CN115610220A - Electric control walking system and control method thereof - Google Patents
Electric control walking system and control method thereof Download PDFInfo
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- CN115610220A CN115610220A CN202210557172.3A CN202210557172A CN115610220A CN 115610220 A CN115610220 A CN 115610220A CN 202210557172 A CN202210557172 A CN 202210557172A CN 115610220 A CN115610220 A CN 115610220A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/10—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of fluid gearing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
Abstract
The invention belongs to the technical field of agricultural vehicles, and discloses an electric control walking system and a control method of the electric control walking system, wherein the electric control walking system comprises a motor, a rotating shaft and a controller, the motor and the rotating shaft are respectively installed in a vehicle body of an agricultural vehicle, the motor is in transmission connection with the rotating shaft, the motor can drive the rotating shaft to rotate, and the rotating shaft is in transmission connection with the input end of an HST (high speed railway) so as to drive the agricultural vehicle to walk; the controller can send out the signal and transmit for agricultural vehicle's whole car control terminal, and whole car control terminal is according to the rotational speed, the direction of rotation and the turned angle of signal control motor that the controller sent. This automatically controlled traveling system realizes the walking of automatically controlled control agricultural vehicle through the work of automatically controlled control HST, need not to be used for connecting walking control handle and HST's connecting rod structure, does not worry long-time back of using and leads to the operating difficulties because of connecting rod structure jamming, can reduce driver's intensity of labour, can guarantee the operation process high quality high efficiency operation.
Description
Technical Field
The invention relates to the technical field of agricultural vehicles, in particular to an electric control traveling system and a control method of the electric control traveling system.
Background
HST (Hydro Static Transmission hydrostatic Transmission) is also called a hydraulic continuously variable Transmission because of its continuously variable nature. The stepless speed regulating device has the characteristics of large stepless speed regulating range, stable speed change and easy forward and reverse conversion. Have become the mainstream configuration of agricultural vehicles. The existing ground plant protection machine is generally characterized in that a walking control handle is connected with a HST (hydraulic suspension transport) intermediate pump shaft through a link mechanism, the walking control handle is pulled to drive the link mechanism to control the HST intermediate pump shaft to rotate, so that the rotating speed and the steering of a hydraulic motor in the HST are changed, and the walking speed, the advancing or the retreating of a vehicle are realized. However, after the ground plant protection machine with the structure is used for a long time, the connecting rod structure for connecting the walking control handle and the HST is easy to be blocked, so that the operation is difficult.
Disclosure of Invention
The invention aims to provide an electric control traveling system and a control method of the electric control traveling system, and aims to solve the problem that after the existing ground plant protection machine is used for a long time, a connecting rod structure for connecting a traveling control handle and an HST is easy to block, so that the operation is difficult.
In order to achieve the purpose, the invention adopts the following technical scheme:
an electronically controlled locomotion system adapted for use with an HST-propelled agricultural vehicle, comprising:
the motor and the rotating shaft are respectively arranged in the body of the agricultural vehicle, the motor is in transmission connection with the rotating shaft, the motor can drive the rotating shaft to rotate, and the rotating shaft is in transmission connection with the input end of the HST so as to drive the agricultural vehicle to walk;
the controller can send signals and transmit the signals to the whole vehicle control terminal of the agricultural vehicle, and the whole vehicle control terminal controls the rotating speed, the rotating direction and the rotating angle of the motor according to the signals sent by the controller.
As a preferable scheme of the above electric control traveling system, the controller includes a remote controller, the remote controller is in communication connection with the vehicle control terminal, and the vehicle control terminal can control the rotation speed, the rotation direction and the rotation angle of the motor according to a signal sent by the remote controller.
As a preferred scheme of the above electric control traveling system, the controller comprises a control panel installed in the vehicle body, the control panel is electrically connected with the whole vehicle control terminal, and the whole vehicle control terminal can control the rotating speed, the rotating direction and the rotating angle of the motor according to signals sent by the control panel.
As an above-mentioned automatically controlled traveling system's an preferred scheme, the controller is including rotating piece and first angle sensor, it is connected with the walking brake valve lever transmission to rotate the piece, walking brake valve lever installs in the automobile body, walking brake valve lever drives rotate the piece and rotate, first angle sensor is used for detecting rotate pivoted angle and direction, first angle sensor with whole car control terminal electricity is connected, whole car control terminal basis the signal control that first angle sensor sent the slew velocity, the direction of rotation and the turned angle of motor.
As an optimal scheme of the above electric control walking system, the electric control walking system further comprises a connecting rod, two ends of the connecting rod are respectively connected with a joint bearing, one end of the connecting rod is rotatably connected with the walking control handle through one joint bearing, and the other end of the connecting rod is rotatably connected with the rotating piece through another joint bearing.
As an optimized scheme of the above electric control walking system, the controller further comprises a second angle sensor, the second angle sensor is used for detecting the rotating angle and direction of the rotating shaft, and the second angle sensor is electrically connected with the whole vehicle control terminal.
As a preferred scheme of the above electric control traveling system, the electric control traveling system further includes a gear and a fluted disc, the gear is in transmission connection with the motor, the gear is engaged with the fluted disc, and the fluted disc is fixedly connected to the rotating shaft.
A control method of an electric control walking system is applied to the electric control walking system, and comprises the following steps:
a controller obtains a driving intent of an operator of the agricultural vehicle;
a controller generates a signal based on the driving intent;
the controller transmits the signal to a whole vehicle control terminal of the agricultural vehicle;
the whole vehicle control terminal generates a motor driving instruction based on the signal and transmits the motor driving instruction to the motor;
the motor drives the HST to work according to the motor driving instruction;
the motor driving instruction comprises a target rotating direction and a target rotating angle.
As a preferable aspect of the control method for the electric control traveling system, the controller includes a rotating member and a first angle sensor, and the control method for the electric control traveling system includes:
the controller acquiring the driving intention of the operator of the agricultural vehicle includes:
an operator pulls a walking control handle, the walking control handle drives the rotating part to rotate, and the first angle sensor detects the rotating angle and direction of the rotating part;
the controller generating a signal based on the driving intent includes:
the first angle sensor generates a first rotation signal based on the angle and direction in which the first angle sensor detects rotation of the rotation member.
As a preferable scheme of the control method of the electric control traveling system, the electric control traveling system includes a second angle sensor; the control method of the electric control walking system further comprises the following steps:
the second angle sensor detects the actual angle and the actual direction of the rotation of the rotating shaft in real time and transmits a second rotation signal to the vehicle control terminal;
and when the whole vehicle control terminal judges that the target rotation direction is the same as the actual direction and the target rotation angle is equal to the actual angle, the motor stops working.
As a preferable aspect of the control method of the electronic control traveling system, the control method of the electronic control traveling system further includes:
and calibrating the first angle sensor and the second angle sensor, so that the vehicle body is static when the walking control handle is positioned at the middle position.
As a preferable aspect of the control method for the electric control walking system, the controller further includes a remote controller, and calibrating the first angle sensor and the second angle sensor includes:
starting an engine, and engaging a gear control handle into an operation gear;
adjusting the position of the walking control handle to enable the vehicle body to be stationary, wherein the walking control handle is positioned at a target position;
clicking a calibration button on the remote controller, sending a first calibration instruction to the finished automobile control terminal by the remote controller, and recording a voltage value X of the second angle sensor when the walking control handle is positioned at a target position by the finished automobile control terminal based on the first calibration instruction;
the gear control handle is put into a neutral gear, and the position of the walking control handle is adjusted from the target position to a middle position;
adjusting the first angle sensor back to a mechanically neutral position;
clicking a calibration button on the remote controller, sending a second calibration instruction to the whole vehicle control terminal by the remote controller, and recording a voltage value Y of the first angle sensor by the whole vehicle control terminal based on the second calibration instruction;
and clicking a calibration completion button on the remote controller, sending a third calibration instruction to the whole vehicle control terminal by the remote controller, and correspondingly setting the voltage value Y of the first angle sensor and the voltage value X of the second angle sensor by the whole vehicle control terminal based on the third calibration instruction.
The invention has the beneficial effects that:
the invention provides an electric control walking system and a control method of the electric control walking system. This automatically controlled traveling system realizes the walking of automatically controlled control agricultural vehicle through the work of automatically controlled control HST, need not to be used for connecting walking control handle and HST's connecting rod structure, does not worry long-time back of using and leads to the operating difficulties because of connecting rod structure jamming, can reduce driver's intensity of labour, can guarantee the operation process high quality high efficiency operation.
Drawings
Fig. 1 is a first structural diagram of an electric control walking system provided in an embodiment of the present invention;
fig. 2 is a second structural diagram of the electric control walking system provided in the embodiment of the present invention;
fig. 3 is a third structural diagram of an electric control walking system provided in the embodiment of the present invention;
fig. 4 is a structural diagram of an electric control walking system according to a specific embodiment of the present invention.
In the figure:
1. a motor; 2. a walking control handle; 3. a first angle sensor; 4. a second angle sensor; 5. a fluted disc; 6. a gear; 7. HST; 8. a mounting base; 9. a connecting rod; 10. a gear control handle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the two elements may be connected directly or indirectly through an intermediate medium, or the two elements may be connected through an intermediate medium or may be in an interactive relationship with each other. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
Example 1
The invention provides an electric control walking system which is suitable for agricultural vehicles driven by HST7 to walk, and as shown in figures 1-4, the electric control walking system comprises a motor 1, a rotating shaft and a controller, wherein the motor 1 and the rotating shaft are respectively installed in a vehicle body of the agricultural vehicle, the motor 1 is in transmission connection with the rotating shaft, the motor 1 can drive the rotating shaft to rotate, and the rotating shaft is in transmission connection with an input end of the HST7 so as to drive the agricultural vehicle to walk; the controller can send out the signal and transmit for agricultural vehicle's whole car control terminal, and whole car control terminal is according to the rotational speed, the direction of rotation and the turned angle of signal control motor 1 that the controller sent. It can be understood that the whole vehicle control terminal controls the rotation angle of the motor 1, and comprises three processes of controlling the motor 1 to start, controlling the motor 1 to start rotating and controlling the motor 1 to stop.
In the electric control walking system, the controller acquires the driving intention of an operator of the agricultural vehicle, generates a signal based on the driving intention, and transmits the signal to the whole vehicle control terminal of the agricultural vehicle, the whole vehicle control terminal controls the rotating speed, the rotating direction and the rotating angle of the motor 1 according to the signal sent by the controller, and the motor 1 drives the HST7 to work through the rotating shaft, so that the agricultural vehicle walks. This automatically controlled traveling system realizes the walking of automatically controlled control agricultural vehicle through the work of automatically controlled control HST7, need not to be used for connecting the link structure of walking control handle 2 and HST7, does not worry and leads to the operating difficulties because of the connecting rod structure jamming after long-time the use, can reduce driver's intensity of labour, can guarantee the operation process high quality high efficiency operation.
It is understood that the rotating shaft is in driving connection with the pump shaft of the variable displacement hydraulic pump in the HST7, and the hydraulic motor in the HST7 is in driving connection with the wheels.
The specific structures of the entire vehicle control terminal and the HST7 are the prior art, and are not described herein again.
In this embodiment, the electronic control traveling system further includes a mounting base 8, the mounting base 8 is fixedly disposed on the vehicle body, the motor 1 is fixedly disposed on the mounting base 8, and the rotating shaft is rotatably disposed on the mounting base 8. Optionally, a bearing is provided between the shaft and the mounting 8 for supporting the shaft.
Meanwhile, the controller comprises a remote controller, the remote controller is in communication connection with the whole vehicle control terminal, the remote controller acquires the driving intention of an operator of the agricultural vehicle, generates a signal based on the driving intention and transmits the signal to the whole vehicle control terminal of the agricultural vehicle, and the whole vehicle control terminal controls the rotating speed, the rotating direction and the rotating angle of the motor 1 according to the signal sent by the remote controller. An operator can operate the remote controller at a position away from the agricultural vehicle by a certain distance, so that the remote controller sends out signals and sends the signals to the whole vehicle control terminal, and the whole vehicle control terminal controls the motor 1 to work according to the signals sent out by the remote controller, thereby realizing the remote control of the agricultural vehicle to walk. Compared with the prior art, the agricultural vehicle can only be operated by an operator on the agricultural vehicle, the pesticide is sprayed and drifted in the plant protection process, the operator inevitably contacts the pesticide which drifts with the wind, and the pesticide is contacted in long-time operation, so that the harm to the body of the operator is inevitable. The electric control walking system can meet the requirement that an operator remotely controls the agricultural vehicle to walk, so that the operator can avoid pesticide toxicity in the operation process. Optionally, the remote controller is provided with a control handle or a liquid crystal control screen, an operator inputs driving intentions into the remote controller through the control handle or the liquid crystal control screen, and the remote controller generates signals based on the driving intentions and sends the signals to the vehicle control terminal.
As an alternative, the controller includes a control panel installed in the vehicle body, the control panel is electrically connected to the entire vehicle control terminal, the control panel is used for acquiring the driving intention of an operator of the agricultural vehicle, generating a signal based on the driving intention, and transmitting the signal to the entire vehicle control terminal of the agricultural vehicle, and the entire vehicle control terminal controls the rotation speed, the rotation direction, and the rotation angle of the motor 1 according to the signal sent by the control panel. Optionally, the control panel is provided with a touch screen, an operator inputs driving intention into the control panel through the touch screen, the control panel sends out signals and sends the signals to the whole vehicle control terminal, and the whole vehicle control terminal controls the motor 1 to work according to the signals sent out by the control panel, so that electric control of walking of the agricultural vehicle can be realized. Control panel sets up in the driver's cabin, and the staff controls the walking of agricultural vehicle through control panel, controls simply.
As another alternative, the controller is including rotating piece and first angle sensor 3, walking brake valve lever 2 installs in the automobile body, it is connected with walking brake valve lever 2 transmission to rotate the piece, walking brake valve lever 2 can drive and rotate the piece and rotate, first angle sensor 3 is used for detecting a pivoted angle and direction, first angle sensor 3 is connected with whole car control terminal electricity, whole car control terminal is according to the slew velocity of signal control motor 1 that first angle sensor 3 sent, direction of rotation and turned angle. The operating personnel pulls walking control handle 2 according to driving intention, and walking control handle 2 drives and rotates a rotation, and first angle sensor 3 detects and rotates a pivoted angle and direction and transmit to whole car control terminal, and whole car control terminal is according to angle and the work of direction control motor 1 that first angle sensor 3 detected, and motor 1 drives HST7 work to realize the walking of automatically controlled control agricultural vehicle.
The form of the controller is not limited to one, and may include one or more of the above three forms, that is, the controller includes one or more of a remote controller, a control panel, and a rotation member and the first angle sensor 3. This automatically controlled traveling system can enough adapt to the operating personnel through controlling the needs that the agricultural vehicle walked of walking control handle 2 control on agricultural vehicle, can adapt to the operating personnel again through controlling the needs that control panel control agricultural vehicle walked, can also adapt to the operating personnel through the needs that remote controller remote control agricultural vehicle walked, through the setting that adopts multiple control mode, realize the switching between the different application scene modes of someone driving and unmanned, also make simultaneously under the circumstances that a control mode became invalid, can adopt another kind of control mode to control the walking of agricultural vehicle, and then effectual stability and the pluralism of automatically controlled traveling system to agricultural vehicle control have been guaranteed.
In order to realize the control of the walking control handle 2 on the agricultural vehicle, optionally, the electric control walking system further comprises a connecting rod 9, both ends of the connecting rod 9 are connected with joint bearings, one end of the connecting rod 9 is rotatably connected with the walking control handle 2 through one joint bearing, and the other end of the connecting rod 9 is rotatably connected with a rotating part through another joint bearing. When pulling walking control handle 2, walking control handle 2 drives connecting rod 9 along the axial displacement of connecting rod 9, because rotate one end and rotate and set up in the automobile body, the other end rotates and sets up in connecting rod 9, and connecting rod 9 drives when its self axial displacement and rotates and uses the rotation and the automobile body junction to rotate as the center. In this embodiment, the connecting rod 9 is a screw rod, and the two ends of the connecting rod 9 are respectively in threaded connection with the two joint bearings, so that the linkage between the control handle 2 and the rotating part is realized.
Preferably, the two spherical plain bearings are of opposite thread, and are relatively far apart or close to each other when the screw is rotated. By adjusting the connecting rod 9, the relative position of the two joint bearings can be controlled, thereby adjusting the position of the rotating piece. As an alternative, the connecting rod 9 is a telescopic rod. To facilitate adjustment of the length of the connecting rod 9 and thus the position of the rotatable member.
Optionally, the controller further includes a second angle sensor 4, the second angle sensor 4 is configured to detect a rotation angle and a rotation direction of the rotating shaft, and the second angle sensor 4 is electrically connected to the vehicle control terminal. Second angle sensor 4 real-time detection pivot pivoted angle and direction and transmit to whole car control terminal, and whole car control terminal cooperates through rotating the pivoted angle and direction that detect first angle sensor 3 and the pivoted angle and direction of pivot that second angle sensor 4 detected to the realization carries out closed loop control to the turned angle of motor 1. It can be understood that the actual rotation angle and the actual rotation direction of the motor 1 can be calculated from the angle and the direction of the rotating shaft detected by the second angle sensor 4, and the vehicle control terminal obtains the target rotation angle and the target rotation direction of the motor 1 according to the rotation angle and the direction of the rotating member detected by the first angle sensor 3. The second angle sensor 4 feeds back the detected result to the vehicle control terminal, the vehicle control terminal analyzes whether the actual rotation direction of the motor 1 is the same as the target rotation direction of the motor 1 obtained by the vehicle control terminal in real time, whether the actual rotation angle of the motor 1 reaches the target rotation angle of the motor 1 obtained by the vehicle control terminal, and if the actual rotation angle of the motor 1 reaches the target rotation angle, the motor 1 stops working, so that the motor 1 accurately rotates to the target rotation angle, and the rotation angle and the direction of the motor 1 are accurately controlled.
In this embodiment, the electronic control traveling system further includes a gear 6 and a fluted disc 5, the gear 6 is in transmission connection with the motor 1, the gear 6 is meshed with the fluted disc 5, and the fluted disc 5 is fixedly connected to the rotating shaft. When the motor 1 rotates, the gear 6 is driven to rotate, the gear 6 drives the fluted disc 5 to rotate, the fluted disc 5 drives the rotating shaft to rotate, and the rotating shaft transmits power to the HST7 to drive the HST7 to work.
Specifically, the rotating shaft and the fluted disc 5 rotate synchronously, and the second angle sensor 4 can directly detect the rotating angle of the rotating shaft and also can detect the rotating angle of the fluted disc 5.
Example 2
The present invention further provides a control method of an electronic control traveling system, which applies the electronic control traveling system in embodiment 1, and the control method of the electronic control traveling system includes:
the controller acquires the driving intention of an operator of the agricultural vehicle; the controller generates a signal based on the driving intent; the controller transmits the signal to a whole vehicle control terminal of the agricultural vehicle.
When the controller includes control handle 2 and first angle sensor 3, the operating personnel is according to driving the intention pulling walking control handle 2, and walking control handle 2 drives and rotates a rotation, and first angle sensor 3 detects and rotates a pivoted angle and direction and generate first rotation signal based on first angle sensor 3 to transmit first rotation signal to whole car control terminal.
When the controller comprises the remote controller, an operator operates the remote controller according to the driving intention, the remote controller acquires the driving intention of the operator, generates a signal based on the driving intention, and transmits the signal to the whole vehicle control terminal.
When the controller comprises a control panel, an operator operates the control panel according to the driving intention, and the control panel acquires the driving intention of the operator, generates a signal based on the driving intention and transmits the signal to the whole vehicle control terminal.
The whole vehicle control terminal generates a motor driving instruction based on the signal and transmits the motor driving instruction to the motor 1; the motor 1 drives the HST7 to work according to a motor driving instruction; the motor driving command comprises a target rotating direction and a target rotating angle.
When the controller comprises the control handle 2 and the first angle sensor 3, the whole vehicle control terminal sends a motor driving instruction according to the first rotating signal and transmits the motor driving instruction to the motor 1. It can be understood that the rotation angle of the rotating member is in direct proportion to the rotation angle of the motor 1, and the relationship between the rotation angle of the rotating member and the rotation angle of the motor 1 can be obtained through theoretical analysis and a large number of experiments.
When the controller comprises a remote controller, the whole vehicle control terminal generates a motor driving instruction according to a signal sent by the remote controller, and transmits the motor driving instruction to the motor 1 so as to control the rotating speed, the rotating direction and the rotating angle of the motor 1, and the motor 1 drives the HST7 to work according to the motor driving instruction.
When the controller comprises a control panel, the whole vehicle control terminal generates a motor driving instruction according to a signal sent by the control panel and transmits the motor driving instruction to the motor 1 so as to control the rotating speed, the rotating direction and the rotating angle of the motor 1, and the motor 1 drives the HST7 to work according to the motor driving instruction.
Optionally, the second angle sensor 4 detects an actual angle and an actual direction of rotation of the rotating shaft in real time, and transmits a second rotation signal to the vehicle control terminal; when the whole vehicle control terminal judges that the target rotation direction is the same as the actual direction and the actual angle is equal to the target rotation angle, the motor 1 stops working.
The second angle sensor 4 feeds back the detected actual rotating angle and actual rotating direction of the rotating shaft to the whole vehicle control terminal, the whole vehicle control terminal can calculate the actual rotating angle and actual rotating direction of the motor 1 according to the actual rotating angle and actual rotating direction of the rotating shaft detected by the second angle sensor 4, and the target rotating angle and target rotating direction of the motor 1 are obtained according to the rotating angle and rotating direction of the rotating part detected by the first angle sensor 3. The whole vehicle control terminal analyzes whether the actual rotation direction of the motor 1 is the same as the target rotation direction of the motor 1 in real time, and the motor 1 stops working when the actual rotation angle of the motor 1 reaches the target rotation angle of the motor 1, so that closed-loop control over the rotation angle of the motor 1 is realized, and the rotation angle and the rotation direction of the motor 1 can be accurately controlled.
The automobile body is equipped with the spout, and when the operating personnel pulled walking control handle 2, walking control handle 2 slided in the spout, and under the normal condition, when walking control handle 2 was located the neutral position promptly walking control handle 2 was located the intermediate position along spout extending direction, even gear control handle 10 hung the operation gear, increased the throttle, and the automobile body still motionless. However, due to machining errors or assembly errors and the like, when the walking control handle 2 is located at the middle position, the vehicle can still move, the vehicle cannot be guaranteed to be still, and the phenomenon of vehicle sliding occurs.
Therefore, before the agricultural vehicle is driven, the first angle sensor 3 and the second angle sensor 4 are calibrated, so that when the walking control handle 2 is located at the middle position, the vehicle is static, and the vehicle is prevented from sliding when the walking control handle 2 is located at the middle position.
The specific steps for calibrating the first angle sensor 3 and the second angle sensor 4 are as follows:
the engine is started and the gear control handle 10 is engaged in the operating gear.
Calibration of the first angle sensor 3 and the second angle sensor 4 requires calibration in the on-vehicle state. When the gear control handle 10 is engaged into an operation gear, if the gear cannot be engaged, the walking control handle 2 can be operated by one hand and the gear control handle 10 can be operated by the other hand until the operation gear is engaged.
The position of the walking control handle 2 is adjusted to make the vehicle body still, and the walking control handle 2 is positioned at the target position.
The walking control handle 2 is pulled back and forth to adjust the position of the walking control handle 2 until the target position is found, and when the position of the walking control handle 2 is located at the target position, the accelerator is increased, and the vehicle still stands still.
And clicking a calibration button on the remote controller, sending a first calibration instruction to the whole vehicle control terminal by the remote controller, and recording the voltage value X of the second angle sensor 4 when the walking control handle 2 is positioned at the target position by the whole vehicle control terminal based on the first calibration instruction. Calibration of the second angle sensor 4 is completed.
The shift position control handle 10 is engaged in the neutral position, and the position of the travel control handle 2 is adjusted from the target position to the neutral position.
If the target position of the walking control handle 2 is not at the middle position, the walking control handle 2 is pulled to the middle position along the extension direction of the chute, so that the walking control handle 2 is located at the middle position. If the target position of the travel control handle 2 is at the neutral position, the position of the travel control handle 2 is kept unchanged.
The first angle sensor 3 is adjusted back to the mechanical neutral position.
The first angle sensor 3 is brought back into the mechanical neutral position by adjusting the connecting rod 9. The position of the walking control handle 2 is kept to be fixed at the middle position, and the rotating piece is rotated by adjusting the connecting rod 9 to change the position of the rotating piece, so that the first angle sensor 3 returns to the mechanical middle position. Preferably, the position of the rotating member is adjusted by adjusting the length of the connecting rod 9.
And clicking a calibration button on the remote controller, sending a second calibration instruction to the whole vehicle control terminal by the remote controller, and recording the voltage value Y of the first angle sensor 3 by the whole vehicle control terminal based on the second calibration instruction. Calibration of the first sensor 3 is completed.
And clicking a calibration completion button on the remote controller, sending a third calibration instruction to the whole vehicle control terminal by the remote controller, and correspondingly setting the voltage value Y of the first angle sensor 3 and the voltage value X of the second angle sensor 4 by the whole vehicle control terminal based on the third calibration instruction.
Whole car control terminal corresponds the setting with the magnitude of voltage Y of first angle sensor 3 and the magnitude of voltage X of second angle sensor 4, can make when walking control handle 2 is located the meso position, when the magnitude of voltage of first angle sensor 3 is Y promptly, the position that whole car control terminal control motor 1 rotated is the position that makes the magnitude of voltage of second angle sensor 4 be X, thereby can guarantee when walking control handle 2 is located the meso position, even increase the throttle, the vehicle is also motionless, thereby prevent the swift current car.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (12)
1. An electrically controlled locomotion system for an agricultural vehicle driven by HST (7) comprising:
the motor (1) and the rotating shaft are respectively installed in a vehicle body of the agricultural vehicle, the motor (1) is in transmission connection with the rotating shaft, the motor (1) can drive the rotating shaft to rotate, and the rotating shaft is in transmission connection with the input end of the HST (7) so as to drive the agricultural vehicle to walk;
the controller can send signals and transmit the signals to the whole vehicle control terminal of the agricultural vehicle, and the whole vehicle control terminal controls the rotating speed, the rotating direction and the rotating angle of the motor according to the signals sent by the controller.
2. The electric control walking system according to claim 1, wherein the controller comprises a remote controller, the remote controller is in communication connection with the vehicle control terminal, and the vehicle control terminal can control the rotating speed, the rotating direction and the rotating angle of the motor (1) according to signals sent by the remote controller.
3. The electric control walking system according to claim 1, wherein the controller comprises a control panel installed in the vehicle body, the control panel is electrically connected with the vehicle control terminal, and the vehicle control terminal can control the rotating speed, the rotating direction and the rotating angle of the motor (1) according to signals sent by the control panel.
4. The electric control walking system according to claim 1, characterized in that the controller comprises a rotating part and a first angle sensor (3), the rotating part is in transmission connection with a walking control handle (2), the walking control handle (2) is installed in the vehicle body, the walking control handle (2) drives the rotating part to rotate, the first angle sensor (3) is used for detecting the rotating angle and direction of the rotating part, the first angle sensor (3) is electrically connected with the whole vehicle control terminal, and the whole vehicle control terminal controls the rotating speed, the rotating direction and the rotating angle of the motor (1) according to signals sent by the first angle sensor (3).
5. The electric control walking system according to claim 4, further comprising a connecting rod (9), wherein two ends of the connecting rod (9) are respectively connected with a joint bearing, one end of the connecting rod (9) is rotatably connected with the walking control handle (2) through one joint bearing, and the other end of the connecting rod (9) is rotatably connected with the rotating member through the other joint bearing.
6. The electric control walking system according to any one of claims 1-5, wherein the controller further comprises a second angle sensor (4), the second angle sensor (4) is used for detecting the rotation angle and direction of the rotating shaft, and the second angle sensor (4) is electrically connected with the vehicle control terminal.
7. The electric control walking system according to any one of claims 1-5, further comprising a gear (6) and a toothed disc (5), wherein the gear (6) is in transmission connection with the motor (1), the gear (6) is engaged with the toothed disc (5), and the toothed disc (5) is fixedly connected to the rotating shaft.
8. A control method of an electric control walking system, characterized in that the electric control walking system of any one of claims 1-7 is applied, and the control method of the electric control walking system comprises:
the controller obtains a driving intent of an operator of the agricultural vehicle;
the controller generates a signal based on the driving intent;
the controller transmits the signal to a whole vehicle control terminal of the agricultural vehicle;
the whole vehicle control terminal generates a motor driving instruction based on the signal and transmits the motor driving instruction to the motor (1);
the motor (1) drives the HST (7) to work according to the motor driving instruction;
the motor driving command comprises a target rotating direction and a target rotating angle.
9. The control method of the electric walking system according to claim 8, wherein the controller comprises a rotating member and a first angle sensor (3), and the control method of the electric walking system comprises the following steps:
the controller acquiring the driving intent of the operator of the agricultural vehicle includes:
the operator pulls the walking control handle (2), the walking control handle (2) drives the rotating part to rotate, and the first angle sensor (3) detects the rotating angle and direction of the rotating part;
the controller generating a signal based on the driving intent includes:
the first angle sensor (3) generates a first rotation signal based on the angle and direction in which the first angle sensor (3) detects rotation of the rotation member.
10. The control method of an electric walking system according to claim 9, characterized in that said electric walking system comprises a second angle sensor (4); the control method of the electric control walking system further comprises the following steps:
the second angle sensor (4) detects the actual rotating angle and the actual rotating direction of the rotating shaft in real time and transmits a second rotating signal to the whole vehicle control terminal;
and when the whole vehicle control terminal judges that the target rotation direction is the same as the actual direction and the target rotation angle is equal to the actual angle, the motor (1) stops working.
11. The method for controlling an electrically controlled traveling system according to claim 10, further comprising:
and calibrating the first angle sensor (3) and the second angle sensor (4) to ensure that the vehicle body is static when the walking control handle (2) is positioned at the middle position.
12. The method for controlling an electrically controlled walking system according to claim 11, wherein said controller further comprises a remote controller, and calibrating said first angle sensor (3) and said second angle sensor (4) comprises:
starting an engine, and engaging a gear control handle (10) into an operation gear;
adjusting the position of the walking control handle (2) to enable the vehicle body to be stationary, wherein the walking control handle (2) is located at a target position;
clicking a calibration button on the remote controller, sending a first calibration instruction to the finished automobile control terminal by the remote controller, and recording a voltage value X of the second angle sensor (4) when the walking control handle (2) is located at a target position by the finished automobile control terminal based on the first calibration instruction;
the gear control handle (10) is put into a neutral gear, and the position of the walking control handle (2) is adjusted from the target position to a middle position;
adjusting the first angle sensor (3) back to a mechanical neutral position;
clicking a calibration button on the remote controller, sending a second calibration instruction to the finished automobile control terminal by the remote controller, and recording a voltage value Y of the first angle sensor (3) by the finished automobile control terminal based on the second calibration instruction;
clicking a calibration completion button on the remote controller, sending a third calibration instruction to the whole vehicle control terminal by the remote controller, and correspondingly setting the voltage value Y of the first angle sensor (3) and the voltage value X of the second angle sensor (4) by the whole vehicle control terminal based on the third calibration instruction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210557172.3A CN115610220A (en) | 2022-05-20 | 2022-05-20 | Electric control walking system and control method thereof |
| PCT/CN2023/072803 WO2023221548A1 (en) | 2022-05-20 | 2023-01-18 | Electric control walking system and control method for electric control walking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210557172.3A CN115610220A (en) | 2022-05-20 | 2022-05-20 | Electric control walking system and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115610220A true CN115610220A (en) | 2023-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210557172.3A Pending CN115610220A (en) | 2022-05-20 | 2022-05-20 | Electric control walking system and control method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115610220A (en) |
| WO (1) | WO2023221548A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023221548A1 (en) * | 2022-05-20 | 2023-11-23 | 丰疆智能科技研究院(常州)有限公司 | Electric control walking system and control method for electric control walking system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6601474B2 (en) * | 2000-09-05 | 2003-08-05 | Kanzaki Kokyukoki Mfg. Co., Ltd. | Hydrostatic transmission and power train for vehicle |
| CN212034792U (en) * | 2020-04-13 | 2020-12-01 | 江苏沃得高新农业装备有限公司 | Electric control traveling system of rice transplanter |
| CN111665854A (en) * | 2020-07-13 | 2020-09-15 | 山东农业大学 | Self-propelled intelligent agricultural monitoring device and agricultural monitoring method |
| CN214028824U (en) * | 2020-12-07 | 2021-08-24 | 江苏沃得农业机械股份有限公司 | Unmanned automatic walking system of crawler tractor |
| CN113605486B (en) * | 2021-10-11 | 2022-01-18 | 徐工集团工程机械股份有限公司科技分公司 | Loader traveling control system and control method thereof, loader and vehicle control unit |
| CN115610220A (en) * | 2022-05-20 | 2023-01-17 | 丰疆智能科技研究院(常州)有限公司 | Electric control walking system and control method thereof |
-
2022
- 2022-05-20 CN CN202210557172.3A patent/CN115610220A/en active Pending
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2023
- 2023-01-18 WO PCT/CN2023/072803 patent/WO2023221548A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023221548A1 (en) * | 2022-05-20 | 2023-11-23 | 丰疆智能科技研究院(常州)有限公司 | Electric control walking system and control method for electric control walking system |
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| WO2023221548A1 (en) | 2023-11-23 |
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