CN219165161U - Walking control system of combine harvester - Google Patents
Walking control system of combine harvester Download PDFInfo
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- CN219165161U CN219165161U CN202222267650.5U CN202222267650U CN219165161U CN 219165161 U CN219165161 U CN 219165161U CN 202222267650 U CN202222267650 U CN 202222267650U CN 219165161 U CN219165161 U CN 219165161U
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Abstract
The utility model describes a walking control system of a combine harvester, which comprises a control signal input unit, an MCU control unit, a communication unit, a motor driving unit and a motor unit which are connected in sequence; the communication unit consists of a CAN bus, the control signal input unit is used for inputting a control instruction, the control instruction is identified and analyzed by the MCU control unit and then sent to the motor driving unit through the CAN bus, and then the motor driving unit drives a motor in the motor unit to operate, and the motor unit is connected with the travelling mechanism to drive the harvester to move. Therefore, the harvester is convenient to operate and can improve the response speed of the harvester.
Description
Technical Field
The present utility model relates generally to a travel control system for a combine harvester.
Background
With the continuous development of the agricultural industry and the continuous progress of scientific technology in the present year, the means for farmers to develop agricultural production are continuously increased, the agricultural machinery industry also presents a good development trend, and in order to improve the economic benefit of agriculture and promote the development of economy and society, various agricultural machinery tools emerge like spring bamboo shoots after rain and gradually enter various households, and the farmers are provided with a self-help.
All links from sowing, planting to harvesting and the like in modern agriculture are almost completed by agricultural machinery. The agricultural mechanization improves the agricultural production efficiency and brings great convenience to farmers.
Conventional agricultural harvesting tools such as harvesters are usually oil pressure and hydraulic control, which usually require professional personnel to operate, and have high control difficulty, slow speed response, and easy generation of polluted waste gas and the like.
Disclosure of Invention
The present utility model has been made in view of the above-mentioned conventional circumstances, and an object of the present utility model is to provide a travel control system for a combine harvester which is more convenient to operate, can increase the response speed of the harvester, and is environmentally friendly.
The utility model provides a walking control system of a combine harvester, which comprises a control signal input unit, an MCU control unit, a communication unit, a motor driving unit and a motor unit which are connected in sequence; the communication unit consists of a CAN bus, the control signal input unit is used for inputting a control instruction, the control instruction is identified and analyzed by the MCU control unit and then sent to the motor driving unit through the CAN bus, and then the motor driving unit drives a motor in the motor unit to operate, and the motor unit is connected with the travelling mechanism to drive the harvester to move.
In the utility model, the control output by the control signal input unit CAN be processed by the MCU control unit through the CAN bus to realize the rapid control of the motor driving unit and the motor unit, and on the other hand, the motor driving unit and the motor unit CAN rapidly respond to the modulation instruction sent by the MCU control unit.
In addition, in the walking control system of the combine harvester according to the utility model, optionally, the control signal input unit is a hall remote sensing handle, the hall remote sensing handle is pushed back and forth to adjust the speed of the harvester, and the hall remote sensing handle is pushed left and right to adjust the rotating speed of the harvester. Therefore, the speed and the rotating speed of the harvester can be conveniently adjusted.
In addition, in the travel control system of the combine harvester according to the present utility model, the motor unit may include two power direct current motors. Therefore, the harvester can be conveniently driven to travel.
In addition, in the travel control system of the combine harvester according to the present utility model, the travel mechanism may be composed of a crawler belt and four driving wheels. Thus, the travel of the harvester can be facilitated.
In the travel control system of the combine according to the present utility model, the two-dimensional voltage (X, Y) and the two-dimensional vehicle speed rotation angle (V, θ) may be converted as follows: v=5 (2.5-Y)/2.5; θ=90° (2.5-X)/2.5; wherein, X axis represents the corner, Y axis represents the speed of a vehicle, V is linear velocity, θ is the angle. Thus, control of the vehicle speed and steering can be achieved.
In addition, in the travel control system of the combine harvester according to the utility model, optionally, when the driving wheel only makes a pure rolling motion relative to the ground: v= (ω) l +ω r )*r/2；L＝ω l +ω r ；R＝2*ω r - ω; wherein ω represents the angular velocity of the harvester, V l 、V r Respectively represent the linear velocity omega of the left wheel and the right wheel l ,ω r Respectively representing the angular speeds of left and right wheels, L is the wheel spacing, R is the radius of the driving wheel, R is the turning radius, and θ is the turning angle of the vehicle body. Therefore, the pure rolling of the driving wheel can be conveniently realized.
In addition, in the travel control system of the combine harvester according to the utility model, ω can be determined, optionally given R and V l 、ω r The following are provided: omega r ＝((2R+L)*V)/(2Rr)；ω l = ((2R-L) ×v)/(2 Rr); and ω= ((ω) r -ω l ) r)/L. Therefore, the angular speed of the harvester can be conveniently obtained.
In addition, in the walking control system of the combine harvester according to the present utility model, optionally, the MCU control unit includes a PID controller. Therefore, the high-efficiency control and the closed-loop control of the combine harvester can be conveniently realized.
According to the utility model, the walking control system of the combine harvester, which is more convenient to operate and can improve the response speed of the harvester, is green and environment-friendly, can be provided.
Drawings
Embodiments of the utility model will now be explained in further detail by way of example only with reference to the accompanying drawings, in which:
fig. 1 is a functional block diagram showing a travel control system of a combine harvester according to an embodiment of the present utility model.
Fig. 2 is a schematic view showing travel and turning control of a harvester according to an embodiment of the utility model.
Fig. 3 is a schematic view showing turning control of a harvester according to an embodiment of the present utility model.
Symbol description:
10 … control signal input unit, 20 … MCU control unit, 30 … communication unit, 40 … motor drive unit, 50 … motor unit.
Detailed Description
Hereinafter, preferred embodiments of the present utility model will be described in detail with reference to the accompanying drawings. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.
Fig. 1 is a functional block diagram showing a travel control system of a combine harvester according to an embodiment of the present utility model. Fig. 2 is a schematic view showing an external appearance according to an embodiment of the present utility model.
The walking control system of the combine harvester according to the embodiment comprises a control signal input unit 10, an MCU control unit 20, a communication unit 30, a motor driving unit 40 and a motor unit 50 which are connected in sequence; the communication unit 30 is composed of a CAN bus, the control signal input unit 10 is used for inputting a control command, the control command is identified and analyzed by the MCU control unit 20 and then sent to the motor driving unit 40 through the CAN bus, and then the motor driving unit 40 drives a motor in the motor unit 50 to operate, and the motor unit 50 is connected with the travelling mechanism to drive the harvester to move.
In the present utility model, the control output from the control signal input unit 10 CAN be processed by the MCU control unit 20 through the CAN bus to achieve rapid control of the motor drive unit 40 and the motor unit 50, and on the other hand, the motor drive unit 40 and the motor unit 50 CAN rapidly respond to the modulation command transmitted through the MCU control unit 20.
In some examples, the control signal input unit 10 is a hall remote sensing handle, which is pushed back and forth to adjust the speed of the harvester, and pushed left and right to adjust the speed of the harvester. Therefore, the speed and the rotating speed of the harvester can be conveniently adjusted.
In some examples, the motor unit 50 includes two power direct current motors. Therefore, the harvester can be conveniently driven to travel.
In some examples, the running gear is comprised of a track and four drive wheels. Thus, the travel of the harvester can be facilitated.
In some examples, the motor driving unit 40 may drive the motor to rotate forward, reverse, brake, etc.
In some examples, the control signal input unit 10 may include a manual input signal by which the operation states of the respective units of the apparatus are controlled and a remote control model.
The MCU unit can receive and parse the operation command of the control signal input unit 10, and convert the operation command into a command which can be recognized by the motor driving unit 40, and instruct the motor unit 50 to operate according to a required state.
Fig. 2 is a schematic view showing travel and turning control of a harvester according to an embodiment of the utility model. Fig. 3 is a schematic view showing turning control of a harvester according to an embodiment of the present utility model.
In some examples, assuming that the input signal is a two-dimensional voltage signal output by the hall remote sensing handle in linear proportion to the position, the user pushes forward and backward to continuously adjust the speed of the harvester, pushes left and right to continuously control the rotation angle of the harvester, and the two-dimensional signal is converted into speed and steering control instructions by operating the handle signal processing operator.
As shown in fig. 2: the X axis represents the rotation angle and is positive to the left; the Y-axis represents vehicle speed and forward travel is positive. The correspondence relation between the voltages in the X-axis and Y-axis directions, the rotation angle, and the vehicle speed is defined as shown in the figure. The two-dimensional voltage signal falls into a square area, an input instruction is set to correspond to an A (X, Y) point, and the rotating speed and the rotating angle control instruction of the left motor and the right motor can be obtained through a handle processing algorithm:
the operators are as follows:
two-dimensional voltage coordinates (X, Y), and two-dimensional vehicle speed angular coordinates (V, θ).
The conversion results are as follows:
V＝5*(2.5-Y)/2.5；
θ=90° (2.5-X)/2.5— angle;
wherein, X axis represents the corner, Y axis represents the speed of a vehicle, V is linear velocity, θ is the angle.
From the above equation, the current target line speed is determined by the Y-direction signal, and the target angle is determined by the X-direction signal.
Now analyze how the harvester turns, as shown in fig. 3:
the above is the scenario when the harvester turns left with the O point as the center, V represents the linear speed of the harvester, ω represents the angular speed of the harvester, V l 、V r Respectively represent the linear velocity omega of the left wheel and the right wheel l ,ω r Respectively representing the angular speeds of left and right wheels, L is the wheel spacing, R is the radius of the driving wheel, R is the turning radius, and θ is the turning angle of the vehicle body.
Assuming that the drive wheel is only rolling purely with respect to the ground, the kinematic analysis shows that:
V＝(ω l +ω r )*r/2；
L＝ω l +ω r ；
R＝2*ω r -ω l ；
given R and V, ω can be determined l ,ω r The following are provided:
ω r ＝((2R+L)*V)/(2Rr)；
ω l ＝((2R-L)*V)/(2Rr)；
and, in addition, the method comprises the steps of,
ω＝((ω r -ω l )r)/L。
the three motion states of the harvester are as follows:
1. when θ=0 and v+.0, i.e. the harvester is required to perform linear motion with a speed V, the linear speed v=v l ＝V r Turning radius r= infinity. The two wheel speeds were then as follows:
ω r ＝ω l ＝V/r
2. when theta is not equal to 0 and V is not equal to 0, the harvester is required to perform turning operation, and the turning radius R is between 0 and infinity. At this time, the left and right motors should realize rotation speed following, and the two wheel speeds are as follows:
ω r ＝((2R+L)*V)/(2Rr)
ω l ＝((2R-L)*V)/(2Rr)
3. when θ+.0, v=0, i.e. the in-situ turning with a radius of 0 is required, the motion controller needs to ensure the linear velocity vl= -V of the left and right wheels r ＝V m The two wheel speeds were as follows:
ω r ＝ω l ＝V m /r
V m may be determined by the mechanical properties of the system.
In the present utility model, the control output from the control signal input unit 10 CAN be processed by the MCU control unit 20 through the CAN bus to achieve rapid control of the motor drive unit 40 and the motor unit 50, and on the other hand, the motor drive unit 40 and the motor unit 50 CAN rapidly respond to the modulation command transmitted through the MCU control unit 20.
While the utility model has been described in detail in connection with the drawings and embodiments, it should be understood that the foregoing description is not intended to limit the utility model in any way. Modifications and variations of the utility model may be made as desired by those skilled in the art without departing from the true spirit and scope of the utility model, and such modifications and variations fall within the scope of the utility model.
Claims (5)
1. The walking control system of the combine harvester is characterized by comprising a control signal input unit, an MCU control unit, a communication unit, a motor driving unit and a motor unit which are connected in sequence; the communication unit consists of a CAN bus, the control signal input unit is used for inputting a control instruction, the control instruction is identified and analyzed by the MCU control unit and then sent to the motor driving unit through the CAN bus, and then the motor driving unit drives a motor in the motor unit to operate, and the motor unit is connected with the travelling mechanism to drive the harvester to move.
2. The walking control system of combine harvester according to claim 1, wherein,
the control signal input unit is a Hall remote sensing handle, the Hall remote sensing handle is pushed back and forth to adjust the speed of the harvester, and the Hall remote sensing handle is pushed left and right to adjust the rotating speed of the harvester.
3. The walking control system of combine harvester according to claim 1, wherein,
the motor unit comprises two power direct current motors.
4. The walking control system of combine harvester according to claim 1, wherein,
the travelling mechanism consists of a crawler belt and four driving wheels.
5. The walking control system of combine harvester according to claim 1, wherein,
the MCU control unit comprises a PID controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222267650.5U CN219165161U (en) | 2022-08-26 | 2022-08-26 | Walking control system of combine harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222267650.5U CN219165161U (en) | 2022-08-26 | 2022-08-26 | Walking control system of combine harvester |
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| Publication Number | Publication Date |
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| CN219165161U true CN219165161U (en) | 2023-06-13 |
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| CN202222267650.5U Active CN219165161U (en) | 2022-08-26 | 2022-08-26 | Walking control system of combine harvester |
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- 2022-08-26 CN CN202222267650.5U patent/CN219165161U/en active Active
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