Power chassis positioning and pitch angle paddy field hard bottom morphology testing method and system

Abstract

The method for testing the positioning and pitch angle of a power chassis and the topography of a paddy field hard bottom layer relates to the field of agricultural machinery and equipment. The method is characterized in that the method includes: driving the vehicle body to a certain initial position of the paddy field; setting a test path for the vehicle body, and establishing a reference coordinate system based on the vehicle body structure, and measuring physical parameters, including at least the pitch angle change of the vehicle body #imgabs0# and the displacement change S k ; Based on the pitch angle change #imgabs1# and displacement change S k And the sampling interval ΔT = T k ‑T k‑1 , ΔT>1ms, establish the pitch angle fitting function #imgabs2# Based on the pitch angle fitting function #imgabs3# Calculate the height change at the sampling time #imgabs4# Draw a graph corresponding to the paddy field hard bottom layer morphology information on the test path. This test method can test the paddy field hard bottom layer morphology during the actual working process of the chassis, reducing the test error caused by the difference between the test environment and the actual working environment. It is not necessary to obtain the morphology of the paddy field hard bottom layer under the condition that the chassis is equipped with a sensing component in contact with the paddy field.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery and equipment, and in particular to a method and system for testing the positioning of a power chassis and the pitch angle of a paddy field hard bottom layer morphology. Background Art

[0002] The area of ​​paddy field soil in my country accounts for about 25% of the total cultivated land area. The mechanization of paddy field soil operations plays a pivotal role in my country's agricultural modernization. Paddy field soil generally refers to the soil for growing rice. Rice is planted in rice fields for a long time. The residual roots and stubble of rice penetrate into the soil to decompose into organic matter. Then, through physical and chemical reactions, sedimentation, and seasonal alternation of dryness and wetness, the soil naturally forms layers. The layers of rice fields can generally be divided into water layer, soil slurry layer, tillage layer and hard bottom layer. The physical morphology of the hard bottom layer has an important influence on the pressure-bearing performance and shear performance of the layer. These effects may lead to problems such as a significant increase in the rolling resistance of the power chassis, severe roll and deep sinking. Therefore, in order to ensure the safe, stable and efficient operation of paddy field agricultural machinery and equipment, it is necessary to solve the problem of testing and analyzing the physical morphology of the hard bottom layer of paddy field soil.

[0003] The current deficiencies in paddy field hard bottom testing technology are manifested in the following aspects: (1) When using other existing testing equipment, the measurement results will be different from the actual application of the vehicle body to a certain extent, resulting in test errors; (2) The traditional test system that contacts the paddy field soil will add additional large-sized (relative to the size of general sensor chips) sensor components, such as rolling wheels, connecting rods, etc. These sensor components need to be specially designed and installed in a fixed position on the chassis, which has a certain impact on the installation and normal operation of agricultural machinery and implements. At the same time, these sensor components are prone to accumulation of mud and other debris in the harsh working environment of paddy field mud and rice stubble mixture, thus affecting the test accuracy or even making it impossible to work. Summary of the invention

[0004] The present invention aims to overcome at least one of the shortcomings of the above-mentioned prior art and provides a method, system and device for testing the positioning of a power chassis and the pitch angle of a paddy field hard bottom layer morphology, so as to be able to test the hard bottom layer morphology under the actual working conditions of the power chassis, reduce the test error caused by the difference between the test environment and the actual use environment, and do not need to further install large-scale sensor components, and do not affect the main functions of the agricultural machinery body.

[0005] The technical solution adopted by the present invention is that the power chassis positioning and pitch angle paddy field hard bottom morphology test method is obtained through the driving parameters of the vehicle body on the paddy field, including:

[0006] The vehicle body is driven to a certain initial position of the paddy field;

[0007] The test path of the vehicle body is set, and a reference coordinate system based on the vehicle body structure is established, including: the vehicle body structure includes a power chassis and a steering wheel, and the reference coordinate system includes: the imprint point where the steering wheel contacts the hard bottom layer of the paddy field is taken as the origin, the horizontal vector of the driving direction of the reference vehicle body is taken as the y-axis, and the plane where the y-axis is located is the xy plane;

[0008] Measure the physical parameters of the vehicle body during driving, including at least the pitch angle change of the vehicle body φ k and displacement change S k ; The angle between the bottom surface of the power chassis and the xy plane is the pitch angle φ;

[0009] Based on the pitch angle change φ k and displacement change S k And the sampling interval ΔT = T k -T k-1 , ΔT>1ms, establish the pitch angle fitting function g(φ k-1 ,φ k );

[0010] Based on the pitch angle fitting function g(φ k-1 ,φ k ), calculate the height change Δh at the sampling time k =S k tg[g(φ k-1 ,φ k )];

[0011] A graph corresponding to the topographic information of the hard bottom layer of the paddy field on the test path is drawn.

[0012] In the present invention, the implementation of this method only requires the measurement of two parameters - pitch angle and displacement. The acquisition of these two parameters does not require additional or other measuring equipment. They can be two independent or integrated chip circuits installed on the existing agricultural machinery body. They are simple and convenient to disassemble and assemble, low in price, and have good versatility. Among them, the composition idea of ​​this method or the present invention is to take the center of the contact imprint between the steering wheel and the paddy field hard bottom layer as the research object, take the steering wheel axis as the test base point, and use the relative state change test combined with the recursive calculation model to obtain the paddy field hard bottom layer morphology through identification. This test method can test the paddy field hard bottom layer morphology during the actual working process of the chassis, and reduce the test error caused by the difference between the test environment and the actual working environment. There is no need to obtain the morphology of the paddy field hard bottom layer under the condition that the chassis is installed with a sensing component in contact with the paddy field.

[0013] Preferably, the physical parameters of the vehicle body during driving are measured, including at least the pitch angle change φ of the vehicle body. k and displacement change S k ,include:

[0014] Set a certain sampling interval T, start the vehicle, and measure the pitch angle change φ within each sampling interval k and the displacement change S of the vehicle body k .

[0015] Preferably, based on the pitch angle fitting function g(φ k-1 ,φ k ), including:

[0016] Initial test time (T0): obtain the vertical displacement h0 and the initial pitch angle φ0 between the coordinate origin and the steering wheel axis;

[0017] First test moment (T1): calculate the relative recursive increment Δh1 of the vertical displacement at the first test moment (T1), the calculation formula is Δh1=S1tg[g(φ0,φ1)], where g(φ0,φ1) is the pitch angle fitting function of the vehicle motion vector in the sampling interval, and S1 is the displacement increment at the first test moment;

[0018] The Kth test time (T k ): Calculate the Kth test time (T k ) Relative recursive increment of vertical displacement Δh k , the calculation formula is Δh k =S k tg[g(φ k-1 ,φ k )], where g(φ k-1 ,φ k ) is the pitch angle fitting function of the vehicle motion vector in the sampling interval, S k is the displacement increment at the Kth test moment.

[0019] Preferably, establish the pitch angle fitting function g(φ k-1 ,φ k ),include:

[0020] Based on the pitch angle change φ k and displacement change S k And the sampling interval ΔT = T k -T k-1 , and use the linear fitting method to establish g(φ k-1 ,φ k ), g(φ k-1 ,φ k ) is the pitch angle fitting function of the vehicle motion vector in the sampling interval.

[0021] Preferably, g(φ k-1 ,φ k ) using linear fitting.

[0022] Preferably, the test path is a straight line path.

[0023] Preferably, ΔT>1ms.

[0024] A testing system, based on the paddy field hard bottom morphology testing method, comprises:

[0025] The parameter module is connected to the vehicle body and is used to measure the physical parameters of the vehicle body during driving, including at least the pitch angle change of the vehicle body φ k and displacement change S k and the initial pitch angle φ0;

[0026] The recursive module is connected to the parameter module, based on the pitch angle change φ k and displacement change S k And the sampling interval ΔT = T k -T k-1 , ΔT>1ms, used to establish the pitch angle fitting function g(φ k-1 ,φ k ) and sampling time T k Upper height change Δh k =S k tg[g(φ k-1 ,φ k )] A control module is connected to the recursive module and the parameter module, based on the height value Δh k and displacement change S k , draw the morphology of the hard bottom layer of the paddy field.

[0027] Preferably, the control module is provided with a graphic unit for displaying the topography of the paddy field hard bottom layer.

[0028] Preferably, the parameter module includes an electronic gyroscope and a Beidou antenna for sensing and installed on the axis of the steering wheel. The electronic gyroscope is used to measure the pitch angle change φ of the bottom surface of the power chassis. k , Beidou antenna is used to measure the displacement change S k .

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1) The present invention makes up for the shortcomings of the test error caused by the difference between the test environment of the traditional paddy field hard bottom morphology test system and the actual working environment of the chassis. It directly uses the actual working environment of the chassis for testing and proposes a complete test solution. The present invention takes the center of the ground contact footprint of the steering wheel of the power chassis as the research object, takes the steering wheel axis as the test base point, and uses a method combining relative state change test with recursive calculation model to identify the paddy field hard bottom morphology under the action of the chassis;

[0031] 2) Compared with the prior art, the present invention uses a non-contact method between the sensor component and the paddy field soil for measurement. It only needs to install a small-sized integrated circuit module sensor component at the center of the steering wheel axle. There is no need to add additional large-sized (relative to the chip size) sensor components and there is no accumulation of debris such as mud and rice stubble, which does not affect the installation and normal operation of agricultural implements. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural diagram of the present invention.

[0033] Figure 2 It is a cross-sectional view of the present invention.

[0034] Figure 3 Schematic diagram of the test flow of the test system of the present invention.

[0035] In the figure, there are a vehicle body 100 , a control module 110 , a power chassis 120 , a steering wheel 130 , a footprint 131 , an axis 132 , an electronic gyroscope 140 , a Beidou antenna 150 , a Beidou satellite, and a hard base layer 210 . DETAILED DESCRIPTION

[0036] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0038] Example 1

[0039] like Figure 1 , 2 As shown, the paddy field hard bottom layer 210 morphology test method based on the vehicle body 100 is obtained through the driving parameters of the vehicle body 100 on the paddy field, including:

[0040] The vehicle body 100 is driven to a certain initial position of the paddy field;

[0041] The test path of the vehicle body 100 is set, and a reference coordinate system based on the structure of the vehicle body 100 is established, including: the vehicle body 100 includes a power chassis 120 and a steering wheel 130, and the reference coordinate system includes: taking a footprint point 131 where the steering wheel 130 contacts the paddy field hard bottom layer 210 as the origin, the horizontal vector of the driving direction of the reference vehicle body 100 as the y-axis, and the plane where the y-axis is located as the xy plane;

[0042] Measure the physical parameters of the vehicle body 100 during driving, including at least the pitch angle change φ of the vehicle body 100 k and displacement change S k ; The angle between the bottom surface of the power chassis 120 and the xy plane is the pitch angle φ;

[0043] Based on the pitch angle change φ k and displacement change S k And the sampling interval ΔT = T k -T k-1 , ΔT>1ms, establish the pitch angle fitting function g(φ k-1 ,φ k );

[0044] Based on the pitch angle fitting function g(φ k-1 ,φ k ), calculate the height change Δh at the sampling time k =S k tg[g(φ k-1 ,φ k )], a graph of the topographic information of the paddy field hard bottom layer 210 on the test path is drawn.

[0045] In the present invention, the implementation of the method only requires the measurement of two parameters, namely, the pitch angle and the displacement. The acquisition of these two parameters does not require additional or other measuring equipment. They can be two independent or integrated chip circuits installed on the existing agricultural machinery body 100. The disassembly and assembly are simple and convenient, the price is low, and the versatility is good. Among them, the composition idea of ​​the present method or the present invention is to take the contact imprint center of the steering wheel 130 and the paddy field hard bottom layer 210 as the research object, and the axis 132 of the steering wheel 130 as the test base point. The relative state change test and the recursive calculation model are combined to obtain the morphology of the paddy field hard bottom layer 210 through identification. This test method can test the morphology of the paddy field hard bottom layer 210 during the actual working process of the chassis, and reduce the test error caused by the difference between the test environment and the actual working environment. It is not necessary to obtain the morphology of the paddy field hard bottom layer 210 under the condition that the chassis is installed with a sensing component in contact with the paddy field. Preferably, the physical parameters of the vehicle body 100 during driving are measured, including at least the pitch angle change φ of the vehicle body 100 k and displacement change S k ,include:

[0046] Set a certain sampling interval T, start the vehicle 100, and measure the pitch angle change φ within each sampling interval k and the displacement change S of the vehicle body 100 k .

[0047] Preferably, based on the pitch angle fitting function g(φ k-1 ,φ k ), including:

[0048] Initial test time (T0): obtain the vertical displacement h0 and the initial pitch angle φ0 between the coordinate origin and the axis 132 of the steering wheel 130;

[0049] First test moment (T1): Calculate the relative recursive increment Δh1 of the vertical displacement at the first test moment (T1). The calculation formula is Δh1=S1tg[g(φ0,φ1)], where g(φ0,φ1) is the pitch angle fitting function of the vehicle motion vector in the sampling interval, and S1 is the displacement increment at the first test moment.

[0050] The Kth test time (T k ): Calculate the Kth test time (T k ) Relative recursive increment of vertical displacement Δh k , the calculation formula is Δh k =S k tg[g(φ k-1 ,φ k )], where g(φ k-1 ,φ k ) is the pitch angle fitting function of the vehicle motion vector in the sampling interval, S k is the displacement increment at the Kth test moment.

[0051] Preferably, establish the pitch angle fitting function g(φ k-1 ,φ k ),include:

[0052] Based on the pitch angle change φ k and displacement change S k And the sampling interval ΔT = T k -T k-1 , and use the linear fitting method to establish g(φ k-1 ,φ k ), g(φ k-1 ,φ k ) is the pitch angle fitting function of the vehicle motion vector in the sampling interval.

[0053] Preferably, g(φ k-1 ,φ k ) using linear fitting.

[0054] Preferably, the test path is a straight line path.

[0055] Preferably, ΔT>1ms.

[0056] A testing system, based on the paddy field hard bottom layer 210 morphology testing method, comprises:

[0057] The parameter module is connected to the vehicle body 100 and is used to measure the physical parameters of the vehicle body 100 during driving, including at least the pitch angle change φ of the vehicle body 100. k and displacement change S k and the initial pitch angle φ0;

[0058] The recursive module is connected to the parameter module, based on the pitch angle change φ k and displacement change S k And the sampling interval ΔT = T k -T k-1 , ΔT>1ms, used to establish the pitch angle fitting function g(φ k-1 ,φ k ) and sampling time T k Upper height change

[0059] The control module 110 is connected to the recursive module and the parameter module, based on the height value Δh k and displacement change S k , draw the morphology of the hard bottom layer of the paddy field.

[0060] Preferably, the control module 110 is provided with a graphic unit for displaying a topographical image of the paddy field hard bottom layer 210 .

[0061] A testing device, the device adopts the paddy field hard bottom layer 210 morphology testing method, and / or the device includes the vehicle body 100 testing system.

[0062] Further, such as Figure 1 As shown, the device is a vehicle body 100 , which includes the steering wheel 130 and a power chassis 120 , the steering wheel 130 includes an axle 132 , and the contact point between the steering wheel 130 and the paddy field hard bottom layer 210 is a footprint point 131 .

[0063] Further, the vehicle body 100 includes the control module 110 disposed at the rear side of the vehicle body 100, the paddy field includes a water layer plane and a hard bottom layer 210, a part of the steering wheel 130 structure sinks into the water layer plane, and the contact point between the paddy field and the hard bottom layer 210 is the origin of the reference coordinate system;

[0064] The steering wheel 130 includes an axle core 132 portion and an axle core 132 at the center of the axle core 132 portion.

[0065] Preferably, the parameter module includes an electronic gyroscope 140 and a Beidou antenna 150 for sensing and installed at the axis 132 of the steering wheel 130. The electronic gyroscope 140 is used to measure the pitch angle change φ of the bottom surface of the power chassis 120. k , Beidou antenna 150 is used to measure the displacement change S k .

[0066] Specifically, the Beidou antenna 150 is connected to the existing Beidou satellite communication to obtain the longitude and latitude information of the vehicle body 100 .

[0067] Preferably, a protective cover is provided, fixed to the outside of the electronic gyroscope 140 and the Beidou module, for the structures of the two.

[0068] Specifically, the specific testing process includes the following steps: Figure 3 As shown,

[0069] Step 1. Stop the agricultural machinery chassis at the initial position of a relatively flat paddy field, define the center of the contact mark between the chassis steering wheel 130 and the paddy field hard bottom layer 210 as the coordinate origin, set the distance between the axis 132 of the chassis steering wheel 130 and the coordinate origin and the initial pitch angle of the chassis plane, and measure the absolute value of the vertical position of the axis 132 test point at the initial position;

[0070] Step 2: At the first test point, the electronic gyroscope 140 is used to test the pitch angle of the chassis plane.

[0071] Step 3. At the first test time point, the relative change values ​​of the plane longitude and latitude of the vehicle body 100 are measured through the communication between the Beidou antenna 150 and the Beidou satellite to obtain the relative displacement.

[0072] Step 4. Obtain the absolute value of the vertical position of the axis 132 at the first measuring time point through recursive numerical calculation.

[0073] Step 5. Repeat steps 2 to 4 to obtain the absolute value of the vertical position of the axis 132 points at all test points.

[0074] Step 6. The absolute values ​​of the vertical positions of all the test points are transformed into the height of the center point of the contact patch of the steering wheel 130 relative to the coordinate origin through the morphology recognition model through vertical coordinate translation, so as to obtain the morphology of the paddy field hard bottom layer 210.

[0075] Step 7. Use the control module 110 equipment such as the central monitoring and processing computer to display and output the test data, draw a topographic map of the paddy field hard bottom layer 210 and form a test report.

[0076] Through the above steps, the morphology of the paddy field hard bottom layer 210 can be tested, which will provide an effective testing method for paddy field research and research on the interaction between paddy fields and power chassis 120.

[0077] Compared with the prior art, the present invention has the following beneficial effects:

[0078] 1) The present invention makes up for the shortcomings of the test error caused by the difference between the test environment of the traditional paddy field hard bottom layer 210 morphology test system and the actual working environment of the chassis, directly uses the actual working environment of the chassis for testing and proposes a complete test solution. The present invention takes the center of the ground contact footprint of the steering wheel 130 of the power chassis 120 as the research object, takes the axis 132 of the steering wheel 130 as the test base point, and uses a method combining relative state change test and recursive calculation model to identify the morphology of the paddy field hard bottom layer 210 under the action of the chassis;

[0079] 2) Compared with the prior art, the present invention uses a non-contact method between the sensor component and the paddy field soil for measurement. It only needs to install a small-sized integrated circuit module sensor component at the center of the steering wheel 130 axis. There is no need to add additional large-sized (relative to the chip size) sensor components and there will be no accumulation of debris such as mud and rice stubble, which will not affect the installation and normal operation of the agricultural implement.

[0080] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. The power chassis positioning and pitch angle paddy field hard bottom morphology test method is obtained through the driving parameters of the vehicle body on the paddy field, which is characterized by: include: The vehicle body is driven to a certain initial position of the paddy field; Set the test path of the vehicle body and establish a reference coordinate system based on the vehicle body structure, including: The vehicle body structure includes a power chassis and a steering wheel, and the reference coordinate system includes: the point where the steering wheel contacts the paddy field hard bottom layer as the origin, and the horizontal vector of the reference vehicle body driving direction as y axis, y The plane where the axis lies is xy flat; Measure the physical parameters of the vehicle body during driving, including at least the pitch angle change of the vehicle body φ k and displacement change S k , with the bottom surface of the power chassis and xy The angle between the planes is the pitch angle φ ; Based on the pitch angle change φ k and displacement change S k and the sampling interval Δ T = T k - T k-1 , establish the pitch angle fitting function g ( φ k-1 , φ k ), where k is the kth test point and k is a natural number; Fitting function based on pitch angle g ( φ k-1 , φ k ), calculate the height change Δ at the sampling time h k = S k tg [ g ( φ k-1 , φ k )], where tg is the tangent function; Draw a graph corresponding to the topographic information of the hard bottom layer of the paddy field on the test path; Measure the physical parameters of the vehicle body during driving, including at least the pitch angle change of the vehicle body φ k and displacement change S k ,include: Set a sampling interval T , start the vehicle and measure the pitch angle change in each sampling interval φ k and the displacement change of the vehicle body S k ; Fitting function based on pitch angle g ( φ k-1 , φ k ), including: Initial test time T 0: Get the vertical displacement between the coordinate origin and the steering wheel axis h 0 and initial pitch angle φ 0; First test moment T 1: Calculate the first test moment T 1 Relative recursive increment of vertical displacement Δ h 1. The calculation formula is , where g( φ 0, φ 1) is the pitch angle fitting function of the vehicle motion vector in the sampling interval, S 1 is the displacement increment at the first test moment; No. K Testing time T k :Calculate the k Testing time T k Relative recursive increment of vertical displacement Δ h k , the calculation formula is ,in g ( φ k-1 , φ k ) is the pitch angle fitting function of the vehicle motion vector in the sampling interval, S k For the K The displacement increment at the time of the test.

2. The method for testing the power chassis positioning and pitch angle of paddy field hard bottom morphology according to claim 1 is characterized in that: Establishing the pitch angle fitting function g ( φ k-1 , φ k ),include: Based on the pitch angle change φ k and displacement change S k And the sampling interval Δ T = T k - T k-1 , established by linear fitting method g ( φ k-1 , φ k ), g ( φ k-1 , φ k ) is the pitch angle fitting function of the vehicle motion vector in the sampling interval.

3. The method for testing the power chassis positioning and pitch angle of paddy field hard bottom morphology according to claim 1, characterized in that: The test path is a straight line path.

4. The method for testing the power chassis positioning and pitch angle of paddy field hard bottom morphology according to claim 1, characterized in that: D T > 1 ms 。 5. A testing system, based on the power chassis positioning and pitch angle paddy field hard bottom morphology testing method according to any one of claims 1 to 4, characterized in that: Features: The parameter module is connected to the vehicle body and is used to measure the physical parameters of the vehicle body during driving, including at least the pitch angle change of the vehicle body. φ k and displacement change S k and the initial pitch angle φ 0; Recursive module, connected to parameter module, based on pitch angle change φ k and displacement change S k And the sampling interval Δ T = T k - T k-1 , Δ T >1 ms , used to establish the pitch angle fitting function g ( φ k-1 , φ k ) and sampling time T k Upper height change Δ h k = S k tg [ g ( φ k-1 , φ k )]; A control module is connected to the recursive module and the parameter module, based on the height value Δ h k and displacement change S k , draw the morphology of the hard bottom layer of the paddy field.

6. A test system according to claim 5, characterized in that: The control module is provided with a graphic unit for displaying the topography of the paddy field hard bottom layer.

7. A test system according to claim 5, characterized in that: The parameter module includes an electronic gyroscope and Beidou antenna installed on the axis of the steering wheel for sensing. The electronic gyroscope is used to measure the pitch angle change of the bottom surface of the power chassis. φ k , Beidou antenna is used to measure displacement changes S k .

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