Three-point type suspension mechanism self-adaptive leveling profiling method
By introducing IMU attitude sensor and support vector machine regression model into the three-point suspension device, the automatic adjustment of the angle of the mounting machine is achieved, and the problem that the suspension device can only work at one angle in the prior art is solved, which improves the efficiency and quality of agricultural operations.
Patent Information
- Application Number
- CN202411751001.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-02
- Publication Date
- 2025-05-06
AI Technical Summary
The existing three-point suspension device can only work at one angle in agricultural operations, resulting in low operational efficiency and agronomic failure.
Adaptive leveling and contouring method of three-point suspension mechanism is adopted. By installing IMU attitude sensors and displacement sensors on the mounting equipment and power vehicles, combining the support vector machine regression model and PID control algorithm, automatic adjustment of the angle of the mounting equipment is achieved.
It greatly enhances the adaptability to the undulation of the ground, improves the operation efficiency, improves the operation results, and improves the integration of agricultural machinery and agriculture.
Smart Images
Figure CN119924010A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of three-point suspension, and in particular to a self-adaptive leveling and profiling method for a three-point suspension mechanism. Background Art
[0002] In recent years, with the increasing aging of the population, the complex agricultural operating environment has become the main factor affecting the operating efficiency. In order to overcome this series of problems, it is urgent to develop a convenient and efficient three-point suspension adaptive leveling device.
[0003] The three-point suspension device is mostly only suitable for on-demand control of agricultural operations, and supports manual adjustment of the angle range of the mounted implements. During the operation, it can only work at a fixed angle, which greatly reduces the effectiveness of the operation and will result in substandard agronomy. Summary of the invention
[0004] The invention aims to provide a three-point suspension mechanism adaptive leveling and profiling method, which can automatically adjust the angle of the mounting tool and improve the working efficiency.
[0005] The technical solution of the present invention is as follows:
[0006] The three-point suspension mechanism adaptive leveling and profiling method comprises the following steps:
[0007] A. The mounting tool is connected to the power vehicle through a three-point suspension mechanism, the upper pull rod of the three-point suspension mechanism is an upper pull cylinder, and one of the side lifting rods is a leveling cylinder;
[0008] B. A leveling IMU attitude sensor is installed on the mounting implement, a tillage depth IMU attitude sensor is installed on the power vehicle, and displacement sensors are installed on the leveling cylinder, the pull-up cylinder, and the lifting cylinder respectively; a leveling solenoid valve group, a pull-up solenoid valve group, and a lifting solenoid valve group are respectively installed for the leveling cylinder, the pull-up cylinder, and the lifting cylinder; a control device electrically connected to each IMU attitude sensor, each displacement sensor, and each solenoid valve group is installed;
[0009] The leveling angle information includes: the three-axis rotation angle of the leveling IMU attitude sensor and the three-axis rotation angular velocity of the leveling IMU attitude sensor.
[0010] The leveling IMU attitude sensor is set in the middle of the mounting implement, and the tillage depth IMU attitude sensor is set on the front side of the rear axle.
[0011] The control device includes a mounting tool data processing module S1, a support vector machine regression model algorithm leveling module S3, and a tillage depth PID control algorithm module S4;
[0012] The mounting equipment data processing module S1 receives the angle information of the leveling IMU attitude sensor and the tilling depth IMU attitude sensor in real time, and inputs it into the support vector machine regression model algorithm leveling module S3 and the tilling depth PID control algorithm module S4 respectively;
[0013] The support vector machine regression model algorithm leveling module S3 includes a trained SVR regression model and a signal output module. The leveling angle information is input into the SVR regression model, and the leveling PWM signal is calculated. The signal output module outputs the signal to the leveling solenoid valve group and the pull-up solenoid valve group to control the leveling cylinder and the pull-up cylinder.
[0014] The control device further comprises a leveling PID control algorithm module S2, and the leveling PID control algorithm module S2 is used to train a support vector machine regression model leveling algorithm module S3, and the training process is:
[0015] The mounting equipment data processing module S1 receives the angle information of the IMU attitude sensor in real time and inputs it into the leveling PID control algorithm module S2. The leveling PID control algorithm module S2 calculates the leveling PWM signal according to the angle information, and outputs it to the leveling solenoid valve group and the pull-up solenoid valve group to control the leveling cylinder and the pull-up cylinder. At the same time, the leveling PWM signal and the leveling angle information adjusted by the leveling PWM signal are transmitted to the support vector machine regression model leveling algorithm module S3 for training.
[0016] The leveling PID control algorithm module S2 is based on the tilt angle θ of the mounting tool in the received angle information. X and θ Y , taking the horizontal 0° as the reference, perform PID algorithm calculation.
[0017] C. The control device receives the angle information of the leveling IMU attitude sensor, obtains the control data through calculation, and controls the leveling cylinder and the pull-up cylinder through the leveling solenoid valve group and the pull-up solenoid valve group to realize the leveling control of the mounting equipment;
[0018] D. The control device receives the angle information of the tillage depth IMU attitude sensor, and then controls the action of the lifting cylinder through the lifting solenoid valve group to control the mounted implement close to the ground, thereby realizing the function of controlling the tillage depth.
[0019] The mounting implement data processing module S1 receives the tillage depth angle information from the tillage depth IMU attitude sensor in real time, and inputs it into the leveling tillage depth PID control algorithm module S4. The tillage depth PID control algorithm module S4 calculates the tillage depth PWM signal according to the tillage depth angle information, and outputs it to the lifting solenoid valve group to control the lifting cylinder.
[0020] The PID control algorithm module S4 of the tillage depth is based on the received angle information, and the rear wheel is the center of the circle perpendicular to the front of the vehicle. H, taking the horizontal 0° as the reference, perform PID algorithm calculation.
[0021] The tillage depth angle information includes: the tillage depth IMU attitude sensor takes the rear wheel as the center and is perpendicular to the body of the circle. H .
[0022] The calculation process in the support vector machine regression model algorithm module S3 is as follows:
[0023] a. Preset the reference angle of the mounting equipment, accurately compare the received real-time mounting equipment angle information with the reference angle, and calculate the angle difference θ between the current angle and the reference angle i The signal output module is based on the angle difference θ i The positive and negative directions of the leveling PWM signal are output to the leveling solenoid valve group and the pull-up solenoid valve group to control the movement direction of the leveling cylinder and the pull-up cylinder;
[0024] b. The angle difference θ i and angular velocity ω i Input the trained SVR regression model to calculate the output PWM value P i , P i =G1(S)ω i +G2(S)θ i ; According to the PWM value P i Precisely control the movements of the leveling cylinder and the pull-up cylinder.
[0025] When the angle deviation of the mounted implement is within ±1 degree of the preset reference angle, the system considers it to be in a leveling state.
[0026] The control sequence of the leveling cylinder and the pulling cylinder is as follows: each execution of the control action only includes one type of cylinder movement, and the control priority is leveling cylinder>pulling cylinder. After the leveling cylinder and the pulling cylinder are completed, the tillage depth PID control algorithm module S4 calculates and controls the lifting cylinder movement.
[0027] The lifting cylinder action control process is as follows:
[0028] The mounting implement data processing module S1 receives the tillage depth angle information of the tillage depth IMU attitude sensor in real time, and inputs it into the leveling tillage depth PID control algorithm module S4. The tillage depth PID control algorithm module S4 calculates the tillage depth PWM signal according to the tillage depth angle information, and outputs it to the lifting solenoid valve group to control the lifting cylinder (3); when the front of the power vehicle rises and falls according to the terrain, the angle value θ H Subtract from the reference to get the angle difference θ Hi , and then convert it into the working distance H = tanθ Hi*Tc, Tc is the distance from the rear axle to the center of the mounting tool, and then use this working distance for pid control; if θ Hi is positive, the PWM value of the lifting cylinder rising direction is output, θ Hi If it is negative, the PWM value of the lifting cylinder in the descending direction is output.
[0029] The method of the present invention can adaptively adjust the level during agricultural operations, greatly enhancing the adaptability to ground undulations. The IMU sensor is used to provide real-time feedback on the actual angle of the mounted implement, and the angle is changed by a controller to keep it in the working position at all times. This greatly improves the operation results and the degree of integration of agricultural machinery and agriculture, becoming an effective measure to improve agricultural operations and having good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS
[0030] Figure 1 is a structural schematic diagram of a three-point suspension mechanism according to Example 1;
[0031] Figure 2 It is a schematic diagram of the rear wheel of the power vehicle lifted according to Example 1;
[0032] Figure 3 It is a schematic diagram of the front wheel of the power vehicle lifted according to Example 1;
[0033] The serial numbers in the figure are as follows:
[0034] 1-Pull-up cylinder, 2-Leveling cylinder, 3-Lifting cylinder. DETAILED DESCRIPTION
[0035] The present invention is described in detail below with reference to the accompanying drawings and embodiments.
[0036] Example 1
[0037] The method for adaptive leveling and profiling of a three-point suspension mechanism comprises the following steps:
[0038] A. Figure 1 The mounting tool shown is connected to the power vehicle via a three-point suspension mechanism, the upper pull rod of the three-point suspension mechanism is an upper pull cylinder 1, and one of the side lifting rods is a leveling cylinder 2;
[0039] B. A leveling IMU attitude sensor is set on the mounting implement, a tillage depth IMU attitude sensor is set on the power vehicle, and displacement sensors are installed on the leveling cylinder 2, the pull-up cylinder 1 and the lifting cylinder 3 respectively; a leveling solenoid valve group, a pull-up solenoid valve group and a lifting solenoid valve group are respectively set corresponding to the leveling cylinder 2, the pull-up cylinder 1 and the lifting cylinder 3; a control device electrically connected to each IMU attitude sensor, each displacement sensor and each solenoid valve group is set;
[0040] The leveling IMU attitude sensor is set in the middle of the mounting implement, and the tillage depth IMU attitude sensor is set on the front side of the rear axle.
[0041] The control device includes a mounting tool data processing module S1, a support vector machine regression model algorithm leveling module S3, and a tillage depth PID control algorithm module S4;
[0042] The mounting equipment data processing module S1 receives the angle information of the leveling IMU attitude sensor and the tilling depth IMU attitude sensor in real time, and inputs it into the support vector machine regression model algorithm leveling module S3 and the tilling depth PID control algorithm module S4 respectively;
[0043] The support vector machine regression model algorithm leveling module S3 includes a trained SVR regression model and a signal output module. The leveling angle information is input into the SVR regression model, and the leveling PWM signal is calculated. The signal output module outputs the signal to the leveling solenoid valve group and the pull-up solenoid valve group to control the actions of the leveling cylinder 2 and the pull-up cylinder 1.
[0044] C. The control device receives the angle information of the leveling IMU attitude sensor, obtains the control data through calculation, and controls the leveling cylinder 2 and the pull-up cylinder 1 through the leveling solenoid valve group and the pull-up solenoid valve group to realize the leveling control of the mounting equipment;
[0045] The mounting implement data processing module S1 receives the tillage depth angle information from the tillage depth IMU attitude sensor in real time, and inputs it into the leveling tillage depth PID control algorithm module S4. The tillage depth PID control algorithm module S4 calculates the tillage depth PWM signal according to the tillage depth angle information, and outputs it to the lifting solenoid valve group to control the lifting cylinder 3.
[0046] The control device further comprises a leveling PID control algorithm module S2, and the leveling PID control algorithm module S2 is used to train a support vector machine regression model leveling algorithm module S3, and the training process is:
[0047] The mounting equipment data processing module S1 receives the angle information of the IMU attitude sensor in real time and inputs it into the leveling PID control algorithm module S2. The leveling PID control algorithm module S2 calculates the leveling PWM signal according to the angle information, and outputs it to the leveling solenoid valve group and the pull-up solenoid valve group to control the actions of the leveling cylinder 2 and the pull-up cylinder 1. At the same time, the leveling PWM signal and the leveling angle information adjusted by the leveling PWM signal are transmitted to the support vector machine regression model leveling algorithm module S3 for training.
[0048] The leveling PID control algorithm module S2 is based on the tilt angle θ of the mounting tool in the received angle information. X and θ Y , taking the horizontal 0° as the reference, perform PID algorithm calculation.
[0049] The PID control algorithm module S4 of the tillage depth is based on the received angle information, and the rear wheel is the center of the circle perpendicular to the front of the vehicle. H , taking the horizontal 0° as the reference, perform PID algorithm calculation.
[0050] The leveling angle information includes: the three-axis rotation angle θ of the leveling IMU attitude sensor X ,θ Y ,θ Z , the angular velocity of the three axes of the IMU attitude sensor around the axis ω X ,ω Y ,ω Z .
[0051] The tillage depth angle information includes: the tillage depth IMU attitude sensor takes the rear wheel as the center and is perpendicular to the body of the circle. H .
[0052] The calculation process in the support vector machine regression model algorithm module S3 is as follows:
[0053] a. Preset the reference angle of the mounting equipment, accurately compare the received real-time mounting equipment angle information with the reference angle, and calculate the angle difference θ between the current angle and the reference angle i The signal output module is based on the angle difference θ i The positive and negative directions of the leveling PWM signal are output to the leveling solenoid valve group and the pull-up solenoid valve group to control the movement direction of the leveling cylinder 2 and the pull-up cylinder 1;
[0054] b. The angle difference θ i and angular velocity ω i Input the trained SVR regression model to calculate the output PWM value P i , P i =G1(S)ω i +G2(S)θ i ; According to the PWM value P i Accurately control the movements of the leveling cylinder 2 and the pulling cylinder 1.
[0055] When the angle deviation of the mounted implement is within ±1 degree of the preset reference angle, the system considers it to be in a leveling state.
[0056] D. The control device receives the angle information of the tillage depth IMU attitude sensor, and then controls the action of the lifting cylinder 3 through the lifting solenoid valve group to achieve the control of the mounted implement close to the ground, thereby realizing the function of controlling the tillage depth.
[0057] The control sequence of the leveling cylinder 2 and the pulling cylinder 1 is as follows: each execution of the control action only includes one type of cylinder movement, and the control priority is leveling cylinder > pulling cylinder. After the leveling cylinder 2 and the pulling cylinder 1 are completed, the tillage depth PID control algorithm module S4 calculates and controls the lifting cylinder action.
[0058] The lifting cylinder action control process is as follows:
[0059] The mounting equipment data processing module S1 receives the tillage depth angle information of the tillage depth IMU attitude sensor in real time, and inputs it into the leveling tillage depth PID control algorithm module S4. The tillage depth PID control algorithm module S4 calculates the tillage depth PWM signal according to the tillage depth angle information, and outputs it to the lifting solenoid valve group to control the lifting cylinder 3; when the front of the power vehicle rises and falls according to the terrain, the angle value θ H Subtract from the reference to get the angle difference θ Hi , and then convert it into the working distance H = tanθ Hi *Tc, Tc is the distance from the rear axle of the power vehicle to the center of the mounting equipment, and then use this working distance for pid control; if θ Hi is positive, outputting the PWM value of the lifting cylinder 3 in the upward direction, θ Hi If it is negative, the PWM value of the lifting cylinder 3 in the descending direction is output.
[0060] like Figure 2 As shown, the rear wheel is lifted, and at this time θ Hi is negative; the mounted implement changes angle with the power vehicle body, the pulling cylinder 1 first levels the implement, and then the lifting cylinder 3 descends according to the calculated working distance.
[0061] like Figure 3 As shown, the front wheel is lifted, and at this time θ Hi is positive; the angle of the mounted implement changes with the power vehicle, the pulling cylinder 1 first levels the implement, and then the lifting cylinder 3 descends according to the calculated working distance.
Claims
1. A three-point suspension mechanism adaptive leveling and profiling method, characterized in that: The following steps are involved: A. The mounting tool is connected to the power vehicle via a three-point suspension mechanism, wherein the upper pull rod of the three-point suspension mechanism is an upper pull cylinder (1), and one of the side lifting rods is a leveling cylinder (2); B. A leveling IMU attitude sensor is provided on the mounting implement, a tillage depth IMU attitude sensor is provided on the power vehicle, and displacement sensors are installed on the leveling cylinder (2), the pull-up cylinder (1) and the lifting cylinder (3) respectively; a leveling solenoid valve group, a pull-up solenoid valve group and a lifting solenoid valve group are provided corresponding to the leveling cylinder (2), the pull-up cylinder (1) and the lifting cylinder (3) respectively; and a control device is provided which is electrically connected to each IMU attitude sensor, each displacement sensor and each solenoid valve group; C. The control device receives the angle information of the leveling IMU attitude sensor, obtains the control data through calculation, and controls the leveling cylinder (2) and the pull-up cylinder (1) through the leveling solenoid valve group and the pull-up solenoid valve group to realize the leveling control of the mounting equipment; D. The control device receives the angle information of the tillage depth IMU attitude sensor, and then controls the action of the lifting cylinder (3) through the lifting solenoid valve group to achieve the control of the mounted implement close to the ground, thereby realizing the function of controlling the tillage depth.
2. The method for adaptive leveling and profiling of a three-point suspension mechanism according to claim 1, characterized in that: In the step B, the leveling IMU attitude sensor is arranged in the middle of the mounting implement, and the tillage depth IMU attitude sensor is arranged in the front side of the rear axle.
3. The method for adaptive leveling and profiling of a three-point suspension mechanism according to claim 1, characterized in that: The control device includes a mounting tool data processing module S1, a support vector machine regression model algorithm leveling module S3, and a tillage depth PID control algorithm module S4; The mounting equipment data processing module S1 receives the angle information of the leveling IMU attitude sensor and the tilling depth IMU attitude sensor in real time, and inputs it into the support vector machine regression model algorithm leveling module S3 and the tilling depth PID control algorithm module S4 respectively; The support vector machine regression model algorithm leveling module S3 includes a trained SVR regression model and a signal output module. The leveling angle information is input into the SVR regression model, and the leveling PWM signal is calculated. The signal output module outputs the signal to the leveling solenoid valve group and the pull-up solenoid valve group to control the actions of the leveling cylinder (2) and the pull-up cylinder (1). The mounting implement data processing module S1 receives the tillage depth angle information from the tillage depth IMU attitude sensor in real time and inputs it into the leveling tillage depth PID control algorithm module S4. The tillage depth PID control algorithm module S4 calculates the tillage depth PWM signal according to the tillage depth angle information and outputs it to the lifting solenoid valve group to control the lifting cylinder (3).
4. The method for adaptive leveling and profiling of a three-point suspension mechanism according to claim 2, characterized in that: The control device further comprises a leveling PID control algorithm module S2, and the leveling PID control algorithm module S2 is used to train a support vector machine regression model leveling algorithm module S3, and the training process is: The mounting equipment data processing module S1 receives the angle information of the IMU attitude sensor in real time and inputs it into the leveling PID control algorithm module S2. The leveling PID control algorithm module S2 calculates the leveling PWM signal according to the angle information and outputs it to the leveling solenoid valve group and the pull-up solenoid valve group to control the actions of the leveling cylinder (2) and the pull-up cylinder (1). At the same time, the leveling PWM signal and the leveling angle information adjusted by the leveling PWM signal are transmitted to the support vector machine regression model leveling algorithm module S3 for training.
5. The method for adaptive leveling and profiling of a three-point suspension mechanism according to claim 4, characterized in that: The leveling PID control algorithm module S2 is based on the tilt angle θ of the mounting tool in the received angle information. X and θ Y , taking the horizontal 0° as the reference, perform PID algorithm calculation; The PID control algorithm module S4 of the tillage depth is based on the received angle information, and the rear wheel is the center of the circle perpendicular to the front of the vehicle. H , taking the horizontal 0° as the reference, perform PID algorithm calculation.
6. The method for self-adapting leveling and profiling of a three-point suspension mechanism according to claim 1 or 4, characterized in that: The leveling angle information includes: the three-axis rotation angle (θ X ,θ Y ,θ Z ), the angular velocity of the three axes of the IMU attitude sensor (ω X ,ω Y ,ω Z ); The tillage depth angle information includes: the tillage depth IMU attitude sensor takes the rear wheel as the center and is perpendicular to the body of the circle. H .
7. The method for self-adapting leveling and profiling of a three-point suspension mechanism according to claim 3, characterized in that: The calculation process in the support vector machine regression model algorithm module S3 is as follows: a. Preset the reference angle of the mounting equipment, accurately compare the received real-time mounting equipment angle information with the reference angle, and calculate the angle difference θ between the current angle and the reference angle i The signal output module is based on the angle difference θ i The positive and negative directions of the leveling PWM signals are output to the leveling solenoid valve group and the pull-up solenoid valve group to control the movement directions of the leveling cylinder (2) and the pull-up cylinder (1); b. The angle difference θ i and angular velocity ω i Input the trained SVR regression model to calculate the output PWM value P i , P i =G1(S)ω i +G2(S)θ i ; According to the PWM value P i The movements of the leveling cylinder (2) and the pulling cylinder (1) are precisely controlled.
8. The method for self-adapting leveling and profiling of a three-point suspension mechanism according to claim 7, characterized in that: When the angle deviation of the mounted implement is within ±1 degree of the preset reference angle, the system considers it to be in a leveling state.
9. The method for adaptive leveling and profiling of a three-point suspension mechanism according to claim 7, characterized in that: The control sequence of the leveling cylinder (2) and the pulling cylinder (1) is as follows: each execution of the control action only includes one type of cylinder movement, and the control priority is leveling cylinder > pulling cylinder. After the leveling cylinder (2) and the pulling cylinder (1) are completed, the tillage depth PID control algorithm module S4 calculates and controls the lifting cylinder movement.
10. The method for self-adapting leveling and profiling of a three-point suspension mechanism according to claim 9, characterized in that: The lifting cylinder action control process is as follows: The mounting implement data processing module S1 receives the tillage depth angle information of the tillage depth IMU attitude sensor in real time, and inputs it into the leveling tillage depth PID control algorithm module S4. The tillage depth PID control algorithm module S4 calculates the tillage depth PWM signal according to the tillage depth angle information, and outputs it to the lifting solenoid valve group to control the lifting cylinder (3); when the front of the power vehicle rises and falls according to the terrain, the angle value θ H Subtract from the reference to get the angle difference θ Hi , and then convert it into the working distance H = tanθ Hi *Tc, Tc is the distance from the rear axle to the center of the mounting tool, and then use this working distance for pid control; if θ Hi is positive, the PWM value of the lifting cylinder rising direction is output, θ Hi If it is negative, the PWM value of the lifting cylinder in the descending direction is output.