阅读说明：本技术 一种自走式甘蔗转运车转运自动控制方法及系统 (Automatic control method and system for transfer of self-propelled sugarcane transfer vehicle ) 是由 李尚平 闫昱晓 文春明 陈远玲 廖义奎 李凯华 彭卓 李威 李科畅 徐冰 张伟 于 2020-07-27 设计创作，主要内容包括：本发明公开了自走式甘蔗转运车转运自动控制方法,包括以下步骤：1)获取车身姿态信息；2)根据获取的车身姿态信息,判断车身是否倾斜；3)如车身倾斜则需调整车身姿态,计算出车身姿态调整方向及调整幅度；控制动力执行机构对支撑腿进行对应的调整；4)车身姿态调整至平衡后,检测各个支撑腿受力是否在阈值范围内；针对受力不在阈值范围内的支撑腿进行受力调整；5)车身稳定后提升车厢进行货物转运。本发明通可以自动调整车身状态并完成货物转运,减小货物在转运过程中车身重心的偏移程度,很大程度提高甘蔗转运车在丘陵地区等复杂工作环境下的效率和安全性,同时减少人工的工作劳动强度。(The invention discloses an automatic control method for transfer of a self-propelled sugarcane transfer trolley, which comprises the following steps: 1) acquiring vehicle body posture information; 2) judging whether the vehicle body inclines or not according to the acquired vehicle body posture information; 3) if the vehicle body inclines, the vehicle body posture needs to be adjusted, and the vehicle body posture adjustment direction and the adjustment amplitude are calculated; controlling a power execution mechanism to correspondingly adjust the supporting leg; 4) after the posture of the vehicle body is adjusted to be balanced, detecting whether the stress of each supporting leg is in a threshold range; carrying out stress adjustment on the supporting legs with the stress out of the threshold range; 5) after the vehicle body is stabilized, the carriage is lifted to transfer the goods. The invention can automatically adjust the state of the vehicle body and finish the cargo transfer, reduce the deviation degree of the gravity center of the vehicle body in the transfer process of the cargo, greatly improve the efficiency and the safety of the sugarcane transfer vehicle in complex working environments such as hilly areas and the like, and simultaneously reduce the labor intensity of manual work.)

1. A self-propelled sugarcane transfer vehicle transfer automatic control method is characterized by comprising the following steps:

1) acquiring vehicle body posture information;

2) judging whether the vehicle body inclines or not according to the acquired vehicle body posture information;

3) if the vehicle body inclines, the vehicle body posture needs to be adjusted, and the vehicle body posture adjustment direction and the adjustment amplitude are calculated; controlling a power execution mechanism to correspondingly adjust the supporting leg;

4) after the posture of the vehicle body is adjusted to be balanced, detecting whether the stress of each supporting leg is in a threshold range; carrying out stress adjustment on the supporting legs with the stress out of the threshold range;

5) after the vehicle body is stabilized, the carriage is lifted to transfer the goods.

2. The automatic control method for the transfer of the self-propelled sugarcane transfer vehicle according to claim 1, characterized in that:

the method comprises the steps of obtaining vehicle body posture information, obtaining relative angle information of a vehicle body and a geographic horizontal plane, adopting a dynamic Kalman filtering method in a data resolving process, estimating a current time value by using an optimal result at the previous time, and calculating a current optimal value by using a true value and an estimated value at the current time to obtain accurate vehicle body posture information at the current time.

3. The automatic control method for the transfer of the self-propelled sugarcane transfer vehicle according to claim 1, characterized in that: and 3) in the process of correspondingly adjusting the support pair by the power executing mechanism, monitoring whether the stress of the support leg exceeds a maximum threshold value in real time, and if so, stopping adjusting the support leg and sending alarm information.

4. The automatic control method for the transfer of the self-propelled sugarcane transfer vehicle according to claim 1, characterized in that: in the vehicle body posture adjustment process in the step 3), the smoothness of the control curve is improved by adopting a weighted recursive average filtering method, and the high efficiency and stability of the vehicle body adjustment process are ensured.

5. The automatic control method for the transfer of the self-propelled sugarcane transfer vehicle according to claim 1, characterized in that: and 3) in the process of adjusting the posture of the vehicle body, adopting a leveling method of adjusting the vehicle body surface by surface and enabling the two legs to move together.

6. The utility model provides a self-propelled sugarcane transfer car (buggy) transports automatic control system which characterized in that includes:

the attitude angle sensor is arranged at the central position of a chassis of the vehicle body and is used for detecting the relative angle information of the vehicle body and a geographical system horizontal plane;

the execution unit is used for executing adjustment of the posture information of the vehicle body and cargo transfer and comprises at least four supporting legs arranged on the periphery of the vehicle body;

the stress detection device is arranged between the supporting leg and the vehicle body and is used for detecting stress information of the supporting leg;

and the control unit is used for controlling the execution unit to work according to the received information of the attitude angle sensor and the stress detection unit.

7. The automatic control system for the transfer of self-propelled sugarcane transfer vehicle of claim 6, wherein the execution unit further comprises a MOS trigger switch for receiving a control unit level signal; two carriage lifting hydraulic devices mounted on a vehicle body chassis and used for lifting and retracting the carriages; the two turnover dumping hydraulic devices are arranged on two sides of the carriage and are used for turnover dumping and retracting the carriage; two car door opening and closing hydraulic devices arranged on two sides of the carriage are used for opening and closing the carriage doors to finish goods dumping.

8. The automatic control system for transporting the self-propelled sugarcane transport vehicle as claimed in claim 6, wherein the vehicle body stress detection device comprises a full bridge detection circuit consisting of 4 350-ohm high-sensitivity strain gauges, can monitor the micro deformation or micro torque of a measured point, is connected with an ADC data acquisition channel of a central processing unit after passing through an amplification circuit, and is converted into stress information after being resolved.

9. The automatic control system for the transfer of the self-propelled sugarcane transfer vehicle as claimed in claim 7, wherein the control unit outputs PWM signals with different frequencies after PID adjustment according to the inclination angle of the vehicle body, pulse width modulation is performed through an MOS trigger switch driving module, and the opening degree of a proportional valve is changed to control the extension speed of the hydraulic auxiliary supporting leg, so that the leveling precision is improved, and the leveling error is reduced.

10. The automatic control system for transporting the self-propelled sugarcane transfer vehicle as claimed in claim 7, further comprising a real-time monitoring system for monitoring the state of the vehicle body installed in the cab of the driver, wherein the real-time monitoring system can feed back the inclination angle, the vibration amplitude, the temperature of the working environment and the stress conditions of all parts of the vehicle body to the touch-controlled liquid crystal display device in real time, the real-time monitoring and adjustment control can be realized through the automatic control system, and the required action can be controlled through the virtual keys of the touch screen.

Technical Field

The invention relates to the field of automation and intellectualization of agricultural machinery, in particular to an automatic control method and system for transfer of a self-propelled sugarcane transfer vehicle.

Background

At present, crops such as sugarcane, corn, wheat and the like need to be transported in a centralized manner in the field in the harvesting stage, and when a transport vehicle is used for field operation in hilly areas, because the ground is uneven or the gradient is large, when the vehicle body is not stable enough due to narrow wheel track, particularly when goods are transported and a carriage needs to be lifted and transported, the risks of unstable rollover and damage of lifting support rods are easy to occur, so that serious property loss is caused, and even casualties can be caused. The system has the advantages that the system can monitor the state information of the vehicle body in real time, automatically adjust the balance of the vehicle body and complete the subsequent transferring action, and is more and more important. The vehicle body state monitoring and automatic control system replaces the situation that an operator judges the working state of the transfer vehicle by experience, can effectively improve the adaptability and stability of the self-propelled sugarcane transfer vehicle in a complex working environment, and meets the requirements in practical application.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention aims to provide an automatic control method and system for the transfer of a self-propelled sugarcane transfer vehicle, which can automatically adjust the state of a vehicle body, greatly improve the efficiency and the safety of the transfer vehicle in a complex working environment and reduce the labor intensity of manual work.

In order to solve the above problems, the present invention provides the following technical solutions:

a self-propelled sugarcane transfer vehicle transfer automatic control method comprises the following steps:

1) acquiring vehicle body posture information;

2) judging whether the vehicle body inclines or not according to the acquired vehicle body posture information;

3) if the vehicle body inclines, the vehicle body posture needs to be adjusted, and the vehicle body posture adjustment direction and the adjustment amplitude are calculated; controlling a power execution mechanism to correspondingly adjust the supporting leg;

4) after the posture of the vehicle body is adjusted to be balanced, detecting whether the stress of each supporting leg is in a threshold range; carrying out stress adjustment on the supporting legs with the stress out of the threshold range;

5) and (4) transferring the goods, namely transferring the goods of the car body to the next procedure after the posture of the car body is adjusted.

Further, the acquired body posture information includes relative angle information of the body and a geographic horizontal plane, a dynamic kalman filtering method is adopted in a data calculation process, a current time value is estimated by using an optimal result at the previous time, and a current optimal value is calculated by using a true value and an estimated value at the current time, so that accurate body posture information at the current time is acquired. By the method, the influence of system noise on the acquired vehicle body angle information can be reduced, so that accurate vehicle body attitude information at the current moment can be acquired.

Further, in the process that the power executing mechanism correspondingly adjusts the support pairs in the step 3), whether the stress of the support legs reaches a threshold value or not is monitored in real time, and the support legs are stopped being adjusted when the stress reaches the threshold value range; and if the maximum stress threshold of the supporting leg is exceeded, stopping adjusting the supporting leg and sending out alarm information. The danger caused by that a certain supporting leg is excessively stressed beyond a threshold range in certain special terrains is prevented.

Furthermore, in the vehicle body posture adjustment process in the step 3), a weighted recursive average filtering method is adopted to adjust the sensitivity of the system to the current interference, different weights are applied to the angle data at different times, the smoothness of a control signal curve is improved, the purpose of stable control is achieved, the high efficiency and stability of the vehicle body adjustment process are ensured, and the influence of abnormal vibration of the vehicle body is reduced.

Furthermore, in the process of adjusting the posture of the vehicle body in the step 3), a method of adjusting the vehicle body surface by surface, adjusting the two legs simultaneously, leveling the vehicle body horizontally from left to right and then leveling the vehicle body longitudinally from front to back is adopted, so that the phenomenon that a large load is caused on a chassis by a leveling method of leveling the vehicle body with one leg higher than the vehicle body when the load capacity of a carriage is too large can be effectively avoided.

The invention also provides an automatic control system for the transfer of the self-propelled sugarcane transfer trolley, which comprises:

the attitude angle sensor is arranged on a vehicle body inclination angle reference surface at the center position of diagonal cross lines of four hydraulic auxiliary supporting legs of the vehicle chassis and is used for acquiring relative angle information of the vehicle body and a geographical system horizontal plane;

the execution unit is used for executing adjustment of the posture information of the vehicle body and cargo transfer and comprises at least four supporting legs arranged on the periphery of the vehicle body;

the stress detection device is arranged between the supporting leg and the vehicle body and is used for detecting stress information of the supporting leg;

and the control unit is used for controlling the execution unit to work according to the received information of the attitude angle sensor and the stress detection unit.

Further, the execution unit further comprises an MOS trigger switch for receiving a level signal of the control unit; two carriage lifting hydraulic devices mounted on a vehicle body chassis and used for lifting and retracting the carriages; the two turnover dumping hydraulic devices are arranged on two sides of the carriage and are used for turnover dumping and retracting the carriage; two car door opening and closing hydraulic devices arranged on two sides of the carriage are used for opening and closing the carriage doors to finish goods dumping. The hydraulic devices for moving the carriage to transfer goods are all provided with the extension limit switches and the contraction limit switches, and the contraction limit switches and the extension limit switches are connected to the vehicle body state information acquisition module of the automatic control system and used for acquiring and controlling the extension limit and the contraction limit of the hydraulic devices.

Furthermore, the vehicle body stress detection device is a full-bridge high-sensitivity stress detection device, a full-bridge detection circuit is formed by 4 350-ohm high-sensitivity strain gauges, and the full-bridge detection circuit is installed at a stressed main beam of a carriage of a vehicle body chassis and cross arms of four hydraulic auxiliary supporting legs and used for acquiring the loading weight of cargos in the carriage and the stress condition of each hydraulic auxiliary supporting leg. The micro-deformation or micro-torque of the measured point can be monitored, the measured point is connected with an ADC data acquisition channel of the central processing unit after passing through the amplifying circuit, and the measured point is converted into stress information after being resolved.

Furthermore, the control unit acquires and calculates data information of the nine-axis attitude angle sensor and the four full-bridge high-sensitivity stress detection devices in real time, outputs PWM signals with different frequencies after PID adjustment according to the size of the inclination angle of the vehicle body, carries out pulse width modulation by the MOS trigger switch driving module, changes the opening degree of the proportional valve to control the extending speed of the hydraulic auxiliary supporting leg, improves the leveling precision and reduces the leveling error.

The system further comprises a real-time monitoring system for the state of the vehicle body, which is arranged in a driver cab, can feed back the inclination angle, the vibration amplitude, the working environment temperature and the stress condition of each part of the vehicle body to a touch liquid crystal display device in real time, can realize real-time monitoring and adjustment control through an automatic control system, and can control required actions through virtual keys of a touch screen.

The invention has the following beneficial effects:

1. the invention discloses an automatic control system for transferring a self-propelled sugarcane transfer vehicle, which takes a nine-axis attitude angle sensor as a leveling reference, acquires stress information of a vehicle body by a full-bridge high-sensitivity stress detection device, detects the stress information of the vehicle body in real time and transmits the state information of the vehicle body to the automatic control system, the automatic control system regulates and controls a hydraulic auxiliary supporting leg arranged at an execution end of a vehicle body chassis to perform extension and retraction actions by regulating and controlling a balance hydraulic system, regulates and controls a carriage lifting hydraulic cylinder arranged at an execution unit of the vehicle body chassis to perform extension and retraction actions, regulates and controls a carriage overturning and dumping hydraulic cylinder arranged at execution units at two sides of the carriage to perform extension and retraction actions, regulates and controls vehicle door switch hydraulic cylinders arranged at execution units at two sides of the carriage to.

2. The invention relates to an automatic control method for transferring a self-propelled sugarcane transfer vehicle, which aims at the condition of virtual legs possibly occurring by adopting four auxiliary supporting legs, regulates and controls hydraulic auxiliary supporting legs of a vehicle body to extend and not contract only without changing a hydraulic oil circuit so as to improve the compatibility and stability of each hydraulic device, simultaneously adopts a plane-by-plane leveling method, two legs move together, firstly, the left and right transverse leveling method and then the front and back longitudinal leveling method are adopted, and finally, a balance regulation and control method for the virtual legs is detected and eliminated, so that the load of the leveling action on a chassis of the vehicle body when the load capacity is overlarge is reduced, the stability of the vehicle body is improved, the. When the vehicle body attitude is acquired, the attitude angle sensor can generate errors when acquiring data due to the vibration of the transfer vehicle in the working state, and the errors generated due to system noise can be effectively reduced through the Kalman filtering algorithm.

3. The automatic control system for the transfer of the self-propelled sugarcane transfer trolley improves the adaptability and the stability of the self-propelled sugarcane transfer trolley in complex operation environments in hilly areas, greatly improves the operation efficiency and the accuracy of the self-propelled sugarcane transfer trolley, reduces the labor intensity of manual work, makes up the defects of the self-propelled sugarcane transfer trolley in the current market in the aspect of automation, and meets the requirements of the self-propelled sugarcane transfer trolley in practical application.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a flow chart of automatic control of transfer of a self-propelled sugarcane transfer vehicle;

FIG. 2 is a block diagram of an automatic control system;

FIG. 3 is a block diagram of an execution unit module;

FIG. 4 is a block diagram of a self-propelled cane transfer vehicle system;

FIG. 5 is a schematic view of a horizontal ground and horizontal vehicle body;

FIG. 6 is a schematic view showing a state where the ground is inclined and the vehicle body is inclined to the left;

FIG. 7 is a schematic diagram showing a state after the ground is inclined and the left side supporting leg of the vehicle body is leveled;

FIG. 8 is a schematic view showing a state where the floor surface is inclined and the vehicle body is inclined to the left front;

FIG. 9 is a schematic view showing a state where the ground is inclined and the vehicle body is inclined in the forward direction;

FIG. 10 is a schematic view showing a state where the ground is inclined and the front side legs of the vehicle body are leveled;

FIG. 11 is a view of the open position of the transfer vehicle door for dumping cargo;

FIG. 12 is a side elevation view of the truck with the doors open to permit the truck to tilt;

FIG. 13 is a transfer state diagram showing the completion of all the transfer operations and the completion of the recovery of the cargo.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.