Walking deviation rectifying method for crawler-type tobacco leaf loading machine of bulk curing barn

Abstract

The invention relates to a walking deviation correction method for a crawler-type tobacco leaf loading machine of a bulk curing barn, which belongs to the technical field of tobacco drying equipment and comprises an inclined rotary lifting type tobacco loading mechanism, a double-motor crawler walking chassis and a walking deviation automatic correction system. The tobacco loading mechanism drives a lifting mechanism to obliquely rotate through an electric push rod and is matched with a secondary lifting device to realize full-layer tobacco loading; the crawler chassis is independently driven by double motors, is small in turning radius and adapts to a narrow space; the walking deviation automatic correction system achieves real-time deviation correction through sensor fusion and fuzzy control. The problems that traditional manual tobacco loading is low in efficiency and high in safety risk are solved, the curing barn does not need to be transformed, and the tobacco loading device is suitable for mechanical tobacco loading operation of the three-layer bulk curing barn.

Description

Technical Field

[0001] The invention relates to the technical field of tobacco drying equipment, in particular to an inclined lifting spring tobacco rod and tobacco leaf loading machine, and in particular to a walking and entanglement method of the inclined lifting spring tobacco rod and tobacco leaf loading machine. Background Art

[0002] Three-story, densely packed flue-curing barns are dedicated to tobacco leaf drying, a crucial step in the tobacco manufacturing process. Fresh tobacco leaves are clamped side by side on spring-loaded rods and placed on steel rails within the flue-curing barn. Loading tobacco leaves into these barns has long relied primarily on manual labor, resulting in low efficiency and significant labor and time costs. Furthermore, due to the dim visibility and narrow space within the flue-curing barn, workers must climb the rails to load tobacco leaves at higher levels. Without safety measures, workers risk slipping during the loading process.

[0003] Therefore, in order to improve the efficiency of the tobacco filling process, reduce the cost of tobacco filling and reduce safety accidents, it is necessary to propose mechanized operation of the flue-curing room and change the high-level operation mode of the flue-curing room from manual operation to mechanical operation.

[0004] Due to the structural characteristics of the dense curing room and the spring tobacco rods, the spring tobacco rods cannot pass through horizontally. The existing invention proposes an inclined bed-loading operation method and develops a center-rotating clamping type inclined bed-loading device, that is, multiple tobacco rods rotate around their own center at the same time, so that the projected length of the spring tobacco rods after tilting is sufficient to pass through the dense curing room. However, the space at the top of the curing room is compact, and the fresh tobacco leaves require a high clamping force for the clamping structure, so the clamping mechanism is not suitable for the third layer of tobacco loading. The second is an automatic fresh leaf bed-loading device. This invention uses a three-phase motor, sprocket chain, reducer and other structures to raise the first layer of tobacco to the upper layer, but this method requires preliminary reconstruction of the curing room. The third is forklift loading, which also requires preliminary reconstruction.

[0005] Secondly, due to the narrow space in the dense baking room and the uneven flatness of the ground, the traditional wheeled walking chassis has a large turning radius, and deviations when walking in the baking room cannot be corrected in time, causing the spring smoke rod to interfere with the wall and rails when rising. Therefore, it is not suitable for use in dense baking rooms.

[0006] In addition, when the tobacco loading machine deviates from its movement in the flue-curing room, the operator needs to manually adjust the machine. The efficiency of the tobacco loading work will be limited by factors such as the proficiency of different operators and the flue-curing room environment. Summary of the Invention

[0007] In view of this, in order to improve the efficiency of tobacco leaf loading, reduce tobacco loading costs and reduce safety accidents, the present invention proposes a tilting, rotating and lifting tobacco leaf loading machine, comprising a tilting, rotating and lifting tobacco loading mechanism, a dual-motor crawler walking chassis and an automatic walking deviation correction method.

[0008] The present invention is achieved through the following technical solutions:

[0009] A walking deviation correction method for a crawler-type tobacco leaf loading machine in an intensive flue-curing barn is characterized by comprising the following steps:

[0010] S1. Data acquisition: The real-time rotation speed of the left and right tracks is obtained through the rotary encoder and converted into linear velocity. The gyroscope angular velocity and accelerometer data are obtained through the IMU inertial sensor, and the current heading angle is obtained by integration.

[0011] S2, state estimation: Take linear velocity and heading angle as input, perform optimal estimation through state equation and observation equation, eliminate gyroscope accumulated error, and obtain fused angle and velocity data;

[0012] S3. Fuzzy control: Based on the angle deviation and the rate of change of the deviation, the speed adjustment of the left and right driving wheels is calculated through fuzzy reasoning and the center of gravity method.

[0013] Furthermore, the state estimation includes processing sensor noise and system uncertainty to provide a state estimate, and the state equation is:

[0014]

[0015] Among them, F is the state transfer equation, x k is the state vector at time k, B is the control input matrix, w k is the process noise vector,

[0016]

[0017] Among them, z k is the observation vector at time k, θ IMU,k Indicates the angle measured by the IMU sensor, v enc,k Represents the linear velocity of the driving wheel measured by the rotary encoder. H is the observation matrix, v k is the observation noise vector;

[0018]

[0019] S1. State Estimation

[0020]

[0021] in, is the covariance matrix of the predicted state at time k, is the predicted state at time k, is the predicted state at time k-1;

[0022] S2. Status Update

[0023]

[0024]

[0025] Among them, K k represents the Kalman gain, is the optimal state estimate at time k, P k is the covariance matrix of the optimal state estimate at time k, and I is the identity matrix.

[0026] Furthermore, the membership function of the input angle deviation of the fuzzy control is:

[0027]

[0028] in, represents the angle deviation membership function, e θ Indicates the angular deviation, c i is the central value of the i-th fuzzy subset, σ i is the width parameter;

[0029] The fuzzy subsets include negative large, negative small, zero, positive small, and positive large, and the corresponding center values ​​are -1.5°, -1°, 0°, 1°, and 1.5°, respectively, and the width parameters are 0.3°, 0.2°, 0.2°, 0.2°, and 0.3°, respectively; the fuzzy subsets of the deviation change rate include negative large (-10° / s to -5° / s), negative small (-5° / s to 0° / s), zero (-2° / s to 2° / s), positive small (0° / s to 5° / s), and positive large (5° / s to 10° / s).

[0030] Furthermore, the intensive flue-curing house crawler-type tobacco leaf loading machine includes:

[0031] The tilting, rotating, and lifting cigarette loading mechanism is used to lift the spring cigarette rod and achieve a tilting and rotating action. It includes at least three lifting mechanisms, a tilting electric push rod, a rotating unit, and tilting left and right connecting rods arranged side by side and equidistantly. The lifting mechanisms are connected by the tilting left and right connecting rods. One end of the tilting electric push rod is fixedly connected to the rotating unit mounting plate by a bolt. The rotating unit mounting plate is driven forward to cause the lifting mechanism to tilt and rotate around the rotating unit.

[0032] The dual-motor crawler chassis adopts distributed and independently driven dual travel drive motors. The travel drive motors are connected to the crawler drive wheels through a worm gear reducer. At least three load-bearing wheels and a front tensioning wheel are set on both sides of the chassis.

[0033] The walking deviation automatic correction system includes a rotary encoder, an IMU inertial sensor, a main controller and a motor controller, and corrects the walking deviation in real time through a Kalman filter algorithm and a fuzzy control algorithm.

[0034] Furthermore, the tilting, rotating, and lifting smoke loading mechanism also includes a secondary lifting device and a lifting drive motor. The secondary lifting device is used to lift the smoke loading mechanism to different levels of the baking room, and the lifting drive motor drives the secondary lifting device to move.

[0035] Furthermore, a cigarette-carrying support rod is provided at the bottom of the lifting mechanism, and the surface of the cigarette-carrying support rod is made of a flexible material and is used to support the bottom of the spring cigarette rod.

[0036] Furthermore, the track of the dual-motor crawler walking chassis is tensioned by a tensioning slider and a tensioning bolt, the diameter of the load-bearing wheel is 8-12 cm, and the diameter of the tensioning wheel is 5-8 cm.

[0037] Furthermore, a rotary encoder is installed on the output shaft of the track drive wheel with a resolution of ≥1000P / R, which is used to collect the speed pulses of the left and right tracks; the IMU inertial sensor is installed at the center of the chassis to measure the real-time heading angle and angular velocity of the chassis.

[0038] The beneficial effects of the present invention are:

[0039] This application addresses the problems of low manual tobacco loading efficiency, high safety risks, and poor equipment adaptability in traditional intensive tobacco curing barns through the innovative design of a tilting, rotating, and lifting tobacco loading mechanism, a dual-motor crawler walking chassis, and an automatic walking deviation correction method. The application achieves the following significant technical effects:

[0040] 1. The efficiency of cigarette loading is significantly improved and the labor cost is greatly reduced.

[0041] The tilting, rotating, and lifting cigarette loading mechanism can lift multiple spring cigarette rods (such as three rods) at a time, and complete the cigarette loading layer by layer through a two-stage lifting device, avoiding the traditional inefficient operation mode of manually carrying each rod one by one and climbing high floors, and increasing the cigarette loading efficiency by 3-5 times.

[0042] There is no need for direct manual contact with the high-rise baking room area, which reduces the number of round trips and physical exertion during the smoke loading process. A single device can replace the workload of 5-8 workers, significantly reducing labor costs.

[0043] By tilting the electric push rod to drive the lifting mechanism to rotate, the spring tobacco rod is tilted at a certain angle (such as 15°-45°) when passing through the narrow space of the baking room, shortening the projection length and avoiding interference with the roof or wall of the baking room. It is especially suitable for high-rise tobacco loading scenarios such as the third floor (traditional clamping mechanisms are not applicable due to the compact top space).

[0044] After reaching the cigarette loading position, the lifting mechanism automatically returns the cigarette rod to the correct position and releases it layer by layer, realizing full-process mechanized operation without the need for manual adjustment of the cigarette rod posture.

[0045] 2. Operational safety is significantly improved, reducing the risk of safety accidents

[0046] Traditional manual tobacco loading requires climbing the rails of the baking room, which poses the risk of slipping and falling. The present invention uses mechanical devices to complete high-rise tobacco loading, and workers do not need to enter the baking room or climb high, thus eliminating the safety hazards of high-altitude operations from the root.

[0047] The lifting mechanism lifts the bottom of the tobacco rod through the bottom tobacco-carrying support rod, eliminating the need to clamp fresh leaves, thus avoiding damage to the tobacco leaves due to excessive clamping force (traditional clamping mechanisms rely on high clamping force, which can easily cause fresh leaves to be squeezed and damaged). At the same time, it reduces the risk of tobacco rod deformation and improves the quality of tobacco leaf baking.

[0048] 3. The equipment has strong adaptability and no need to renovate the baking room

[0049] The crawler chassis with dual-motor distributed independent drive has a small turning radius (close to zero turning) and can flexibly turn in a narrow baking room, avoiding the walking deviation and smoke rod interference problems caused by the large turning radius of the traditional wheeled chassis.

[0050] The chassis is equipped with multiple load-bearing wheels and front tensioning wheels to reduce the overall height and increase the ground contact area, adapting to complex working conditions such as uneven baking room floors and the presence of debris, and significantly improving obstacle crossing capabilities (such as easily passing small steps or bumps).

[0051] Unlike traditional solutions such as automatic fresh leaf loading devices and forklift loading that require modifications to the drying room structure (such as installing guide rails and widening the entrance), the present invention can be directly adapted to existing three-layer dense drying rooms, saving modification time and costs and having stronger compatibility.

[0052] 4. High walking accuracy and automatic deviation correction to improve reliability

[0053] The rotary encoder (resolution ≥1000P / R) monitors the track speed in real time, and the IMU inertial sensor accurately measures the heading angle. The data is fused through the Kalman filter algorithm to eliminate single sensor noise and cumulative errors (such as gyroscope drift), providing high-precision position and attitude estimation.

[0054] The fuzzy control algorithm calculates the speed adjustment of the left and right wheels in real time (response time ≤ 50ms) based on the angle deviation and change rate, automatically corrects the walking trajectory, and avoids collisions between the cigarette rod and the rails or walls due to uneven ground or operational errors. The cigarette loading positioning accuracy is ≤ 10mm.

[0055] Traditional manual adjustment methods rely on operator experience, and their efficiency is greatly affected by the environment (such as dim light and narrow space). The present invention uses a fully automated correction system to adapt to the ground conditions and smoke loading paths of different curing rooms without manual intervention, significantly improving operational consistency and reliability.

[0056] 5. Energy-saving and high efficiency, optimized battery life and operational convenience

[0057] The lithium battery pack has a capacity of ≥20Ah and can support continuous operation of the equipment for 4-6 hours, meeting the needs of loading smoke in a single batch of flue-curing rooms and reducing the frequency of charging; the power system has high energy utilization rate and reduces energy consumption by 15%-20% compared with traditional motor drive solutions.

[0058] The console is integrated with a touch interface, which allows one-touch input of parameters such as the target number of smoke layers and heading angle. It supports manual / automatic mode switching, and has a low operating threshold, so novice operators can quickly get started.

[0059] In summary, the present invention realizes the high efficiency, safety and intelligence of tobacco leaf loading in dense flue-curing rooms through the deep integration of structural innovation (tilted rotating tobacco loading, crawler chassis) and control algorithm innovation (Kalman filtering + fuzzy control), filling the technical gap of existing mechanized tobacco loading equipment in high-level operation adaptability and precise control in complex environments, and has significant economic benefits and commercial promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 This is a schematic diagram of the structure of a tilting, rotating, and lifting tobacco leaf loading machine;

[0061] Figure 2 This is a structural diagram of the tilting, rotating, and lifting type smoke loading mechanism;

[0062] Figure 3 This is a structural diagram of the dual-motor crawler walking chassis;

[0063] Figure 4 Design diagram for hardware circuit;

[0064] Figure 5 This is the sensor layout diagram;

[0065] Figure 6 This is a flow chart of the method for automatically correcting walking deviation.

[0066] Description of reference numerals:

[0067] 1-Lifting type smoke loading mechanism; 2-Lifting drive motor; 3-Secondary lifting device; 4-Control console; 5-Power battery pack; 6-Dual-motor crawler chassis; 7-Lifting mechanism; 8-Tilt left connecting rod; 9-Main rail; 10-Rotation unit; 11-Connecting rod; 12-Tilt electric push rod; 13-Rotation unit mounting plate; 14-Slider; 15-Tilt right connecting rod; 16-Smoke carrying support rod; 17-Crawler chassis bracket; 18-Crawler; 19-Tensioning pulley; 20-Load-bearing wheel; 21-Tensioning slider; 22-Tensioning bolt; 23-Drive wheel; 24-Worm gear reducer; 25-Travel drive motor; 26-IMU attitude sensor; 27-Rotary encoder; 28-Main controller. DETAILED DESCRIPTION

[0068] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0069] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0070] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0071] In the above description of the present invention, it should be noted that the terms "one side," "the other side," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and simplify the description, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and the like are used solely for distinction and should not be construed as indicating or implying relative importance.

[0072] Furthermore, the term "identical" and similar terms do not necessarily require that the components be absolutely identical; slight variations are permitted. The term "perpendicular" simply refers to the positional relationship between components being more perpendicular than "parallel," not that the structure must be perfectly vertical; rather, it can be slightly tilted.

[0073] Aiming at the problems of low efficiency of tobacco loading in flue-curing room, high manpower and time cost, the present invention proposes a tilting rotary lifting type tobacco leaf loading machine. Figure 1 As shown, it consists of a lifting smoke loading mechanism 1, a lifting drive motor 2, a secondary lifting device 3, a control console 4, a power battery pack 5 and a dual-motor crawler chassis 6.

[0074] like Figure 2As shown, the tilting and rotating lifting type cigarette loading mechanism of this embodiment consists of three lifting mechanisms 7 placed side by side and equidistantly on a rotating unit 10, and the rotating unit 10 is fixed to the rotating unit mounting plate. The two ends of the rotating unit mounting plate are slidably connected to the main rail 9 and are fixed to the rotating unit through the rotating shaft. At least one rotating shaft is provided with a connecting rod 11 for connection, and the other end of the connecting rod is provided with a tilting electric push rod 12, thereby forming a curved rod connecting rod mechanism. The extension or retraction of the tilting electric push rod will cause the rotating shaft to rotate, thereby causing the lifting mechanism 7 on the rotating unit to rotate. In order to achieve synchronous rotation of all lifting mechanisms 7, the three lifting mechanisms are connected by the tilting left connecting rod 8 and the tilting right connecting rod 15 to form a rigid body, thereby achieving the same rotational motion. In order to reduce friction and improve guiding accuracy, a guide groove is provided on the main rail, and a slider 14 is fixed at the position corresponding to the guide groove at the bottom of the mounting plate. When moving, the slider slides in the guide groove, and the movement accuracy is improved.

[0075] In this embodiment, a cigarette support rod 16 is provided at the rear end of the main rail for placing the cigarette rod. Figure 2 It can be seen that the lifting mechanism 7 of this embodiment can lift three spring tobacco rods at a time. When the spring tobacco rods are filled with tobacco leaves, the tobacco loading mechanism follows the dual-motor crawler walking chassis 6 into the curing room. After reaching the tobacco loading position, the rotating unit mounting plate 13 is pushed forward by the extension of the tilting electric push rod 12. At the same time, due to the effect of the tilting left and right connecting rods (8, 15), the lifting mechanism 7 can only tilt and rotate around the rotating unit 10, and the spring tobacco rods tilt and rotate together with the lifting mechanism. The secondary lifting mechanism 3 of the present invention carries the tilting and rotating lifting type tobacco loading mechanism ( Figure 2 ) to the level where the tobacco leaves are loaded. At this time, the tilting electric push rod 12 retracts, and the lifting mechanism and spring tobacco rod return to their original position under its action. Subsequently, the secondary lifting mechanism descends layer by layer. During this process, the spring tobacco rod is separated from the lifting mechanism and placed on the rails, completing the loading of tobacco leaves onto the kang.

[0076] The dual-motor crawler walking chassis of this embodiment has dual motors that adopt distributed independent drive and have a fast response speed. At the same time, the crawler chassis has a small turning radius and can respond quickly and adjust accurately, thereby ensuring that the spring tobacco rod is accurately placed on the kang.

[0077] like Figure 3As shown, the dual-motor crawler-type walking chassis of this embodiment includes a crawler chassis frame 17, crawler tracks 18 mounted at each end of the crawler chassis frame, load-bearing wheels 21 and a tensioning slider 22 disposed within the crawler tracks, and a travel drive motor 25 disposed in the middle of the crawler chassis frame. The motor output shaft is connected to a worm gear reducer 24 via a flange, and the output shafts of the reducers on both sides are connected to the crawler drive wheels 23 via a flat key. To ensure that the tobacco loader can smoothly load the second and third layers of tobacco leaves onto the kang, the crawler chassis needs to be lowered, and to ensure smooth operation, the crawler track contact area also needs to be increased. Therefore, there are three load-bearing wheels 20 on each side. Furthermore, to ensure the crawler chassis's obstacle-crossing capability, a tensioning pulley 19 is installed in front of the crawler chassis.

[0078] Depend on Figure 4 As shown, the present invention also proposes a method for automatic correction of walking deviation, which combines a rotary encoder, an IMU inertial sensor, a Kalman filter algorithm, a fuzzy control algorithm, a main controller, a host computer, a motor controller and a drive motor to realize real-time correction of walking deviation.

[0079] The principle of the automatic walking deviation correction method is as follows: First, data acquisition is performed. Rotary encoders collect the pulse counts of the left and right track motors and calculate the real-time rotational speed, which is then converted into a linear velocity v. Simultaneously, the IMU inertial sensor reads the gyroscope angular velocity and accelerometer data, integrating them to obtain the current heading angle. Next, a Kalman filter algorithm is used for data fusion. Using the encoder velocity and IMU angle as input, the algorithm optimally estimates the state vector (such as angle, angular velocity, and speed) based on the system model and noise statistics. This eliminates the accumulated gyroscope error and produces fused, high-precision angle and velocity data. The algorithm then calculates the angular deviation and deviation change rate—the difference between the current heading angle and the target direction, and how this difference changes. Subsequently, the fuzzy control link is entered. The angle deviation and the deviation change rate are first fuzzified and mapped to a fuzzy set, and the membership degree is calculated according to the preset membership function. Then, fuzzy reasoning is performed based on the rule base, and the output fuzzy sets of all rules are aggregated through the activation strength of the rules. Finally, defuzzification methods such as the center of gravity method are used to convert the fuzzy output into a specific control quantity, that is, the left and right wheel speed adjustment amount, so as to adjust the motor speed and realize real-time correction of the walking deviation.

[0080] Depend on Figure 5 As can be seen, the rotary encoder 27 of this embodiment is mounted on the track drive wheel and collects speed pulses from the left and right tracks (resolution ≥ 1000 P / R). The IMU sensor 26 described in the present invention measures the heading angle and angular velocity of the chassis. The motor controller receives PWM / serial port commands to adjust the motor speed and direction. The main controller 28 (STM32) described in the present invention communicates with the host computer, runs the Kalman filter algorithm and fuzzy control algorithm, receives sensor data, and outputs motor speed control commands.

[0081] The Kalman filter algorithm of this embodiment is used to process the angle and angular velocity collected by the sensor, effectively deal with sensor noise and system uncertainty, provide more accurate state estimation, and thus improve the control effect.

[0082] The state equation is:

[0083]

[0084] Among them, F is the state transfer equation, x k is the state vector at time k, B is the control input matrix, w k is the process noise vector.

[0085]

[0086] Among them, z k is the observation vector at time k, θ IMU,k Indicates the angle measured by the IMU sensor, v enc,k Represents the linear velocity of the driving wheel measured by the rotary encoder. H is the observation matrix, v k is the observation noise vector.

[0087] The following is the Kalman filter algorithm state estimation algorithm:

[0088] The first is the state estimation stage.

[0089]

[0090] in, is the covariance matrix of the predicted state at time k, is the predicted state at time k, is the predicted state at time k-1.

[0091] Then comes the update phase.

[0092]

[0093] Among them, K k represents the Kalman gain, is the optimal state estimate at time k, P k is the covariance matrix of the optimal state estimate at time k, and I is the identity matrix.

[0094] The fuzzy control algorithm of this embodiment calculates the motor correction value based on the speed difference and angle deviation. The algorithm performs the correction principle as follows:

[0095] 1) Input and output definitions

[0096] The input is the angular deviation e, where e = θn -θ t , θ t represents the target angle, θ n Indicates the current angle, represents the angular velocity after Kalman filtering.

[0097] The output is the left and right driving wheel speed adjustment Δv l and Δv r , Δv l Indicates the left drive wheel speed adjustment.

[0098] 2) Fuzzification (membership function)

[0099] Map continuous inputs to fuzzy sets, define membership functions, and use Gaussian functions to increase sensitivity

[0100] in, represents the angle deviation membership function, eθ represents the angle deviation, c i is the central value of the i-th fuzzy subset, σ i is the width parameter.

[0101]

[0102] Table 1 Parameter settings

[0103]

[0104] Among them, NB means "negative big", NS means "negative small", ZE means "zero", PB means "positive big", and PS means "positive small".

[0105] Deviation change rate Membership degree:

[0106]

[0107] in, represents the membership function, Indicates the absolute value of the deviation change rate, a j and b j are the parameters used to determine the shape of the membership function.

[0108] Table 2 Deviation change rate parameter settings

[0109]

[0110] 3) Fuzzy inference rules

[0111] Table 3 Fuzzy reasoning

[0112]

[0113]

[0114] Among them, the rule activation strength

[0115] Output aggregation: where α i,j represents the activation strength of the rule, μ C (u) represents the total membership function of the aggregated output fuzzy subsets of all activated rules after fuzzy inference, In the i-th rule, the output variable e belongs to the fuzzy subset Ai and the deviation change rate The output fuzzy subset triggered by the fuzzy subset Bj C Membership function of i,j.

[0116] 4) Defuzzification

[0117]

[0118] Among them, μ C (u) represents the total membership function, u represents the control amount, u * It represents the specific value obtained by defuzzifying the aggregated total membership function.

[0119] 5) Speed ​​adjustment strategy

[0120]

[0121] Among them, ω0 represents the reference speed, K p represents the scale factor, ω left represents the left driving wheel speed, ω right Indicates the right drive wheel speed.

[0122] Further explanation of the key points of the present invention

[0123] The prior art proposes an inclined loading method and has developed a center-rotating clamping-type inclined loading device, in which multiple tobacco rods rotate simultaneously around their own center, so that the projected length of the spring tobacco rods after tilting is sufficient to pass through the densely packed curing barn. However, the space at the top of the curing barn is compact, and fresh tobacco leaves require a high clamping force from the clamping structure. Therefore, the clamping mechanism is not suitable for the third layer of tobacco loading. The second type is an automatic loading device for fresh leaves. This invention uses a three-phase motor, sprocket chain, reducer and other structures to raise the first layer of tobacco to the upper level, but this method requires preliminary reconstruction of the curing barn. The third type is forklift loading, which also requires preliminary reconstruction. Secondly, due to the narrow space in the dense curing barn and the uneven flatness of the ground, the traditional wheeled walking chassis has a large turning radius. When it deviates while traveling in the curing barn, it cannot be corrected in time, causing the spring tobacco rods to interfere with the walls and rails when rising. Therefore, it is not suitable for use in dense curing barns. In addition, when the tobacco loading machine deviates from its movement in the flue-curing room, the operator needs to manually adjust the machine. The efficiency of the tobacco loading work will be limited by the proficiency of different operators, the environment of the flue-curing room and other factors.

[0124] In order to solve the problems of low efficiency of tobacco loading in the flue-curing room and high manpower and time costs, this embodiment proposes a tilting and rotating lifting type tobacco loading mechanism, a dual-motor crawler walking chassis and an automatic correction method for driving deviation. The tilting and rotating lifting type tobacco loading mechanism uses a lifting mechanism to lift the spring tobacco rod and rotate it together around the rotation center. The electric tow barn controls the tilt and return of the lifting mechanism to ensure that the tobacco rod does not come into contact with the flue-curing room, and cooperates with the secondary lifting mechanism to complete the loading of tobacco leaves onto the bed. The dual motors of the dual-motor crawler walking chassis adopt distributed independent drive, which has a fast response speed. At the same time, the crawler chassis has a small turning radius, which can respond quickly and adjust accurately, thereby ensuring that the spring tobacco rod is accurately loaded onto the bed. In particular, the present invention also proposes an automatic correction method for driving deviation, which combines a rotary encoder, an IMU inertial sensor, a fuzzy control algorithm, a main controller, a host computer, a motor controller and a drive motor to realize real-time correction of driving deviation.

[0125] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A walking deviation correction method for a crawler-type tobacco leaf loading machine in an intensive flue-curing barn, characterized in that: The following steps are involved: S1. Data acquisition: The real-time rotation speed of the left and right tracks is obtained through the rotary encoder and converted into linear velocity. The gyroscope angular velocity and accelerometer data are obtained through the IMU inertial sensor, and the current heading angle is obtained by integration. S2, state estimation: Take linear velocity and heading angle as input, perform optimal estimation through state equation and observation equation, eliminate gyroscope accumulated error, and obtain fused angle and velocity data; S3. Fuzzy control: Based on the angle deviation and the rate of change of the deviation, the speed adjustment of the left and right driving wheels is calculated through fuzzy reasoning and the center of gravity method.

2. The walking deviation correction method of a crawler-type tobacco leaf loading machine in an intensive flue-curing barn according to claim 1 is characterized in that: The state estimation includes processing sensor noise and system uncertainty to provide a state estimate. The state equation is: Among them, F is the state transfer equation, x k is the state vector at time k, B is the control input matrix, w k is the process noise vector, Among them, z k is the observation vector at time k, θ IMU,k Indicates the angle measured by the IMU sensor, v enc,k Represents the linear velocity of the driving wheel measured by the rotary encoder. H is the observation matrix, v k is the observation noise vector; S1. State Estimation in, is the covariance matrix of the predicted state at time k, is the predicted state at time k, is the predicted state at time k-1; S2. Status Update Among them, K k represents the Kalman gain, is the optimal state estimate at time k, P k is the covariance matrix of the optimal state estimate at time k, and I is the identity matrix.

3. The walking deviation correction method of a crawler-type tobacco leaf loading machine in an intensive flue-curing barn according to claim 1 is characterized in that: The membership function of the input angle deviation of fuzzy control is: in, represents the angle deviation membership function, eθ represents the angle deviation, c i is the central value of the i-th fuzzy subset, σ i is the width parameter; The fuzzy subsets include negative large, negative small, zero, positive small, and positive large, and the corresponding center values ​​are -1.5°, -1°, 0°, 1°, and 1.5°, respectively, and the width parameters are 0.3°, 0.2°, 0.2°, 0.2°, and 0.3°, respectively; the fuzzy subsets of the deviation change rate include negative large (-10° / s to -5° / s), negative small (-5° / s to 0° / s), zero (-2° / s to 2° / s), positive small (0° / s to 5° / s), and positive large (5° / s to 10° / s).

4. The walking deviation correction method of a crawler-type tobacco leaf loading machine in an intensive flue-curing barn according to claim 1 is characterized in that: The intensive flue-curing house crawler-type tobacco leaf loading machine comprises: The tilting, rotating, and lifting cigarette loading mechanism is used to lift the spring cigarette rod and achieve a tilting and rotating action. It includes at least three lifting mechanisms, a tilting electric push rod, a rotating unit, and tilting left and right connecting rods arranged side by side and equidistantly. The lifting mechanisms are connected by the tilting left and right connecting rods. One end of the tilting electric push rod is fixedly connected to the rotating unit mounting plate by a bolt. The rotating unit mounting plate is driven forward to cause the lifting mechanism to tilt and rotate around the rotating unit. The dual-motor crawler chassis adopts distributed and independently driven dual travel drive motors. The travel drive motors are connected to the crawler drive wheels through a worm gear reducer. At least three load-bearing wheels and a front tensioning wheel are set on both sides of the chassis. The walking deviation automatic correction system includes a rotary encoder, an IMU inertial sensor, a main controller and a motor controller, and corrects the walking deviation in real time through a Kalman filter algorithm and a fuzzy control algorithm.

5. The walking deviation correction method of a crawler-type tobacco leaf loading machine in an intensive flue-curing barn according to claim 1 is characterized in that: The tilting, rotating, and lifting smoke loading mechanism also includes a secondary lifting device and a lifting drive motor. The secondary lifting device is used to lift the smoke loading mechanism to different levels of the baking room, and the lifting drive motor drives the secondary lifting device to move.

6. The walking deviation correction method of a crawler-type tobacco leaf loading machine in an intensive flue-curing barn according to claim 1 is characterized in that: A cigarette carrying support rod is provided at the bottom of the lifting mechanism. The surface of the cigarette carrying support rod is made of flexible material and is used to support the bottom of the spring cigarette rod.

7. The walking deviation correction method of a crawler-type tobacco leaf loading machine in an intensive flue-curing barn according to claim 1 is characterized in that: The track of the dual-motor crawler walking chassis is tensioned by a tensioning slider and a tensioning bolt. The diameter of the load-bearing wheel is 8-12cm, and the diameter of the tensioning wheel is 5-8cm.

8. The walking deviation correction method of a crawler-type tobacco leaf loading machine in an intensive flue-curing barn according to claim 1 is characterized in that: The rotary encoder is installed on the output shaft of the track drive wheel with a resolution of ≥1000P / R, and is used to collect the speed pulses of the left and right tracks; the IMU inertial sensor is installed at the center of the chassis to measure the real-time heading angle and angular velocity of the chassis.

Images