Connecting rod type agricultural machine wheel turning angle measuring mechanism and measuring method

Abstract

The invention provides a high-precision wheel turning angle measuring device and measuring method. The high-precision wheel turning angle measuring device is used for an agricultural machine automatic navigation control system and is simple in structure and easy to mount. The measuring device comprises a connecting rod structure, a collecting module and an angle sensor. the connecting rod mechanism is connected with an agricultural machine steering mechanism, and the linear motion of an agricultural machine steering oil cylinder is transformed into the rotation of the angle sensor, or the swing of an agricultural steering arm is transformed into the rotation of the angle sensor; a 32-bit embedded processor serves as a kernel of the collecting module, and the collecting module is provided with various angle sensor data collecting interfaces. According to the measuring method, original data of the angle sensors are transformed into wheel turning angle values according to a model of the relation between wheel turning angles and output values of the angle sensor. According to the wheel turning angle measuring device and measuring method, mechanism and measurement integrated design is achieved, and the wheel turning angle measuring device and measuring method are novel for the agricultural automatic navigation control system.

Description

technical field [0001] The invention relates to wheel rotation angle measurement technology, in particular to a wheel rotation angle measurement device and measurement method for automatic navigation of agricultural machinery. Background technique [0002] Agricultural machinery automatic navigation technology is one of the important supporting technologies of modern agricultural machinery equipment. Realizing the intelligent navigation of agricultural machinery can effectively reduce the labor intensity of drivers and improve the quality of farmland operations, which has important theoretical research significance and practical application value. [0003] In the automatic navigation control system of agricultural machinery, the wheel angle measurement accuracy is one of the important factors affecting the navigation control accuracy. The existing sensors for measuring the wheel angle of agricultural machinery mainly include electronic scales, magnetoresistive angle sensors...

AI Technical Summary

Problems solved by technology

[0004] Using an electronic ruler to measure the wheel angle requires a high-precision wheel angle meter to calibrate the wheel angle, which undoubtedly increases the cost; the magneto-resistive angle sensor has high requirements for installation accuracy, and the rotation center of the angle sensor needs to be coaxial with the kingpin center ; The method of using parallel four-bar mechanism is simple and practical, but the structure of the front axle of agricultural machinery is complex, and it is difficult to establish a parallel four-bar mechanism, which is not easy to be widely promoted

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