CN115476939A - Cab horizontal control method and device - Google Patents
Cab horizontal control method and device Download PDFInfo
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- CN115476939A CN115476939A CN202211273818.1A CN202211273818A CN115476939A CN 115476939 A CN115476939 A CN 115476939A CN 202211273818 A CN202211273818 A CN 202211273818A CN 115476939 A CN115476939 A CN 115476939A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000002457 bidirectional effect Effects 0.000 claims description 6
- 230000009286 beneficial effect Effects 0.000 description 16
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D33/00—Superstructures for load-carrying vehicles
- B62D33/08—Superstructures for load-carrying vehicles comprising adjustable means
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention provides a cab level control method and device. The cab level control method comprises the following steps: step 1, acquiring a current cab attitude horizontal angle value and a preset cab attitude horizontal angle value range; step 2, judging whether the current cab attitude horizontal angle value is within a preset cab attitude horizontal angle value range or not; step 3, when the current cab attitude horizontal angle value is out of the preset cab attitude horizontal angle value range, generating an oil cylinder telescopic control instruction; and 4, controlling the oil cylinder to stretch according to the oil cylinder stretching control instruction. The current horizontal angle of the cab is detected in real time, a parameter correction basis is provided for closed-loop control, the length of the oil cylinder which needs to be stretched is calculated according to the signal value of current angle detection equipment, and the current angle of the cab is adjusted according to an oil cylinder stretching control instruction, so that the cab is always kept horizontal, the labor intensity of a driver is reduced, and the driving comfort is improved.
Description
Technical Field
The invention relates to the technical field of tractors, in particular to a method and a device for controlling the cab to be horizontal.
Background
The present tractor's ploughing operation is the tractor one kind of operation operating mode most commonly used, and this operating mode operation time is long, and the driver's cabin takes place certain angle slope during the operation. The existing tractor cab is generally a rigid cab and a suspension cab, the cab is basically in rigid connection with the whole tractor, and the angle of the cab is basically consistent with that of the whole tractor.
Because the existing cab is rigidly connected with the whole vehicle, when plowing operation is carried out, the cab can incline at a large angle due to the fact that the wheels on one side enter the furrow, and a driver on the seat can also incline along with the inclination, so that the labor intensity of the driver is increased, and the driving comfort level is reduced.
Disclosure of Invention
The invention provides a cab level control method and device aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a cab level control method, comprising:
step 1, acquiring a current cab attitude horizontal angle value and a preset cab attitude horizontal angle value range;
step 3, when the current cab attitude horizontal angle value is out of the preset cab attitude horizontal angle value range, generating an oil cylinder telescopic control instruction;
and 4, controlling the oil cylinder to stretch according to the oil cylinder stretching control instruction.
The technical scheme adopted by the invention has the beneficial effects that: the current horizontal angle of the cab is detected in real time, a parameter correction basis is provided for closed-loop control, the length of the oil cylinder which needs to be stretched is calculated according to the signal value of current angle detection equipment, and the current angle of the cab is adjusted according to an oil cylinder stretching control instruction, so that the cab is always kept horizontal, the labor intensity of a driver is reduced, and the driving comfort is improved.
Further, the step 1 comprises the following steps:
judging whether a self-balancing mode is started;
and when the self-balancing mode is started, executing the step 1.
The beneficial effect of adopting the further technical scheme is that: the driver of being convenient for opens and closes driver's cabin level according to the operation demand and keeps the function, guarantees that the driver's cabin can be connected with whole car, can pass through hydro-cylinder angle regulation again.
Further, the horizontal angle value range of the preset cab posture is greater than-1 degrees and less than 1 degree.
The beneficial effect of adopting the further technical scheme is that: the arrangement of the numerical range of the horizontal angle of the preset cab posture facilitates the determination of whether the telescopic cylinder needs to be adjusted, so that the cab is always kept horizontal, the labor intensity of a driver is reduced, and the driving comfort is improved.
Further, the step 3 comprises:
step 31, when the horizontal angle value of the current cab attitude is smaller than or equal to-1 degrees, generating an oil cylinder extending instruction;
and 32, when the horizontal angle value of the current cab posture is greater than or equal to 1 degree, generating an oil cylinder retraction instruction.
The beneficial effect of adopting the further technical scheme is that: when one side of the cab descends to cause inclination, the oil cylinder extends out to jack up one side of the cab until the cab is horizontal; when one side of the cab rises to cause inclination, the oil cylinder retracts to lower the one side of the cab until the cab is horizontal; the cab is kept horizontal all the time, the labor intensity of a driver is reduced, and the driving comfort is improved.
Further, the step 31 includes:
calculating a first length value of the oil cylinder required to extend according to the current cab attitude horizontal angle value, and generating an oil cylinder extending first length value instruction;
the step 32 comprises:
and calculating a second length value of the oil cylinder required to retract according to the current cab attitude horizontal angle value, and generating an oil cylinder retraction second length value instruction.
The beneficial effect of adopting the further technical scheme is that: the length that the hydro-cylinder needs to stretch out or retract is accurately matched according to current driver's cabin gesture horizontal angle numerical value, makes the driver's cabin keep the level all the time, reduces driver's intensity of labour, improves the travelling comfort of driving.
Further, the current cab attitude horizontal angle value is an inclination angle value of the cab relative to the horizontal line.
The beneficial effect of adopting the further technical scheme is that: the angle value of the inclination of the four-angle position at the bottom of the cab relative to the horizontal line is detected in real time, the corresponding oil cylinder is accurately adjusted to offset the inclination, the cab is kept horizontal all the time, the labor intensity of a driver is reduced, and the driving comfort is improved.
Further, the present invention provides a cab level control apparatus comprising: the angle detection device is arranged at the bottom of a cab, the pair of oil cylinders are arranged on two sides of the bottom of the cab in a one-to-one correspondence manner, the angle detection device and the pair of electronic hydraulic valve blocks are connected with the signal processing device, the pair of electronic hydraulic valve blocks are connected with the pair of oil cylinders in a one-to-one correspondence manner,
the angle detection equipment is used for acquiring a current cab attitude horizontal angle value;
the signal processing equipment is used for acquiring a numerical range of a horizontal angle of a preset cab attitude;
the signal processing equipment is also used for judging whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range or not;
the signal processing equipment is also used for generating an oil cylinder telescopic control instruction when the current cab attitude horizontal angle value is out of the preset cab attitude horizontal angle value range;
and the pair of electronic hydraulic valve blocks is used for controlling the oil cylinder to stretch according to the oil cylinder stretching control instruction.
The technical scheme adopted by the invention has the beneficial effects that: the angle detection equipment at the bottom of the cab is used for detecting the current horizontal angle of the cab in real time and providing a parameter correction basis for closed-loop control; the signal processing equipment is used for calculating the length of the oil cylinder which needs to be stretched according to the signal value of the current angle detection equipment, and the oil cylinder is controlled by the electronic hydraulic valve block; the oil cylinder adjusts the current angle of the cab according to a control signal (an oil cylinder telescopic control instruction), so that the cab is always kept horizontal.
Further, still include: the self-balancing change-over switch is connected with the signal processing equipment, and the oil cylinder is a bidirectional telescopic oil cylinder.
The beneficial effect of adopting the further technical scheme is that: the self-balancing change-over switch is used for controlling the work and stop of the system and can be used for a driver to turn on and turn off the cab level keeping function according to the work requirement.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a schematic flowchart of a cab level control method according to an embodiment of the present invention.
Fig. 2 is a second schematic flowchart of a cab level control method according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a cab level control device according to an embodiment of the present invention.
Fig. 4 is a second schematic structural diagram of a cab level control device according to an embodiment of the present invention.
The reference numbers indicate: 1. an angle detection device; 2. a signal processing device; 3. an electronic hydraulic valve block; 4. and an oil cylinder.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, an embodiment of the present invention provides a cab level control method, including:
step 1, acquiring a current cab attitude horizontal angle value and a preset cab attitude horizontal angle value range;
step 3, when the current cab attitude horizontal angle value is out of the preset cab attitude horizontal angle value range, generating an oil cylinder telescopic control instruction;
and 4, controlling the oil cylinder to stretch according to the oil cylinder stretching control instruction.
The technical scheme adopted by the invention has the beneficial effects that: the current horizontal angle of the cab is detected in real time, a parameter correction basis is provided for closed-loop control, the length of the oil cylinder which needs to stretch is calculated according to the signal value of current angle detection equipment, and the current angle of the cab is adjusted according to an oil cylinder stretching control instruction, so that the cab is always kept horizontal, the labor intensity of a driver is reduced, and the driving comfort is improved.
The cab attitude horizontal angle value is an angle value at which the cab is tilted with respect to a horizontal line.
Further, the step 1 comprises the following steps:
judging whether a self-balancing mode is started;
and when the self-balancing mode is started, executing the step 1.
The beneficial effect of adopting the further technical scheme is that: the driver of being convenient for opens and closes driver's cabin level according to the operation demand and keeps the function, guarantees that the driver's cabin can be connected with whole car, can pass through hydro-cylinder angle regulation again.
Further, the preset cab attitude horizontal angle value range is greater than-1 ° and less than 1 °.
The beneficial effect of adopting the further technical scheme is that: the arrangement of the numerical range of the horizontal angle of the preset cab posture facilitates the determination of whether the telescopic cylinder needs to be adjusted, so that the cab is always kept horizontal, the labor intensity of a driver is reduced, and the driving comfort is improved.
Further, the step 3 comprises:
step 31, when the current cab posture horizontal angle value is smaller than or equal to-1 degrees, generating an oil cylinder extending instruction;
and 32, generating an oil cylinder retraction instruction when the current cab posture horizontal angle value is greater than or equal to 1 degree.
The beneficial effect of adopting the further technical scheme is that: when one side of the cab descends to cause inclination, the oil cylinder extends out to jack up one side of the cab until the cab is horizontal; when one side of the cab rises to cause inclination, the oil cylinder retracts to lower the one side of the cab until the cab is horizontal; the cab is kept horizontal all the time, the labor intensity of a driver is reduced, and the driving comfort is improved.
Further, the step 31 includes:
calculating a first length value of the oil cylinder required to extend according to the current cab attitude horizontal angle value, and generating an oil cylinder extending first length value instruction;
said step 32 comprises:
and calculating a second length value required to retract the oil cylinder according to the current cab attitude horizontal angle value, and generating an oil cylinder retraction second length value instruction.
The beneficial effect of adopting the further technical scheme is that: the length that the hydro-cylinder needs to stretch out or retract is accurately matched according to current driver's cabin gesture horizontal angle numerical value, makes the driver's cabin keep the level all the time, reduces driver's intensity of labour, improves the travelling comfort of driving.
Further, the current cab attitude horizontal angle value is an inclination angle value of the cab relative to the horizontal line.
The beneficial effect of adopting the further technical scheme is that: the angle value of the inclination of the four-angle position at the bottom of the cab relative to the horizontal line is detected in real time, the corresponding oil cylinder is accurately adjusted to offset the inclination, the cab is kept horizontal all the time, the labor intensity of a driver is reduced, and the driving comfort is improved.
As shown in fig. 2, specifically, step 1, determining whether the self-balancing mode switch is pressed; step 2, if yes, judging whether the horizontal angle of the posture of the cab is larger than-1 degree and smaller than 1 degree; step 3, if not, judging whether the horizontal angle of the posture of the cab is smaller than or equal to-1 degree; step 4, if not, judging whether the horizontal angle of the posture of the cab is larger than or equal to 1 degree; and after the step 2, if yes, returning to the step 2. And 3, after the step 3, controlling the oil cylinder to extend out of the first length value, and returning to the step 2. After the step 4, if yes, controlling the oil cylinder to retract to a second length value, and returning to the step 2; if not, directly returning to the step 2.
As shown in fig. 3, further, the present invention provides a cab level control apparatus including: the angle detection device 1 is arranged at the bottom of a cab, the pair of oil cylinders 4 are arranged at two sides of the bottom of the cab in a one-to-one correspondence manner, the angle detection device 1 and the pair of electronic hydraulic valve blocks 3 are connected with the signal processing device 2, the pair of electronic hydraulic valve blocks 3 are connected with the pair of oil cylinders 4 in a one-to-one correspondence manner,
the angle detection equipment 1 is used for acquiring a horizontal angle value of the current cab attitude;
the signal processing equipment 2 is used for acquiring a numerical range of a horizontal angle of a preset cab attitude;
the signal processing device 2 is further configured to determine whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range;
the signal processing device 2 is further configured to generate a cylinder telescopic control instruction when the current cab attitude horizontal angle value is outside the preset cab attitude horizontal angle value range;
and the pair of electronic hydraulic valve blocks 3 is used for controlling the oil cylinder to stretch according to the oil cylinder stretching control instruction.
The technical scheme adopted by the invention has the beneficial effects that: the angle detection equipment at the bottom of the cab is used for detecting the current horizontal angle of the cab in real time and providing a parameter correction basis for closed-loop control; the signal processing equipment is used for calculating the length of the oil cylinder which needs to be stretched according to the signal value of the current angle detection equipment, and the oil cylinder is controlled by the electronic hydraulic valve block; the oil cylinder adjusts the current angle of the cab according to a control signal (an oil cylinder expansion control instruction), so that the cab is always kept horizontal.
Wherein, a pair of hydro-cylinders can be installed in the both sides of the bottom in the front of the cab or the both sides of the bottom in the rear. When a pair of oil cylinders is arranged on two sides of the bottom of the front part of the cab, two sides of the rear part of the cab are hinged with the frame, and when a pair of oil cylinders is arranged on two sides of the bottom of the rear part of the cab, two sides of the front part of the cab are hinged with the frame.
As shown in fig. 4, the signal processing apparatus is connected with an MPU6050 (integrated 6-axis motion processing module with 3-axis gyroscope and 3-axis acceleration sensor therein), a power supply apparatus, and an electronic hydraulic valve block connected with the bidirectional telescopic cylinder. The model of the angle detection apparatus may be the MPU6050.
Further, still include: the self-balancing change-over switch is connected with the signal processing equipment, and the oil cylinder is a bidirectional telescopic oil cylinder.
The beneficial effect of adopting the further technical scheme is that: the self-balancing change-over switch is used for controlling the work and stop of the system and can be used for a driver to turn on and turn off the cab level keeping function according to the work requirement.
The cab horizontal control method and the cab horizontal control device provided by the embodiment of the invention solve the problem that the cab is inclined at a large angle when the tractor plows. The driver's cabin level control device is a device for keeping the driver's cabin level by a gyroscope during tractor plowing operation, and the driver's cabin level control device comprises: the device comprises angle detection equipment (cab angle detection equipment), a self-balancing mode change-over switch, signal processing equipment, an electronic hydraulic valve block, a bidirectional telescopic oil cylinder and cab four-point fixing equipment. The self-balancing change-over switch is used for controlling the work and stop of the system and can be used for starting and closing the cab level keeping function according to the operation requirement of a driver; the angle detection equipment is used for detecting the current horizontal angle of the cab in real time and providing a parameter correction basis for closed-loop control; the signal processing equipment is used for calculating the length of the oil cylinder required to be stretched according to the signal value of the current angle detection equipment, and the oil cylinder is controlled by the electronic hydraulic valve block; the bidirectional telescopic oil cylinder adjusts the current angle of the cab according to the control signal, so that the cab is always kept horizontal; the four-point cab fixing device is used for ensuring that the cab can be connected with the whole vehicle and can adjust the angle through the oil cylinder. The labor intensity of a driver is reduced, and the driving comfort is improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A cab level control method, comprising:
step 1, acquiring a current cab attitude horizontal angle value and a preset cab attitude horizontal angle value range;
step 2, judging whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range or not;
step 3, when the current cab attitude horizontal angle value is out of the preset cab attitude horizontal angle value range, generating an oil cylinder telescopic control instruction;
and 4, controlling the oil cylinder to stretch according to the oil cylinder stretching control instruction.
2. The cab level control method according to claim 1, wherein the step 1 is preceded by:
judging whether a self-balancing mode is started;
and when the self-balancing mode is started, executing the step 1.
3. The cab level control method according to claim 1, wherein the predetermined cab attitude level angle value range is greater than-1 ° and less than 1 °.
4. The cab level control method according to claim 1, wherein the step 3 includes:
step 31, when the current cab posture horizontal angle value is smaller than or equal to-1 degrees, generating an oil cylinder extending instruction;
and 32, generating an oil cylinder retraction instruction when the current cab posture horizontal angle value is greater than or equal to 1 degree.
5. The cab level control method according to claim 4, wherein the step 31 includes:
calculating a first length value of the oil cylinder required to extend according to the current cab attitude horizontal angle value, and generating an oil cylinder extending first length value instruction;
said step 32 comprises:
and calculating a second length value required to retract the oil cylinder according to the current cab attitude horizontal angle value, and generating an oil cylinder retraction second length value instruction.
6. The cab level control method according to claim 1, wherein the current cab attitude level angle value is an inclination angle value of the cab with respect to a horizontal line.
7. A cab level control apparatus, comprising: the angle detection device is arranged at the bottom of a cab, the pair of oil cylinders are arranged on two sides of the bottom of the cab in a one-to-one correspondence manner, the angle detection device and the pair of electronic hydraulic valve blocks are connected with the signal processing device, the pair of electronic hydraulic valve blocks are connected with the pair of oil cylinders in a one-to-one correspondence manner,
the angle detection equipment is used for acquiring a current cab attitude horizontal angle value;
the signal processing equipment is used for acquiring a numerical range of a horizontal angle of a preset cab attitude;
the signal processing equipment is also used for judging whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range or not;
the signal processing equipment is also used for generating an oil cylinder telescopic control instruction when the current cab attitude horizontal angle value is out of the preset cab attitude horizontal angle value range;
and the pair of electronic hydraulic valve blocks is used for controlling the oil cylinder to stretch according to the oil cylinder stretching control instruction.
8. The cab level control apparatus according to claim 7, further comprising: the self-balancing change-over switch is connected with the signal processing equipment, and the oil cylinder is a bidirectional telescopic oil cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211273818.1A CN115476939A (en) | 2022-10-18 | 2022-10-18 | Cab horizontal control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211273818.1A CN115476939A (en) | 2022-10-18 | 2022-10-18 | Cab horizontal control method and device |
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| Publication Number | Publication Date |
|---|---|
| CN115476939A true CN115476939A (en) | 2022-12-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211273818.1A Pending CN115476939A (en) | 2022-10-18 | 2022-10-18 | Cab horizontal control method and device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015221189A1 (en) * | 2015-10-29 | 2017-05-04 | Schaeffler Technologies AG & Co. KG | Cab suspension |
| CN107054182A (en) * | 2015-12-23 | 2017-08-18 | 格拉默公司 | Suspension arrangement and method |
| US20180029651A1 (en) * | 2016-07-26 | 2018-02-01 | Man Truck & Bus Ag | Method and device for performing open-loop control of a driver's cab mount |
| CN107985428A (en) * | 2017-11-27 | 2018-05-04 | 安徽江淮汽车集团股份有限公司 | Driver's cabin systems stabilisation |
| CN111305307A (en) * | 2020-04-17 | 2020-06-19 | 三一重机有限公司 | Digging machine |
| CN112566838A (en) * | 2018-08-16 | 2021-03-26 | 曼卡车和巴士欧洲股份公司 | Cab suspension for a commercial vehicle, commercial vehicle and method for adjusting the damping of a cab suspension |
| DE102020215363A1 (en) * | 2020-12-04 | 2022-06-09 | Contitech Luftfedersysteme Gmbh | Position and height control of a driver's cab relative to the vehicle chassis |
-
2022
- 2022-10-18 CN CN202211273818.1A patent/CN115476939A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015221189A1 (en) * | 2015-10-29 | 2017-05-04 | Schaeffler Technologies AG & Co. KG | Cab suspension |
| CN107054182A (en) * | 2015-12-23 | 2017-08-18 | 格拉默公司 | Suspension arrangement and method |
| US20180029651A1 (en) * | 2016-07-26 | 2018-02-01 | Man Truck & Bus Ag | Method and device for performing open-loop control of a driver's cab mount |
| CN107985428A (en) * | 2017-11-27 | 2018-05-04 | 安徽江淮汽车集团股份有限公司 | Driver's cabin systems stabilisation |
| CN112566838A (en) * | 2018-08-16 | 2021-03-26 | 曼卡车和巴士欧洲股份公司 | Cab suspension for a commercial vehicle, commercial vehicle and method for adjusting the damping of a cab suspension |
| CN111305307A (en) * | 2020-04-17 | 2020-06-19 | 三一重机有限公司 | Digging machine |
| DE102020215363A1 (en) * | 2020-12-04 | 2022-06-09 | Contitech Luftfedersysteme Gmbh | Position and height control of a driver's cab relative to the vehicle chassis |
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