame, indirectly controls the land leveling shovel plate 7 and has a certain time delay problem;
4) the paddy field grader is regulated and controlled by a single hydraulic cylinder in a horizontal self-adaptive manner, the load bearing capacity of the single hydraulic cylinder is large, and the regulation and control precision is not high;
5) at present, most of paddy field graders adopt single closed-loop control, and cannot achieve accurate regulation and control.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a dual-drive double-closed-loop self-adaptive paddy field grader and a self-adaptive method thereof so as to improve the grading precision of the paddy field grader.
In order to achieve the above object, the present invention provides an adaptive paddy field grader, comprising:
the main frame is connected with the tractor through a three-point suspension structure;
the adjusting rack is used for providing a high-freedom-degree movable support for the flat shovel plate and has self-adaptive multi-freedom degrees in the elevation direction and the horizontal direction;
the antenna is arranged on the adjusting rack, is positioned right above the flat shovel plate and is used for receiving satellite positioning signals;
the intelligent control terminal is installed in a cab of the tractor and comprises a micro control unit and a display screen, wherein the micro control unit is used for data resolving and control signal output, and the display screen is used for displaying position, running speed and leveling track parameters;
the driving box is arranged above the main rack;
the angle sensor is arranged on a cross beam of the adjusting rack, is connected with the intelligent control terminal through a shielded wire, and is communicated with the micro control unit through a serial port protocol and transmits data; and
and the master control servo electric cylinder is respectively connected with the main frame and the adjusting frame, is positioned right above the land leveling shovel plate and is used for realizing double closed-loop self-adaptive land leveling.
In the self-adaptive paddy field grader, the front end of the adjusting rack is connected with the main rack through a dovetail groove guide rail matched with a floating joint; the tail end of the adjusting rack is connected to the lower portion of the main rack through the master control servo electric cylinder.
In the self-adaptive paddy field grader, the dovetail groove guide rail comprises a dovetail groove slide rail and a dovetail groove slide block, and two ends of the dovetail groove slide rail are arranged in the middle of the front end of the main frame; one end of the dovetail groove sliding block is clamped in a dovetail groove of the dovetail groove sliding rail, the other end of the dovetail groove sliding block is fixed on the hollow block, and the hollow block is connected with the adjusting rack through the floating joint.
Foretell adaptive paddy field leveler, wherein, the floating joint includes casing, double-screw bolt, spheroid and spheroid support, the spheroid passes through the spheroid support install in the casing, the double-screw bolt with the spheroid is connected, and along with the spheroid carries out with the rotatory and certain angle off-axis center deflection of axle center.
Foretell self-adaptation paddy field leveler wherein, still includes:
the auxiliary servo electric cylinder is used for coordinating the main control servo electric cylinder to lift the adjusting rack and improve the lifting stability of the adjusting rack, the auxiliary servo electric cylinder is arranged at the front part of the adjusting rack, the base end of the auxiliary servo electric cylinder is arranged at the top of the dovetail groove slide rail, and the push rod end of the auxiliary servo electric cylinder is arranged on the dovetail groove slide block.
The self-adaptive paddy field grader is characterized in that the drive box comprises a plurality of boosting modules and a plurality of sets of servo drivers; the input end of the boosting module is respectively connected into a vehicle-mounted storage battery in parallel through a cable with a switch, and the output end of the boosting module is respectively connected into the power supply ends of the main control servo electric cylinder and the auxiliary servo electric cylinder; the input signal end of the servo driver is connected with the intelligent control terminal through a shielding wire, and the output signal end of the servo driver is connected with the master control servo electric cylinder and the auxiliary servo electric cylinder.
The aforesaid self-adaptation paddy field leveler wherein, still includes:
optical axis slide rail mechanism for level land self-adaptation process provides the degree of freedom, including axle type guide rail and slider, axle type guide rail is installed on the main frame, the base of master control servo electric jar passes through the slider with axle type guide rail is connected, the push rod end of master control servo electric jar pass through the fisheye bearing with the adjustment frame is connected.
In order to better achieve the above object, the present invention further provides an adaptive method of an adaptive paddy field grader, wherein the method comprises the following steps:
s100, setting the height h of a reference surface of the system according to the field surface condition; setting an angle adjusting threshold theta of the system according to the field block adjusting precision requirement, wherein the larger theta is, the lower the horizontal self-adaptive sensitivity is; the smaller theta is, the higher the horizontal adaptive sensitivity is;
s200, the tractor moves forwards, the micro control unit obtains a differential signal through the antenna and the base station, and the real-time height H of the antenna is obtained through calculation; when H is greater than H, the height of the flat shovel plate is higher than the height of the reference surface, and the flat shovel plate is adjusted downwards; when H is less than H, the height of the flat shovel plate is lower than the height of the reference surface, the flat shovel plate is adjusted upwards;
s300, continuously transmitting a real-time angle signal phi to the micro control unit by the angle sensor, wherein when the phi is a positive signal, the left end of the flat ground shovel is higher than the angle phi of a horizontal plane, and the right end of the flat ground shovel is lower than the angle phi of the horizontal plane; when phi is a negative signal, the right end of the flat shovel plate is lower than the phi angle of the horizontal plane, and the left end of the flat shovel plate is higher than the phi angle of the horizontal plane; and
and S400, the micro control unit judges the state of the land leveling shovel plate according to the satellite signal and the real-time angle signal, and simultaneously controls two main control servo electric cylinders and one auxiliary servo electric cylinder through a double-closed-loop control algorithm according to different combination states of the land leveling shovel plate, so that the self-adaptive adjustment of the paddy field grader is completed.
The self-adapting method of the self-adapting paddy field grader, wherein the different combination states of the land leveling blade comprise:
the first state: when H is greater than H and phi is a positive signal and | phi | > | theta | is obtained, the left main control servo electric cylinder and the right main control servo electric cylinder and the auxiliary servo electric cylinder both act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the master control servo electric cylinder on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0, performing extension movement on the left and right main control servo electric cylinders, and performing extension movement on the auxiliary servo electric cylinders; if S<0, performing contraction movement on the left and right main control servo electric cylinders, and performing extension movement on the auxiliary servo electric cylinders; s includes S Left side of And S Right side ；
The second state: when H is greater than H and phi is a negative signal and | phi | > | theta | is obtained, the left main control servo electric cylinder and the right main control servo electric cylinder and the auxiliary servo electric cylinder both act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the servo electric cylinders on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0, performing extension movement on the left and right main control servo electric cylinders, and performing extension movement on the auxiliary servo electric cylinders; if S<0, the left and right master control servo electric cylinders perform contraction motion, and the auxiliary servo electric cylinder performs extension motion;
the third state: when H < H and phi are positive signals and | phi | > | theta |, the left and right main control servo electric cylinders and the auxiliary servo electric cylinders act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the servo electric cylinders on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0, performing contraction motion on the left and right main control servo electric cylinders, and assisting the servo electric cylinders to perform contraction motion; if S<0，The left and right master control servo electric cylinders carry out extension movement and the auxiliary servo electric cylinders carry out contraction movement;
a fourth state: when H is less than H and phi is a negative signal and | phi | > | theta |, the left and right main control servo electric cylinders and the auxiliary servo electric cylinders act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the servo electric cylinders on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0, performing contraction motion on the left and right main control servo electric cylinders, and assisting the servo electric cylinders to perform contraction motion; if S<And 0, performing extension movement on the left and right main control servo electric cylinders and performing contraction movement on the auxiliary servo electric cylinders.
In the self-adaptive method of the self-adaptive paddy field grader, the first closed loop of the double closed loop self-adaptive method is a self closed loop controlled according to the feedback value and the adjustment value of the servo electric cylinder; the second closed loop is an integral closed loop, and the two master control servo electric cylinders and the one auxiliary servo electric cylinder are controlled according to the input value and the output value of the first closed loop in elevation self-adaptation, the input value and the output value of the first closed loop in horizontal self-adaptation and the comparison value of the first closed loop in elevation self-adaptation and horizontal self-adaptation.
The invention has the technical effects that:
1) the elevation self-adaptation and the horizontal self-adaptation are subjected to fusion calculation through an algorithm to obtain the minimum output, the power output is completed by only one set of power device, and double closed-loop control is adopted, so that redundant actions in the self-adaptation process are reduced, the power consumption of equipment is greatly reduced, the output delay problem is greatly reduced, and the leveling precision is improved;
2) the elevation and horizontal self-adaptive integrated driving of the paddy field grader is realized, the mechanical structure of equipment is simplified, the manufacturing cost is reduced, the problem of the shake of a leveling shovel plate in the self-adaptive process is solved, and the leveling precision is improved;
3) the double closed-loop control is used for replacing the single closed-loop control, so that the control is more accurate and effective;
4) can realize that paddy field leveler low time delay, zero shake, low-power consumption self-adaptation paddy field are leveled, guarantee that paddy field mud roughness satisfies the rice transplanting requirement, effectively promoted the intelligent level of paddy field leveler.
The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.
Drawings
FIG. 1 is a schematic structural view of an adaptive paddy field grader according to an embodiment of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a right side view of FIG. 1;
FIG. 4 is a top view of FIG. 1;
FIG. 5 is a schematic view of a floating joint structure according to an embodiment of the present invention;
FIG. 6 is a schematic view of a dovetail rail structure according to an embodiment of the present invention;
FIGS. 7A and 7B are schematic diagrams illustrating adaptive operation according to an embodiment of the present invention;
FIG. 8 is a flow chart of an adaptive method according to an embodiment of the present invention (first state);
fig. 9 is a block diagram of a dual closed-loop control of an adaptive method according to an embodiment of the present invention.
Wherein the reference numerals
1 Intelligent control terminal
2 main frame
3 drive box
4 antenna
5 optical axis slide rail mechanism
6 master control servo electric cylinder
7 level land shovel board
8-degree angle sensor
9 master control servo electric cylinder
10 floating joint
11 dovetail groove slide rail
12 adjusting rack
13 fisheye bearing
14 dovetail groove slide block
15 auxiliary servo electric cylinder
Detailed Description
The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:
according to the invention, the Beidou satellite elevation positioning acquisition system and the angle sensor are respectively used as an elevation state acquisition end and a horizontal state acquisition end, the micro control unit is used for resolving and converting the elevation state acquisition end and the horizontal state acquisition end into final displacement data, the three servo electric cylinders are controlled in a double-closed-loop control mode, and elevation and horizontal self-adaptation can be synchronously and shiver-inhibitively completed at the same time.
Referring to fig. 1 to 4, fig. 1 is a schematic structural view of an adaptive paddy field grader according to an embodiment of the present invention, fig. 2 is a front view of fig. 1, fig. 3 is a right side view of fig. 1, and fig. 4 is a top view of fig. 1. The invention relates to a self-adaptive paddy field grader, which comprises: the main frame 2 is connected with a tractor through a three-point suspension structure; the adjusting machine frame 12 is connected with the main machine frame 2, the flat land shovel plate 7 is installed on the adjusting machine frame 12, the flat land shovel plate 7 is a main actuating mechanism for leveling a paddy field, and the adjusting machine frame 12 is used for providing a high-freedom-degree movable support for the flat land shovel plate 7 and has self-adaptive multi-freedom degrees in the elevation direction and the horizontal direction; the antenna 4 is installed on the adjusting rack 12, is positioned right above the flat shovel 7 and is used for receiving satellite positioning signals, preferably, the GNSS antenna 4 is installed on the adjusting rack 12 right above the flat shovel 7 and is used for receiving Beidou satellite positioning signals; the intelligent control terminal 1 is installed in a cab of the tractor and comprises a micro control unit and a display screen, wherein the micro control unit is used for data calculation and control signal output, and the display screen is used for displaying position, running speed and leveling track parameters; a drive box 3 mounted above the main frame 2; the angle sensor 8 is arranged at the center of a cross beam of the adjusting rack 12 right above the flat shovel plate 7, is connected with the intelligent control terminal 1 through a shielding wire, and is communicated and data transmitted with the micro control unit through a serial port protocol, and the precision of the configured angle sensor 8 is 0.01 degrees, and is more accurate relative to the precision of 0.1 degrees; and main control servo electric cylinders 6 and 9 which are respectively connected with the main frame 2 and the adjusting frame 12, are positioned right above the flat shovel plate 7 and are used for realizing double closed loop self-adaptive flat land. The main control servo electric cylinders 6 and 9 are important mechanisms for realizing double closed loop self-adaptation, and the preferred configuration of the embodiment is two high-power servo electric cylinders which are respectively arranged at the left end and the right end between the main frame 2 and the adjusting frame 12 and right above the flat shovel plate 7; the base end is respectively fixed at two ends of the main frame 2 through the optical axis slide rail mechanism 5, and the push rod end is respectively fixed at two ends of the adjusting frame 12 through the fisheye bearing 13, so that the horizontal self-adaptive adjusting mechanism has enough horizontal self-adaptive freedom degree.
This embodiment still includes: the auxiliary servo electric cylinder 15 is used for coordinating the main control servo electric cylinders 6 and 9 to lift the adjusting rack 12 and improve the lifting stability of the adjusting rack 12, the auxiliary servo electric cylinder 15 is arranged at the front part of the adjusting rack 12, the base end of the auxiliary servo electric cylinder 15 is arranged at the top of the dovetail groove slide rail 11, and the push rod end of the auxiliary servo electric cylinder 15 is arranged on the dovetail groove slide block 14. Preferably configured as a servo electric cylinder with smaller power, and is arranged at the front part of the adjusting rack 12, the base end is fixed at the top of the dovetail groove slide rail 11, and the push rod end is welded and fixed on the dovetail groove slide block 14.
In the embodiment, the front end of the adjusting rack 12 is connected with the main rack 2 through a dovetail groove guide rail matched with a floating joint 10, and has self-adaptive multi-degree of freedom in an elevation direction and a horizontal direction; the tail end of the adjusting frame 12 is connected to the lower rear part of the main frame 2 through two main control servo electric cylinders 6 and 9 with the same model.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a floating joint 10 according to an embodiment of the present invention. The floating joint 10 is an important part for connecting the adjusting frame 12 and the main frame 2, and comprises a shell, a stud, a ball body and a ball support, wherein the ball body is arranged in the shell through the ball support, and the stud is connected with the ball body and rotates coaxially with the ball body and deflects with an off-axis at a certain angle along with the ball body.
Referring to fig. 6, fig. 6 is a schematic view of a dovetail groove guide rail structure according to an embodiment of the present invention. The dovetail groove guide rail comprises a dovetail groove slide rail 11 and a dovetail groove slide block 14, and two ends of the dovetail groove slide rail 11 are fixedly arranged in the middle of the front end of the main rack 2; one end of the dovetail groove sliding block 14 is clamped in a dovetail groove of the dovetail groove sliding rail 11, the other end of the dovetail groove sliding block 14 is fixed on a hollow block, the hollow block is connected with the adjusting rack 12 through the floating joint 10, and the hollow block and the dovetail groove guide rail jointly form an important connecting structure for height adjustment.
The driving box 3 comprises a plurality of boosting modules and a plurality of sets of servo drivers; the input end of the boosting module is respectively connected in parallel to a vehicle-mounted storage battery through a cable with a switch, and the output end of the boosting module is respectively connected to the power supply ends of the main control servo electric cylinders 6 and 9 and the auxiliary servo electric cylinder 15; the input signal end of the servo driver is connected with the intelligent control terminal 1 through a shielding wire, and the output signal end of the servo driver is connected with the main control servo electric cylinders 6 and 9 and the auxiliary servo electric cylinder 15. In this embodiment, the driving box 3 includes three boosting modules and three sets of servo drivers; the input ends of the two boosting modules are respectively connected into a vehicle-mounted storage battery in parallel through cables with switches, and the output ends of the two boosting modules are respectively connected into power supply ends of two sets of master control servo electric cylinders 6 and 9 and a set of auxiliary servo electric cylinder 15 for supplying power; the input signal ends of the three sets of servo drivers are respectively connected to the intelligent control terminal 1 in the cab through shielded wires, and the output signal ends are respectively connected with the three sets of servo drivers.
This embodiment still includes: optical axis slide rail mechanism 5 for level land self-adaptation process provides the degree of freedom, including axle type guide rail and slider, the axle type guide rail is installed on main frame 2, the base of master control servo electric jar 6, 9 passes through the slider with the axle type guide rail is connected, the push rod end of master control servo electric jar 6, 9 pass through fisheye bearing 13 with adjustment frame 12 is connected. Four sets of optical axis slide rail mechanisms 5 are preferably configured, each two sets of optical axis slide rail mechanisms are matched with one master control servo electric cylinder 6 and one master control servo electric cylinder 9, and the rigidity and the hardness of the shaft type guide rail of the optical axis slide rail mechanism 5 are higher, so that the self-adaptive process requirements of equipment can be met through calculation.
Referring to fig. 7A and 7B, fig. 7A and 7B are schematic diagrams of adaptive operation according to an embodiment of the present invention. Before working, electrifying the system, opening the intelligent control terminal 1, and setting the height h of a reference surface of the system according to the field condition; an angle adjusting threshold theta of the system is set according to the field adjustment precision requirement, the larger theta is, the lower the sensitivity of horizontal self-adaptation is, and the smaller theta is, the higher the sensitivity of horizontal self-adaptation is. When the tractor works, the tractor moves forwards, the micro control unit obtains a differential signal through the GNSS antenna 4 and the base station, and the real-time height H of the GNSS antenna 4 is obtained through calculation. When H is greater than H, the height of the flat shovel plate 7 is higher than the height of the reference surface and needs to be adjusted downwards; when H is less than H, the height of the flat shovel plate 7 is lower than the height of the reference surface and needs to be adjusted upwards; simultaneously, the angle sensor 8 continuously transmits a real-time angle signal Φ to the micro-control unit, wherein Φ is divided into positive and negative signals. When phi is a positive signal, the left end (front view angle) of the flat shovel 7 is higher than the angle phi of the horizontal plane, and the right end (front view angle) of the flat shovel 7 is lower than the angle phi of the horizontal plane, namely, a left-high-right-low posture; when phi is a negative signal, the right end (front view angle) of the leveling shovel 7 is lower than the horizontal plane phi, the left end (front view angle) of the leveling shovel 7 is higher than the horizontal plane phi, namely, the left-lower-right-higher posture. The micro control unit controls the two main control servo electric cylinders 6 and 9 and the auxiliary servo electric cylinder 15 simultaneously according to four combination states of the land leveling shovel plate 7 in a double-closed-loop control mode, so that double-closed-loop (see figure 9) double-drive self-adaptation of the paddy field leveling machine is realized. After the work is finished, the operation information is stored and exported as required through the intelligent control terminal 1, and the rack is lifted after the system is powered off.
Referring to fig. 8 and 9, fig. 8 is a flowchart (first state) of an adaptive method according to an embodiment of the present invention, and fig. 9 is a block diagram of a dual closed-loop control of the adaptive method according to an embodiment of the present invention. The invention discloses a self-adaptive method of a self-adaptive paddy field grader, which comprises the following steps:
s100, setting the height h of a reference surface of the system according to the field condition; setting an angle adjusting threshold theta of the system according to the field block adjusting precision requirement, wherein the larger theta is, the lower the horizontal self-adaptive sensitivity is; the smaller theta is, the higher the horizontal adaptive sensitivity is;
s200, the tractor moves forwards, the micro control unit obtains a differential signal through the GNSS antenna 4 and the base station, and the real-time height H of the GNSS antenna 4 is obtained through calculation; when H is greater than H, the height of the flat shovel plate 7 is higher than the height of the reference surface, and the height is adjusted downwards; when H is less than H, the height of the flat shovel plate 7 is lower than the height of the reference surface, the height is adjusted upwards;
step S300, the angle sensor 8 continuously transmits a real-time angle signal phi to the micro control unit, wherein phi is divided into a positive signal and a negative signal, when phi is a positive signal, the left end (front view angle) of the flat shovel 7 is higher than the angle phi of the horizontal plane, and the right end (front view angle) of the flat shovel 7 is lower than the angle phi of the horizontal plane, namely, the posture of high left and low right is achieved; when phi is a negative signal, the right end (front view angle) of the flat shovel 7 is lower than the angle phi of the horizontal plane, and the left end (front view angle) of the flat shovel 7 is higher than the angle phi of the horizontal plane, namely, the left-lower-right-higher posture; and
and S400, the micro control unit judges the state of the land leveling shovel 7 according to the combination condition of the satellite signal and the real-time angle signal, and simultaneously controls two main control servo electric cylinders 6 and 9 and one auxiliary servo electric cylinder 15 through a double-closed-loop control method according to different combination states of the land leveling shovel 7, so that the self-adaptive adjustment of the paddy field grader is completed.
Wherein, the different combination states of the land scraper 7 include:
the first state: when H is greater than H and phi is a positive signal and | phi | > | theta |, namely the flat shovel 7 is higher than the height of the reference surface and is in a left-high-right-low posture, the left and right main control servo electric cylinders 6 and 9 and the auxiliary servo electric cylinder 15 all act to jointly complete the self-adaptive process comprising the elevation and the horizontal aspects; the stroke formulas of the master control servo electric cylinders 6 and 9 on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder 15 is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey, S, for elevation 2 Adaptive travel for horizontal plane; if S>0 (sright and sright), the left and right master control servo electric cylinders 6, 9 perform elongation movement, and the auxiliary servo electric cylinder 15 performs elongation movement; if S<0 (srleft and srright), the left and right master control servo electric cylinders 6, 9 perform contraction movement, and the auxiliary servo electric cylinder 15 performs extension movement; s includes S Left side of And S Right side ；
The second state: when H is greater than H and phi is a negative signal and | phi | > | theta |, namely the flat shovel 7 is higher than the height of the reference surface and is in a left-low-right-high posture, the left and right main control servo electric cylinders 6 and 9 and the auxiliary servo electric cylinder 15 all act to jointly complete the self-adaptive process comprising elevation and horizontal aspects; the stroke formulas of the servo electric cylinders on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder 15 is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0 (sright and sright), the left and right master control servo electric cylinders 6, 9 perform elongation movement, and the auxiliary servo electric cylinder 15 performs elongation movement; if S<0(S left and S right), then the left and right master control servo electric cylinders 6 and 9 advancePerforming contraction movement, and assisting the servo electric cylinder 15 to perform extension movement;
the third state: when H < H and phi are positive signals and | phi | > | theta |, namely the flat shovel 7 is lower than the height of the reference surface and is in a left-high-right-low posture, the left and right main control servo electric cylinders 6 and 9 and the auxiliary servo electric cylinder 15 all act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the servo electric cylinders on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder 15 is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0 (srooth and srooth), the left and right master control servo electric cylinders 6, 9 perform contraction movement, and the auxiliary servo electric cylinder 15 performs contraction movement; if S<0 (srleft and srright), the left and right master control servo electric cylinders 6, 9 perform extension movement, and the auxiliary servo electric cylinder 15 performs contraction movement;
the fourth state: when H < H and phi are negative signals and | phi | > | theta |, namely the flat shovel 7 is lower than the height of the reference surface and is in a left-low-right-high posture, the left and right main control servo electric cylinders 6 and 9 and the auxiliary servo electric cylinder 15 all act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the servo electric cylinders on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder 15 is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0 (srleft and srright), the left and right master control servo electric cylinders 6, 9 perform contraction movement, and the auxiliary servo electric cylinder 15 performs contraction movement; if S<0 (sright and sright), the left and right master servo electric cylinders 6, 9 perform an extension motion, and the auxiliary servo electric cylinder 15 performs a contraction motion.
The dual closed loop adaptive process is as shown in fig. 9, the dual closed loop adaptive first closed loop is a self closed loop controlled according to the feedback value and the adjustment value of the servo electric cylinder, wherein R1, R2 represent the first closed loop output value, which is also the first closed loop feedback value, and R1, R2 are the first closed loop comparison value, which is the adjustment value; the second closed loop is an integral closed loop, wherein H and H are respectively an input value and an output value according to the elevation self-adaptation of the first closed loop, L and L are respectively an input value and an output value of the horizontal self-adaptation of the first closed loop, e1 and e2 are respectively comparison values of the elevation self-adaptation and the horizontal self-adaptation of the first closed loop, and the two master control servo electric cylinders 6 and 9 and one auxiliary servo electric cylinder 15 are controlled to complete the self-adaptation adjustment of the paddy field grader.
According to the invention, the elevation self-adaptation and the horizontal self-adaptation are subjected to fusion calculation through an algorithm to obtain the minimum output, and only one set of power device is used for finishing power output, so that redundant actions in the self-adaptation process are reduced, the power consumption of equipment is greatly reduced, the problem of output delay is greatly reduced, and the leveling precision is improved; the elevation and horizontal self-adaptive integrated driving of the paddy field grader is realized, the control is carried out through double closed loops, the mechanical structure of equipment is simplified, the manufacturing cost is reduced, the problem of the shake of the land leveling shovel plate 7 in the self-adaptive process is solved, and the leveling precision is improved; the double closed-loop control is used for replacing the single closed-loop control, so that the control is more accurate and effective; the paddy field grader realizes low-delay, zero-jitter and low-power-consumption self-adaptive paddy field leveling, ensures that the paddy field mud leveling degree meets the rice transplanting requirement, and effectively improves the intelligent level of the paddy field grader.
The present invention is capable of other embodiments, and various changes and modifications can be made by one skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. An adaptive paddy field grader, comprising:
the main frame is connected with the tractor through a three-point suspension structure;
the adjusting rack is used for providing a high-freedom-degree movable support for the flat shovel plate and has self-adaptive multi-freedom degrees in the elevation direction and the horizontal direction;
the antenna is arranged on the adjusting rack, is positioned right above the flat shovel plate and is used for receiving satellite positioning signals;
the intelligent control terminal is installed in a cab of the tractor and comprises a micro control unit and a display screen, wherein the micro control unit is used for data calculation and control signal output, and the display screen is used for displaying position, running speed and leveling track parameters;
a driving box installed above the main frame;
the angle sensor is arranged on a cross beam of the adjusting rack, is connected with the intelligent control terminal through a shielded wire, and is communicated with the micro control unit through a serial port protocol and transmits data; and
and the master control servo electric cylinder is respectively connected with the main frame and the adjusting frame, is positioned right above the land leveling shovel plate and is used for realizing double closed-loop self-adaptive land leveling.
2. The adaptive paddy field grader of claim 1 wherein the front end of the conditioner frame is coupled to the main frame by a dovetail guide rail mating floating joint; the tail end of the adjusting rack is connected to the lower portion of the main rack through the master control servo electric cylinder.
3. The adaptive paddy field grader according to claim 2, wherein the dovetail groove guide rail comprises a dovetail groove slide rail and a dovetail groove slide block, and both ends of the dovetail groove slide rail are mounted in the middle of the front end of the main frame; one end of the dovetail groove sliding block is clamped in a dovetail groove of the dovetail groove sliding rail, the other end of the dovetail groove sliding block is fixed on the hollow block, and the hollow block is connected with the adjusting rack through the floating joint.
4. The adaptive paddy field grader of claim 3 wherein the floating joint includes a housing, a stud, a ball and a ball support, the ball being mounted in the housing by the ball support, the stud being connected to the ball and rotating coaxially with the ball and deflecting off-axis at an angle.
5. The adaptive paddy field grader of claim 3 or 4 further comprising:
the auxiliary servo electric cylinder is used for coordinating the main control servo electric cylinder to lift the adjusting rack and improve the lifting stability of the adjusting rack, the auxiliary servo electric cylinder is arranged at the front part of the adjusting rack, the base end of the auxiliary servo electric cylinder is arranged at the top of the dovetail groove slide rail, and the push rod end of the auxiliary servo electric cylinder is arranged on the dovetail groove slide block.
6. The adaptive paddy field grader of claim 5, wherein the drive box comprises a plurality of booster modules and a plurality of sets of servo drives; the input end of the boosting module is respectively connected into a vehicle-mounted storage battery in parallel through a cable with a switch, and the output end of the boosting module is respectively connected into the power supply ends of the main control servo electric cylinder and the auxiliary servo electric cylinder; the input signal end of the servo driver is connected with the intelligent control terminal through a shielding wire, and the output signal end of the servo driver is connected with the master control servo electric cylinder and the auxiliary servo electric cylinder.
7. The adaptive paddy field grader of claim 3 or 4, further comprising:
optical axis slide rail mechanism for level land self-adaptation process provides the degree of freedom, including axle type guide rail and slider, axle type guide rail is installed on the main frame, the base of master control servo electric jar passes through the slider with axle type guide rail is connected, the push rod end of master control servo electric jar pass through the fisheye bearing with the adjustment frame is connected.
8. An adaptive method of an adaptive paddy field grader, comprising the steps of:
s100, setting the height h of a reference surface of the system according to the field surface condition; setting an angle adjusting threshold theta of the system according to the field block adjusting precision requirement, wherein the larger theta is, the lower the horizontal self-adaptive sensitivity is; the smaller theta is, the higher the horizontal adaptive sensitivity is;
s200, the tractor moves forwards, the micro control unit obtains a differential signal through the antenna and the base station, and the real-time height H of the antenna is obtained through calculation; when H is greater than H, the height of the flat shovel plate is higher than the height of the reference surface, and the flat shovel plate is adjusted downwards; when H is less than H, the height of the flat shovel plate is lower than the height of the reference surface, the flat shovel plate is adjusted upwards;
s300, continuously transmitting a real-time angle signal phi to the micro control unit by the angle sensor, wherein when the phi is a positive signal, the left end of the flat ground shovel is higher than the angle phi of a horizontal plane, and the right end of the flat ground shovel is lower than the angle phi of the horizontal plane; when phi is a negative signal, the right end of the flat shovel plate is lower than the phi angle of the horizontal plane, and the left end of the flat shovel plate is higher than the phi angle of the horizontal plane; and
and S400, the micro control unit judges the state of the land leveling shovel according to the satellite signal and the real-time angle signal, and simultaneously controls two main control servo electric cylinders and one auxiliary servo electric cylinder through a double-closed-loop control algorithm according to different combination states of the land leveling shovel to finish the self-adaptive adjustment of the paddy field grader.
9. The adaptive method of an adaptive paddy grader of claim 8, wherein the different combination states of the grading blade include:
a first state: when H is greater than H and phi is a positive signal and | phi | > | theta | is obtained, the left main control servo electric cylinder and the right main control servo electric cylinder and the auxiliary servo electric cylinder both act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the master control servo electric cylinder on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0, performing extension movement on the left and right main control servo electric cylinders, and performing extension movement on the auxiliary servo electric cylinders; if S<0, performing contraction movement on the left and right main control servo electric cylinders, and performing extension movement on the auxiliary servo electric cylinders; s includes S Left side of And S Right side ；
A second state: when H is greater than H and phi is a negative signal and | phi | > | theta | is obtained, the left main control servo electric cylinder and the right main control servo electric cylinder and the auxiliary servo electric cylinder both act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the servo electric cylinders on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0, performing extension movement on the left and right main control servo electric cylinders, and performing extension movement on the auxiliary servo electric cylinders; if S<0, performing contraction movement on the left and right main control servo electric cylinders, and performing extension movement on the auxiliary servo electric cylinders;
the third state: when H < H and phi are positive signals and | phi | > | theta |, the left and right main control servo electric cylinders and the auxiliary servo electric cylinders act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the servo electric cylinders on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 Adaptive travel for horizontal plane; if S>0, the left and right master control servo electric cylinders perform contraction movement, and the auxiliary servo electric cylinders perform contraction movement; if S<0, performing extension movement on the left and right main control servo electric cylinders, and performing contraction movement on the auxiliary servo electric cylinders;
the fourth state: when H is less than H and phi is a negative signal and | phi | > | theta |, the left and right main control servo electric cylinders and the auxiliary servo electric cylinders act to jointly complete the self-adaptive process comprising elevation and level; the stroke formulas of the servo electric cylinders on the left side and the right side are respectively as follows:
the stroke formula of the auxiliary servo electric cylinder is as follows:
S auxiliary device ＝S 1 ＝(H-h)，
In the formula, S 1 Adaptive journey for elevation, S 2 The journey is adaptive to the horizontal plane; if S>0, performing contraction motion on the left and right main control servo electric cylinders, and assisting the servo electric cylinders to perform contraction motion; if S<And 0, performing extension movement on the left and right main control servo electric cylinders and performing contraction movement on the auxiliary servo electric cylinders.
10. The adaptive method of an adaptive paddy field grader according to claim 8 or 9, wherein the first closed loop of the double closed-loop adaptive is a self closed loop controlled according to the feedback value and the adjustment value of the servo electric cylinder; the second closed loop is an integral closed loop, and the two master control servo electric cylinders and the one auxiliary servo electric cylinder are controlled according to the input value and the output value of the first closed loop in elevation self-adaptation, the input value and the output value of the first closed loop in horizontal self-adaptation and the comparison value of the first closed loop in elevation self-adaptation and horizontal self-adaptation.
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