A monitoring control system and control method for a dual mode tractor rear-mounted implement

Abstract

The application provides a kind of monitoring control system of dual-mode tractor rear suspension machine tool, including transverse posture adjusting mechanism, sensor module, signal conversion module, host computer module and controller module;Transverse posture adjusting mechanism is used to hang machine tool and adjust the transverse inclination of machine tool;Sensor module monitors the transverse inclination and the angle deviation of machine tool and ground in real time;The measured value of signal conversion module is converted into signal and transmitted to controller module for processing in real time;Controller module generates analog voltage signal control transverse posture adjusting mechanism based on transverse inclination θ current And angle deviation signal Δθ, by MPC algorithm;System can switch in profiling mode and fixed inclination mode, when in profiling mode, controller module controls transverse posture adjusting mechanism to adjust machine tool and ground to keep level in real time;When in fixed inclination mode, controller module controls transverse posture adjusting mechanism to adjust machine tool to keep fixed transverse inclination;Host computer module is connected with controller module through serial port, for real-time display of transverse inclination and angle deviation and switching adjustment mode.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery control, and in particular to a monitoring control system and control method for a dual-mode tractor rear-mounted suspended implement. BACKGROUND

[0002] In agricultural operations, the posture of the tractor rear-mounted suspended implement has a key influence on the operation quality. In particular, when operating in a complex terrain or on a slope, the lateral inclination of the implement is difficult to keep consistent with the terrain due to the large variation in ground slope, thereby affecting the ground flatness and operation effect. In addition, the instability of the implement posture during operation also reduces the operation efficiency and increases the difficulty and labor intensity of the operator. In the prior art, the operator usually manually adjusts the implement posture by visual judgment. This method is not only cumbersome to operate and difficult to meet the real-time requirements, but also has low adjustment accuracy and is easily affected by human error, thereby affecting the operation quality. Therefore, there is an urgent need for a control system that can monitor the implement posture in real time and automatically adjust it to meet the needs of different operation scenarios. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a monitoring control system and control method for a dual-mode tractor rear-mounted suspended implement, which can intelligently switch control modes according to the operation scenario, monitor the implement posture in real time and accurately, and automatically control the posture adjustment of the implement according to the operation requirements, thereby improving the operation quality and efficiency.

[0004] To solve the above technical problems, the present application provides a monitoring control system for a dual-mode tractor rear-mounted suspended implement, comprising a lateral posture adjustment mechanism, a sensor module, a signal conversion module, an upper computer module and a controller module.

[0005] The lateral posture adjustment mechanism is used to suspend the implement and adjust the lateral inclination of the implement. 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 in real time. The second sensor is installed at both ends of the lateral posture adjustment mechanism to measure the angle deviation between the implement 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 generates a simulated voltage signal to control the lateral posture adjustment mechanism based on the lateral inclination transmitted by the first sensor and the angle deviation signal transmitted by the signal conversion module.

[0007] ​​The monitoring control system can switch between a profiling mode and a fixed inclination angle mode. In the profiling mode, the controller module controls the lateral attitude adjustment mechanism to adjust the implement to be kept horizontal in real time. In the fixed inclination angle mode, the controller module controls the lateral attitude adjustment mechanism to adjust the implement to keep a fixed lateral inclination angle. The upper computer module is connected with the controller module through a serial port, and is configured to display the lateral inclination angle and the angle deviation in real time and switch the adjustment mode.

[0008] In some embodiments, the lateral attitude adjustment mechanism includes a rotating frame, a rotating shaft, and a rotating driver. The implement is mounted on the rotating frame. The rotating frame is connected with 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 implement.

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

[0010] In some embodiments, the rotating driver is an electrically controlled hydraulic cylinder. One end of the electrically controlled hydraulic cylinder is fixed on the suspension bracket, and the other end is connected with the rotating frame through a joint shaft. The electrically controlled hydraulic cylinder provides a rotating driving force by changing its extension length.

[0011] In some embodiments, the extension length of the electrically controlled hydraulic cylinder is calculated based on the following geometric model between the rotating frame and the implement hanging point. and the rotating angle

[0012]

[0013] wherein, is the extension length of the electrically controlled hydraulic cylinder, is the distance between the rotating center of the implement and the lower joint point of the electrically controlled hydraulic cylinder, is the height of the upper joint point of the electrically controlled hydraulic cylinder, is the rotating angle of the implement, is the total length of the electrically controlled hydraulic cylinder in the initial state.

[0014] The control model of the MPC algorithm is as follows:

[0015] State equation:

[0016]

[0017] Control target:

[0018]

[0019] wherein ​is the current lateral tilt angle, is the control input, is the control weight.

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

[0021]

[0022] wherein is the distance between the second sensors at the two ends of the rotating frame, and are the distances between the two sides of the machine and the ground, respectively.

[0023] In some embodiments, the upper computer module has the functions of real-time data recording, control action log saving, 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 application also provides a control method of the above-mentioned monitoring and control system of the dual-mode tractor rear-mounted machine tool, which comprises the following steps:

[0026] Step 1: According to the operation requirements, the driver selects the profiling mode or the fixed tilt angle mode through the upper computer module.

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

[0028] Step 3: Through the signal conversion module, the data of the second sensor is calculated as an angle deviation signal .

[0029] Step 4: Based on the lateral tilt angle transmitted by the first sensor and the angle deviation signal transmitted by the signal conversion module, the controller module generates a simulation voltage signal to control the lateral posture adjusting mechanism through the MPC algorithm.

[0030] The present application has the beneficial effects compared with the prior art: the first sensor and the second sensor are arranged on the transverse attitude adjusting mechanism to monitor the transverse inclination and the angle deviation of the implement in real time respectively, and real-time feedback is given to the controller module, the controller module generates analog voltage signals to control the transverse attitude adjusting mechanism to adjust the transverse inclination of the implement according to the selection of the profiling mode and the fixed inclination mode by using the MPC algorithm, so that the implement attitude can be monitored in real time and accurately, and the control mode can be intelligently switched according to the working scene; the MPC algorithm is used to improve the control precision and response speed, and significantly optimize the efficiency and quality of agricultural operation; the system is simple to operate, flexible in function, and strong in adaptability, and can meet the needs of various terrains and working modes. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic diagram of the monitoring control system of the dual-mode tractor rear-mounted implement of the present application;

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

[0033] Figure 3 It is a schematic diagram of the adjustment process of the monitoring control system of the dual-mode tractor rear-mounted implement.

[0034] The figure legend: 1-rotating shaft, 2-left laser ranging sensor, 3-rotating frame, 4-right laser ranging sensor, 5-controller module, 6-upper computer module, 7-proportional valve 7, 8-IMU sensor, 9-electric control hydraulic cylinder. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments; based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0036] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood broadly, for example, "connected" can be wall-mounted connection, can be detachable connection, or integral connection, can be mechanical connection, can be electrical connection, can be direct connection, can be indirect connection through intermediate medium, can be internal communication of two elements, and those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0038] The embodiment provides a kind of double mode tractor rear suspension machine tool monitoring control system, including lateral attitude adjustment mechanism, sensor module, signal conversion module, host computer module 6 and controller module 5, each module is cooperated by hardware electrical connection and control algorithm and works, lateral attitude monitoring and control of tractor rear suspension agricultural machine tool are realized jointly.

[0039] Specifically, the lateral attitude adjustment mechanism includes rotating frame 3, rotating shaft 1, rotary actuator electro-hydraulic cylinder 9, rotating frame 3 is connected with traditional three-point suspension support through rotating shaft 1 on one side, can rotate around rotating shaft 1, and is connected with machine tool on the other side.Electro-hydraulic cylinder 9 is fixed on suspension support on one end, and is connected with rotating frame 3 through joint shaft on the other end.Electro-hydraulic cylinder 9 provides rotary driving force by changing its telescopic length, drives rotating frame 3 to rotate around rotating shaft 1, to adjust the lateral inclination angle of machine tool.

[0040] As shown in Figure 3 , between rotating frame 3 and machine tool hanging point, the relationship between the telescopic length of electro-hydraulic cylinder 9 and the rotation angle is calculated based on the following geometric model

[0041]

[0042] Wherein, is the telescopic length of electro-hydraulic cylinder 9, is the distance between machine tool rotation center and lower hinge point of electro-hydraulic cylinder 9, is the height of machine tool rotation center and upper hinge point of electro-hydraulic cylinder 9, is the rotation angle of machine tool, is the total length of electro-hydraulic cylinder 9 in initial state.

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

[0044] ​​The IMU sensor 8 is installed at the center of the rotating frame 3 to monitor the lateral inclination in real time. The laser ranging sensor adopts a VL53L0X module with wide measurement range and high resolution, and is symmetrically installed at the left and right ends of the lateral attitude adjustment mechanism to measure the angle deviation between the implement and the ground in real time. The left laser ranging sensor 2 and the right laser ranging sensor 4 have their emitting ends vertically pointing to the ground to measure the distances between the implement and the ground on both sides, respectively and ;

[0045] The two ends pass through a signal conversion module to convert the return value of the ranging sensor into the inclination deviation of the rotating frame 3 according to the following mathematical model :

[0046]

[0047] wherein is the distance between the laser ranging sensors, and are the distances between the implement and the ground on both sides, respectively.

[0048] The signal conversion module converts the analog voltage signal of the laser ranging sensor into a digital signal and calculates the lateral inclination deviation of the rotating frame 3 from the ground using the above geometric model. The converted data is transmitted to the controller module 5 through the I2C bus for calling by the control algorithm.

[0049] The controller module 5 adopts an STM32F103C8T6 single-chip microcomputer as the core control unit, and based on the lateral inclination transmitted by the IMU sensor 8 and the angle deviation signal transmitted by the signal conversion module, the MPC algorithm predicts the future attitude of the implement according to the target attitude angle and the current state, calculates the required extension length of the electrically-controlled hydraulic cylinder 9, and then outputs an analog voltage signal to control the opening size of the proportional valve 7 of the electrically-controlled hydraulic cylinder 9, so as to adjust the lateral inclination of the implement to the target value.

[0050] The monitoring and control system can switch between the profiling mode and the fixed inclination mode. In the profiling mode, the controller module 5 controls the lateral attitude adjustment mechanism to adjust the implement to keep level with the ground in real time. In the fixed inclination mode, the controller module 5 controls the lateral attitude adjustment mechanism to adjust the implement to keep a fixed lateral inclination.

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

[0052] State equation:

[0053]

[0054] Control objectives:

[0055]

[0056] wherein is the current roll state, is the control input, is the control weight.

[0057] The host computer module 6 is connected with the controller module 5 through a serial port, for real-time display of the lateral roll angle and the angle deviation, and for user interaction to switch the adjustment mode. The host computer module 6 has functions of real-time data display, mode switching, data recording, and user interaction. The host computer receives the data of the machine lateral roll angle and the angle deviation returned by the controller in real time, and visually displays the roll angle value, the angle deviation value, and their dynamic change curves through a graphical interface;

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

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

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

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

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

[0063] Step 4: The controller module 5 generates an analog voltage signal to control the lateral posture adjustment mechanism based on the lateral roll angle transmitted by the IMU sensor 8 and the angle deviation signal transmitted by the signal conversion module through the MPC algorithm.

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

[0065] The system includes two working modes: profiling mode and fixed inclination mode. In the scene of hilly and mountainous terrain with significant slope changes, the ground is obviously ups and downs. In order to ensure that the implement keeps relative horizontal with the ground, thereby optimizing the operation quality, the system adopts the profiling mode, dynamically adjusts the transverse inclination of the implement by real-time monitoring the attitude difference between the ground and the implement, so that it can follow the ground slope in real time and accurately, and realize more accurate profiling operation.

[0066] In the flat plain area with small slope changes, the surface is relatively flat, but the implement may produce attitude fluctuation due to the vibration of the tractor in the process of advancing. In these scenarios, in order to reduce the shaking of the implement and ensure the flatness of the operation surface, the system adopts the fixed inclination mode to keep the implement stable at the set transverse inclination, reduce unnecessary adjustment, and improve operation efficiency and surface uniformity.

[0067] In addition, in some specific scenarios, such as land leveling operation, the fixed inclination mode can also further optimize the operation effect through stable attitude control to ensure the flatness of the ground. Through the flexible switching of the two control modes, the system of the present application can adapt to complex and variable agricultural operation scenes, which can not only ensure that the implement adapts to the frequent changes of slope in rugged terrain, but also optimize the flatness of the operation surface in relatively flat areas, thereby significantly improving the operation quality and overall efficiency.

[0068] The above is only the preferred specific embodiment of the present application, but the design concept of the present application is not limited to this. Any skilled person in the art can make non-essential changes to the present application within the technical scope disclosed by the present application, which is an act of infringing the protection scope of the present application.

Claims

1. A monitoring control system for a dual mode tractor rear mounted implement, characterized by, The lateral attitude adjustment mechanism, the sensor module, the signal conversion module, the host computer module and the controller module are included. The lateral attitude adjustment mechanism is used for suspending a machine tool and adjusting the lateral inclination angle of the machine tool. The sensor module includes a first sensor and a second sensor. The controller module transmits a lateral inclination angle based on the first sensor and an angle deviation signal transmitted by the signal conversion module generates a simulation voltage signal to control the lateral attitude adjustment mechanism through an MPC algorithm. The first sensor is installed in the middle of the lateral attitude adjustment mechanism to monitor the lateral inclination angle in real time. The second sensor is installed at both ends of the lateral attitude adjustment mechanism to measure the angle deviation of the machine tool from 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 monitoring control system can switch between a profiling mode and a fixed inclination angle mode. ； wherein is the current lateral inclination state, is the control input, is the control weight.

2. The dual mode tractor rear-mounted implement monitoring control system of claim 1, wherein, In the profiling mode, the controller module controls the lateral attitude adjustment mechanism to adjust the machine tool to be horizontal with the ground in real time.

3. The dual mode tractor rear-mounted implement monitoring control system of claim 2, wherein, In the fixed inclination angle mode, the controller module controls the lateral attitude adjustment mechanism to adjust the machine tool to maintain a fixed lateral inclination angle.

4. The dual mode tractor rear-mounted implement monitoring control system of claim 2, wherein, The host computer module is connected to the controller module through a serial port and is used to display the lateral inclination angle and the angle deviation in real time and switch the adjustment mode.

5. The dual mode tractor rear-mounted implement monitoring control system of claim 4, wherein, The length of the electro-hydraulic cylinder is calculated based on the following geometric model between the rotating frame and the tool hanging point and the rotation angle : ； wherein, L is the extension length of the electrically controlled hydraulic cylinder, D is the distance between the rotation center of the implement and the lower hinge point of the electrically controlled hydraulic cylinder, H is the height between the rotation center of the implement and the upper hinge point of the electrically controlled hydraulic cylinder, θ is the rotation angle of the implement, L0 is the total length of the electrically controlled hydraulic cylinder in the initial state.

6. The dual mode tractor rear-mounted implement monitoring control system of claim 1, wherein, The angle deviation The calculation method is as follows: ； wherein is the distance between the second sensors at the ends of the rotating frame, and are the distances between the sides of the implement and the ground, respectively.

7. The dual mode tractor rear-mounted implement monitoring control system of claim 1, wherein, The control model of the MPC algorithm is as follows:

8. The monitoring control system for dual mode tractor rear-mounted implement of any of claims 1-7, wherein, State equation:

9. A control method of a monitoring control system of a dual-mode tractor rear-mounted implement according to any one of claims 1 to 8, characterized in that, Control objective: The lateral attitude adjustment mechanism includes a rotating frame, a rotating shaft and a rotating driver. The machine tool is installed on the rotating frame. The rotating frame is connected to a 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 tool. The first sensor is installed in the middle of the rotating frame. The second sensor is installed at both ends of the rotating frame. The rotating driver is an electrically controlled hydraulic cylinder. One end of the electrically controlled hydraulic cylinder is fixed to the suspension bracket. The other end of the electrically controlled hydraulic cylinder is connected to the rotating frame through a joint shaft and provides a rotating driving force by changing its extension length. The host computer module has real-time data recording, control action log saving and alarm prompting functions. The first sensor is an IMU sensor. The second sensor is a laser ranging sensor. The method includes the following steps: Step 1: According to the work requirements, the driver selects the profiling mode or the fixed inclination angle mode through the host computer module. Step 2: The first sensor and the second sensor collect the lateral inclination angle and the angle deviation of the machine tool from the ground in real time. Step 3: Resolving the data from the second sensor into an angle deviation signal by means of a signal conversion module ; Step 4: The controller module generates a lateral tilt angle control signal based on the lateral tilt angle signal transmitted by the first sensor and the angle deviation signal transmitted by the signal conversion module and controls the lateral attitude adjustment mechanism through an MPC algorithm to generate a simulation voltage signal.

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