Monitoring control system and control method for rear suspension machine tool of dual-mode tractor

Abstract

The invention provides a monitoring control system of a dual-mode tractor rear suspension machine tool. The monitoring control system comprises a transverse posture adjusting mechanism, a sensor module, a signal conversion module, an upper computer module and a controller module. The transverse posture adjusting mechanism is used for hanging the machine and adjusting the transverse inclination angle of the machine. The sensor module monitors the transverse inclination angle and the angular deviation between the machine and the ground in real time; the signal conversion module converts a measured value of the sensor module into a signal and transmits the signal to the controller module for processing in real time; the controller module generates an analog voltage signal through an MPC algorithm based on the transverse inclination angle theta current and the angle deviation signal delta theta to control a transverse attitude adjusting mechanism; the system can be switched between a profiling mode and a fixed inclination angle mode, and in the profiling mode, the controller module controls the transverse posture adjusting mechanism to adjust the machine tool to be horizontal with the ground in real time; in the fixed inclination angle mode, the controller module controls the transverse posture adjusting mechanism to adjust the machine tool to keep a fixed transverse inclination angle; the upper computer module is connected with the controller module through a serial port and used for displaying the transverse inclination angle and the angle deviation in real time and switching the adjusting mode.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery control, and in particular to a monitoring control system and a control method for a dual-mode tractor rear suspension implement. Background Art

[0002] In agricultural operations, the posture of the rear-mounted implements on the tractor has a key impact on the quality of the operation. Especially when working on fields or slopes with complex terrain, due to the large changes in the ground slope, the lateral inclination angle of the implement is difficult to keep consistent with the terrain, thus affecting the surface flatness and operation results. In addition, the instability of the implement posture during the operation will also reduce the operation efficiency and increase the driver's operating difficulty and labor intensity. In the prior art, the driver usually relies on visual judgment and then manually adjusts the implement posture. This method is not only cumbersome to operate and difficult to meet real-time requirements, but also has low adjustment accuracy, and is easily affected by human errors. The quality of the operation is affected. Therefore, there is an urgent need for a control system that can monitor the implement posture in real time and realize automatic adjustment to meet the needs of different operation scenarios. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a monitoring control system and control method for a dual-mode tractor rear suspension implement, which can intelligently switch the control mode according to the working scene, monitor the implement posture in real time and accurately, and automatically control the implement posture adjustment according to the working requirements to improve the working quality and efficiency.

[0004] In order to solve the above technical problems, the present invention provides a monitoring and control system for a dual-mode tractor rear suspension implement, comprising a lateral posture adjustment mechanism, a sensor module, a signal conversion module, a host computer module and a controller module;

[0005] The lateral posture adjustment mechanism is used to suspend the machine and adjust the lateral inclination angle of the machine; the sensor module includes a first sensor and a second sensor, the first sensor is installed in the middle of the lateral posture adjustment mechanism to monitor the lateral inclination angle in real time, and the second sensor is installed at both ends of the lateral posture adjustment mechanism to measure the angle deviation between the machine and the ground in real time;

[0006] The signal conversion module converts the measurement value of the second sensor into a signal and transmits it to the controller module for processing in real time; the controller module converts the measurement value of the second sensor into a signal based on the lateral inclination angle θ transmitted by the first sensor. current The angle deviation signal Δθ transmitted by the signal conversion module is used to generate an analog voltage signal through an MPC algorithm to control the lateral posture adjustment mechanism;

[0007] The monitoring and control system can switch between a profiling mode and a fixed inclination angle mode. In the profiling mode, the controller module controls the lateral posture adjustment mechanism to adjust the machine to be level with the ground in real time; in the fixed inclination angle mode, the controller module controls the lateral posture adjustment mechanism to adjust the machine to maintain a fixed lateral inclination angle; the host computer module is connected to the controller module via a serial port, and is used to display the lateral inclination angle and angle deviation in real time and switch the adjustment mode.

[0008] In some embodiments, the lateral posture adjustment mechanism includes a rotating frame, a rotating shaft, and a rotating drive, the machine is mounted on the rotating frame, the rotating frame is connected to the suspension bracket via the rotating shaft, and the rotating drive drives the rotating frame to rotate around the rotating shaft to adjust the lateral inclination angle of the machine.

[0009] In some embodiments, the first sensor is installed in the middle of the rotating frame, and the second sensor is installed at both ends of the rotating frame.

[0010] In some embodiments, the rotary driver is an electrically controlled hydraulic cylinder, one end of which is fixed to a suspension bracket, and the other end of which is connected to a rotary frame via a joint shaft, and provides a rotary driving force by changing its own telescopic length.

[0011] In some of the embodiments, between the rotating frame and the attachment point of the implement, the relationship between the telescopic length Δs of the electric-controlled hydraulic cylinder and the rotation angle α is calculated based on the following geometric model:

[0012]

[0013] Among them, Δs is the telescopic length of the electric hydraulic cylinder, s2 is the distance between the rotation center of the machine and the lower hinge point of the electric hydraulic cylinder, s3 is the height between the rotation center of the machine and the upper hinge point of the electric hydraulic cylinder, α is the rotation angle of the machine, and s0 is the total length of the electric hydraulic cylinder in the initial state.

[0014] The monitoring and control system for the dual-mode tractor rear suspension implement according to claim 1 is characterized in that the control model of the MPC algorithm is as follows:

[0015] Equation of state:

[0016] x k+1 =Ax k +Bu k

[0017] Control objectives:

[0018]

[0019] where x k is the current lateral tilt state, uk is the control input, and λ is the control weight.

[0020] In some embodiments, the angle deviation Δθ is calculated as follows:

[0021]

[0022] Where L is the distance between the second sensors at both ends of the rotating frame, d L and d R They are the distances between the two sides of the machine and the ground.

[0023] In some of the embodiments, the host computer module has the functions of real-time data recording, control action log storage, and alarm prompting.

[0024] In some embodiments, the first sensor is an IMU sensor, and the second sensor is a laser ranging sensor.

[0025] The present invention also provides a control method for the monitoring and control system of the dual-mode tractor rear suspension implement, comprising the following steps:

[0026] Step 1: According to the operation requirements, the driver selects the profiling mode or the fixed inclination mode through the host computer module;

[0027] Step 2: The first sensor and the second sensor collect information on the lateral inclination angle of the machine and the angle deviation from the ground in real time;

[0028] Step 3: Through the signal conversion module, the data of the second sensor is resolved into an angle deviation signal Δθ;

[0029] Step 4: The controller module determines the lateral inclination angle θ based on the lateral inclination angle θ transmitted by the first sensor. current The angle deviation signal Δθ transmitted by the signal conversion module is used to generate an analog voltage signal through the MPC algorithm to control the lateral posture adjustment mechanism.

[0030] Compared with the prior art, the present invention has the following beneficial effects: the present invention arranges a first sensor and a second sensor on the lateral posture adjustment mechanism to respectively monitor the lateral inclination angle and the angular deviation of the machine in real time, and feeds back to the controller module in real time; the controller module uses the MPC algorithm to generate an analog voltage signal to control the lateral posture adjustment mechanism according to the selection of the profiling mode and the fixed inclination angle mode, so as to adjust the lateral inclination angle of the machine, and can monitor the machine posture in real time and accurately, and intelligently switch the control mode according to the operation scene; the MPC algorithm is used to improve the control accuracy and response speed, and significantly optimize the efficiency and quality of agricultural operations; the system is easy to operate, flexible in function, and highly adaptable, and can meet the requirements of various terrains and operation modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of a monitoring and control system for a dual-mode tractor rear suspension implement of the present invention;

[0032] Figure 2 It is a flow chart of the control method of the monitoring control system of the dual-mode tractor rear suspension implement of the present invention;

[0033] Figure 3 Schematic diagram of the adjustment process of the monitoring and control system for the rear suspension implement of a dual-mode tractor.

[0034] Figure numerals: 1-rotation axis, 2-left laser ranging sensor, 3-rotation frame, 4-right laser ranging sensor, 5-controller module, 6-host computer module, 7-proportional valve 7, 8-IMU sensor, 9-electrically controlled hydraulic cylinder. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connection" can be a wall-mounted connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be a direct connection or an indirect connection through an intermediate medium. It can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The present embodiment provides a monitoring and control system for a dual-mode tractor rear suspension implement, including a lateral posture adjustment mechanism, a sensor module, a signal conversion module, a host computer module 6 and a controller module 5. The modules work together through hardware electrical connections and control algorithms to jointly realize lateral posture monitoring and control of the tractor rear suspension agricultural implement.

[0039] Specifically, the lateral posture adjustment mechanism includes a rotating frame 3, a rotating shaft 1, and a rotating drive electric hydraulic cylinder 9. One side of the rotating frame 3 is connected to a traditional three-point suspension bracket through the rotating shaft 1 and can rotate around the rotating shaft 1, and the other side is connected to the machine. One end of the electric hydraulic cylinder 9 is fixed to the suspension bracket, and the other end is connected to the rotating frame 3 through a joint shaft. The electric hydraulic cylinder 9 provides a rotational driving force by changing its own telescopic length, driving the rotating frame 3 to rotate around the rotating shaft 1 to adjust the lateral inclination angle of the machine.

[0040] like Figure 3 As shown, between the rotating frame 3 and the machine tool attachment point, the relationship between the telescopic length Δs of the electric-controlled hydraulic cylinder 9 and the rotation angle α is calculated based on the following geometric model:

[0041]

[0042] Among them, Δs is the telescopic length of the electric hydraulic cylinder 9, s2 is the distance between the rotation center of the machine and the lower hinge point of the electric hydraulic cylinder 9, s3 is the height between the rotation center of the machine and the upper hinge point of the electric hydraulic cylinder 9, α is the rotation angle of the machine, and s0 is the total length of the electric hydraulic cylinder 9 in the initial state.

[0043] The sensor module includes a first sensor IMU sensor 8 and a pair of second sensor laser ranging sensors:

[0044] The IMU sensor 8 is installed at the center of the rotating frame 3 to monitor the lateral inclination angle in real time. The laser distance sensor adopts the VL53L0X module with a wide measurement range and high resolution, and is symmetrically installed at the left and right ends of the lateral posture adjustment mechanism to measure the angular deviation between the machine and the ground in real time. The transmitting ends of the left laser distance sensor 2 and the right laser distance sensor 4 are vertically pointed to the ground to measure the distance d between the two sides of the machine and the ground respectively. L and d R ;

[0045] The signal conversion modules at both ends convert the return value of the distance measuring sensor into the inclination deviation Δθ of the rotating frame 3 according to the following mathematical model:

[0046]

[0047] Where L is the distance between laser ranging sensors, d L and dR They are the distances between the two sides of the machine and the ground.

[0048] The signal conversion module converts the analog voltage signal of the laser ranging sensor into a digital signal, and uses the above geometric model to calculate the lateral inclination deviation between the rotating frame 3 and the ground. The converted data is transmitted to the controller module 5 via the I2C bus for the control algorithm to call.

[0049] The controller module 5 uses the STM32F103C8T6 single-chip microcomputer as the core control unit, based on the lateral inclination angle θ transmitted by the IMU sensor 8 current The angle deviation signal Δθ transmitted by the signal conversion module is converted into the target posture angle θ by the MPC algorithm. target and current state, predict the future posture of the machine, calculate the required telescopic length of the electronically controlled hydraulic cylinder 9, and then output an analog voltage signal to control the opening size of the proportional valve 7 of the electronically controlled hydraulic cylinder 9 to adjust the lateral inclination angle of the machine to the target value.

[0050] The monitoring and control system can be switched between a profiling mode and a fixed inclination mode. In the profiling mode, the controller module 5 controls the lateral posture adjustment mechanism to adjust the machine to be level with the ground in real time; in the fixed inclination mode, the controller module 5 controls the lateral posture adjustment mechanism to adjust the machine to maintain a fixed lateral inclination.

[0051] The control model of the MPC algorithm is as follows:

[0052] Equation of state:

[0053] x k+1 =Ax k +Bu k

[0054] Control objectives:

[0055]

[0056] where x k is the current tilt state, u k is the control input, and λ is the control weight.

[0057] The host computer module 6 is connected to the controller module 5 via a serial port, and is used to display the lateral inclination angle and angle deviation in real time and allow the user to interact to switch the adjustment mode. The host computer module 6 has the functions of real-time data display, mode switching, data recording and user interaction. The host computer receives the data such as the lateral inclination angle of the machine and the angle deviation from the ground returned by the controller in real time, and intuitively displays the inclination value, angle deviation value and its dynamic change curve through a graphical interface;

[0058] The user can switch between "contour mode" and "fixed inclination mode" through the interface. The contour mode automatically adjusts the machine to keep it level with the ground, while the fixed inclination mode achieves constant control according to the target inclination set by the user. At the same time, the host computer supports real-time data recording and control action log saving functions, which facilitates the analysis and optimization of operation data, and can also review the machine posture change process through the playback function. In addition, the user can input the target inclination angle or start the contour mode through the interface. When the host computer module 6 detects that the machine posture exceeds the allowable range, it will also issue an alarm prompt to ensure operation safety and efficiency.

[0059] The control method of the monitoring and control system of the dual-mode tractor rear suspension implement of this embodiment specifically includes the following steps:

[0060] Step 1: Start the system. According to the operation requirements, the driver selects the profiling mode or the fixed inclination mode through the upper computer module 6, and sets the deviation threshold of the profiling mode or sets the target inclination angle of the fixed inclination mode;

[0061] Step 2: The IMU sensor 8 and the laser ranging sensor collect information on the lateral inclination angle of the machine and the angle deviation from the ground in real time;

[0062] Step 3: Through the signal conversion module, the data of the laser ranging sensor is resolved into an angle deviation signal Δθ;

[0063] Step 4: The controller module 5 determines the lateral inclination angle θ based on the lateral inclination angle θ transmitted by the IMU sensor 8. current The angle deviation signal Δθ transmitted by the signal conversion module is used to generate an analog voltage signal through the MPC algorithm to control the lateral posture adjustment mechanism.

[0064] Specifically, when the profiling mode is selected, the laser rangefinder sensor is called to collect the angle deviation information in real time, the height of both sides of the machine from the ground is converted into the ground profiling angle deviation value, and it is determined whether the angle deviation exceeds the threshold range. When it exceeds the set threshold range, the controller module 5 calculates the output analog voltage signal through the above-mentioned MPC algorithm and controls the electric control hydraulic cylinder 9 to work, driving the rotating frame 3 to rotate and adjust the machine to keep it level with the ground in real time. When the fixed inclination mode is selected, the IMU sensor 8 is called to collect the lateral inclination angle, and it is calculated whether the deviation between the current inclination angle and the target inclination angle exceeds the threshold range. When it exceeds the set threshold range, the controller module 5 calculates the output analog voltage signal through the above-mentioned MPC algorithm and controls the electric control hydraulic cylinder 9 to work, driving the rotating frame 3 to rotate and adjust the lateral inclination angle of the machine to the target inclination angle in real time.

[0065] This system includes two working modes: profiling mode and fixed inclination mode. In scenes where the terrain slope changes significantly, such as hills and mountains, the ground is obviously up and down. In order to ensure that the machine and the ground are relatively level, thereby optimizing the work quality, the system adopts the profiling mode. By real-time monitoring the posture difference between the ground and the machine, the lateral inclination of the machine is dynamically adjusted, so that it can follow the ground slope in real time and accurately, achieving more accurate profiling operations.

[0066] In plain areas with small slope changes, the surface is relatively flat, but the machine may experience posture fluctuations due to the vibration of the tractor during operation. In these scenarios, in order to reduce the vibration of the machine and ensure the flatness of the working surface, the system adopts a fixed inclination mode to keep the machine running stably at the set lateral inclination angle, reduce unnecessary adjustments, and improve working efficiency and surface uniformity.

[0067] In addition, in certain specific scenarios, such as land leveling operations, the fixed tilt mode can further optimize the operation effect through stable posture control to ensure the flatness of the ground. Through the flexible switching of the two control modes, the system of the present invention can adapt to complex and changeable agricultural operation scenarios, ensuring that the machine can adapt to frequent changes in slope in rugged terrain, and optimizing the flatness of the operating surface in relatively flat areas, thereby significantly improving the operation quality and overall efficiency.

[0068] The above is only a preferred specific implementation of the present invention, but the design concept of the present invention is not limited to this. Any technician familiar with the technical field who uses this concept to make non-substantial changes to the present invention within the technical scope disclosed by the present invention shall be deemed to infringe the protection scope of the present invention.

Claims

1. A monitoring and control system for a dual-mode tractor rear suspension implement, characterized in that: It includes a lateral posture adjustment mechanism, a sensor module, a signal conversion module, a host computer module and a controller module; The lateral posture adjustment mechanism is used to suspend the machine and adjust the lateral inclination angle of the machine; the sensor module includes a first sensor and a second sensor, the first sensor is installed in the middle of the lateral posture adjustment mechanism to monitor the lateral inclination angle in real time, and the second sensor is installed at both ends of the lateral posture adjustment mechanism to measure the angle deviation between the machine and the ground in real time; The signal conversion module converts the measurement value of the second sensor into a signal and transmits it to the controller module for processing in real time; The controller module determines the lateral inclination angle θ transmitted by the first sensor based on the current The angle deviation signal Δθ transmitted by the signal conversion module is used to generate an analog voltage signal through an MPC algorithm to control the lateral posture adjustment mechanism; The monitoring and control system can switch between a profiling mode and a fixed inclination angle mode. In the profiling mode, the controller module controls the lateral posture adjustment mechanism to adjust the machine to be level with the ground in real time; in the fixed inclination angle mode, the controller module controls the lateral posture adjustment mechanism to adjust the machine to maintain a fixed lateral inclination angle; the host computer module is connected to the controller module via a serial port, and is used to display the lateral inclination angle and angle deviation in real time and switch the adjustment mode.

2. The monitoring and control system for the dual-mode tractor rear suspension implement according to claim 1, characterized in that: The lateral posture adjustment mechanism comprises a rotating frame, a rotating shaft, and a rotating driver. The machine is installed on the rotating frame. The rotating frame is connected to the suspension bracket through the rotating shaft. The rotating driver drives the rotating frame to rotate around the rotating shaft to adjust the lateral inclination angle of the machine.

3. The monitoring and control system for the dual-mode tractor rear suspension implement according to claim 2, characterized in that: The first sensor is installed in the middle of the rotating frame, and the second sensor is installed at both ends of the rotating frame.

4. The monitoring and control system for the dual-mode tractor rear suspension implement according to claim 2, characterized in that: The rotary driver is an electric-controlled hydraulic cylinder, one end of which is fixed to a suspension bracket, and the other end of which is connected to a rotary frame via a joint shaft, and provides a rotary driving force by changing its own telescopic length.

5. The monitoring and control system for the dual-mode tractor rear suspension implement according to claim 4, characterized in that: Between the rotating frame and the attachment point of the implement, the relationship between the telescopic length Δs of the electronically controlled hydraulic cylinder and the rotation angle α is calculated based on the following geometric model: Among them, Δs is the telescopic length of the electric hydraulic cylinder, s2 is the distance between the rotation center of the machine and the lower hinge point of the electric hydraulic cylinder, s3 is the height between the rotation center of the machine and the upper hinge point of the electric hydraulic cylinder, α is the rotation angle of the machine, and s0 is the total length of the electric hydraulic cylinder in the initial state.

6. The monitoring and control system for the dual-mode tractor rear suspension implement according to claim 1, characterized in that: The control model of the MPC algorithm is as follows: Equation of state: x k+1 =Ax k +Bu k Control objectives: where x k is the current lateral tilt state, u k is the control input, and λ is the control weight.

7. The monitoring and control system for the dual-mode tractor rear suspension implement according to claim 1, characterized in that: The calculation method of the angle deviation Δθ is as follows: Where L is the distance between the second sensors at both ends of the rotating frame, d L and d R They are the distances between the two sides of the machine and the ground.

8. The monitoring and control system for the dual-mode tractor rear suspension implement according to claim 1, characterized in that: The host computer module has the functions of real-time data recording, control action log storage, and alarm prompting.

9. The monitoring and control system for the rear-hook implement of a dual-mode tractor according to any one of claims 1 to 8, characterized in that: The first sensor is an IMU sensor, and the second sensor is a laser ranging sensor.

10. A control method for a monitoring and control system of a dual-mode tractor rear suspension implement according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: According to the operation requirements, the driver selects the profiling mode or the fixed inclination mode through the host computer module; Step 2: The first sensor and the second sensor collect information on the lateral inclination angle of the machine and the angle deviation from the ground in real time; Step 3: Through the signal conversion module, the data of the second sensor is resolved into an angle deviation signal Δθ; Step 4: The controller module determines the lateral inclination angle θ based on the lateral inclination angle θ transmitted by the first sensor. current The angle deviation signal Δθ transmitted by the signal conversion module is used to generate an analog voltage signal through the MPC algorithm to control the lateral posture adjustment mechanism.

Images