A method and device for controlling the extension and retraction of a grain unloading cylinder based on a position sensor

Abstract

The application provides a kind of based on position sensor's unloading cylinder deployment and retraction control method and device, it is related to agricultural machinery control field;The method includes obtaining the sensor voltage value corresponding to current position from the position sensor installed in advance on unloading cylinder;Based on the sensor voltage value is judged for failure based on the set judgment condition, if normal, based on the sensor voltage value and the unloading cylinder angle mapping model established determine the unloading cylinder angle corresponding to sensor voltage value;Unloading cylinder deployment command or retraction command is issued, based on start condition to carry out start state check, if meet, based on deployment command and unloading cylinder angle to unloading cylinder deployment control, or, based on retraction command and unloading cylinder angle to unloading cylinder retraction control.The application significantly improves the stability and accuracy of unloading cylinder deployment and retraction operation, fault judgment and angle mapping are combined, to ensure that control is based on reliable signal and accurate angle, improve operation stability and accuracy.

Description

TECHNICAL FIELD

[0001] The present application mainly relates to the field of agricultural machinery control, in particular to a kind of based on position sensor's unloading cylinder deployment and retraction control method and device. BACKGROUND

[0002] In the operation process of agricultural machinery, as the core component of grain unloading, the stability and precision of the deployment and retraction operation of unloading cylinder are crucial to the operation efficiency and equipment safety. At present, the automatic control of unloading cylinder mainly relies on the real-time position signal provided by the position sensor, combined with the control logic to drive the actuator to complete the corresponding action.

[0003] However, the existing unloading cylinder control technology has obvious deficiencies: first, there is no systematic pre-judgment mechanism for the effectiveness of sensor signal. When the sensor signal is abnormal, it is difficult to confirm whether the signal is reliable in time, and it is easy to execute control operation based on invalid signal, which leads to low deployment or retraction accuracy of unloading cylinder, and even causes equipment malfunction; second, the mapping relationship between sensor voltage and actual angle of unloading cylinder is not clear, and the angle calculation lacks unified standard, so that the control logic cannot obtain accurate position basis, which affects the control precision of deployment and retraction. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a kind of based on position sensor's unloading cylinder deployment and retraction control method and device for the deficiencies of prior art.

[0005] The technical solution of the present application to solve the above technical problem is as follows: a kind of based on position sensor's unloading cylinder deployment and retraction control method, comprising the following steps:

[0006] obtain the sensor voltage value corresponding to the current position from the position sensor installed on the unloading cylinder in advance;

[0007] based on the set judgment condition, the sensor voltage value is judged for failure, if the judgment result is normal, the sensor voltage value corresponding to the unloading cylinder angle is determined based on the established sensor voltage value and unloading cylinder angle mapping model;

[0008] issue deployment command or retraction command of unloading cylinder, based on start condition to carry out start state verification, if the verification meets the start condition, based on the deployment command and the unloading cylinder angle, the unloading cylinder is controlled to deploy, or, based on the retraction command and the unloading cylinder angle, the unloading cylinder is controlled to retract.

[0009] Another technical solution of the present application to solve the above technical problem is as follows: a kind of based on position sensor's unloading cylinder deployment and retraction device, comprising:

[0010] A data collector, which is electrically connected to a position sensor pre-installed on the unloading hopper, is used to obtain the sensor voltage value corresponding to the current position from the position sensor;

[0011] The processor is electrically connected to the data acquisition unit. The processor is used to perform fault judgment on the sensor voltage value based on the set judgment conditions. If the judgment result is normal, the unloading drum angle corresponding to the sensor voltage value is determined based on the established sensor voltage value and unloading drum angle mapping model.

[0012] A controller, electrically connected to the processor, is used to issue an unfolding command or a retraction command for the unloading hopper. The controller performs a start-up status verification based on the start-up conditions. If the verification meets the start-up conditions, the controller performs unfolding control on the unloading hopper based on the unfolding command and the angle of the unloading hopper, or performs retraction control on the unloading hopper based on the retraction command and the angle of the unloading hopper.

[0013] The beneficial effects of this invention are as follows: By combining fault diagnosis with an angle mapping model, the control logic is ensured to be executed based on reliable signals and accurate angle data, which significantly improves the stability and accuracy of the grain unloading hopper deployment and retraction operations, laying the foundation for subsequent refined control. Combined with pre-fault diagnosis, it ensures that control commands are issued based on valid signals, avoiding malfunctions caused by sensor drift or disconnection. At the same time, the activation condition verification blocks operations under unsafe conditions, significantly improving system reliability and equipment lifespan, and reducing manual intervention. This solves the problem of lacking systematic signal validity judgment and accurate angle feedback in the prior art, realizing full-process controllability from sensor signals to grain unloading hopper actions. Attached Figure Description

[0014] Figure 1 A flowchart of the grain unloading hopper deployment and retraction control method provided in an embodiment of the present invention;

[0015] Figure 2 This is a block diagram of the grain unloading drum deployment and retraction control device provided in an embodiment of the present invention. Detailed Implementation

[0016] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0017] Example 1: As Figure 1 As shown, this embodiment of the invention provides a method for controlling the deployment and retraction of a grain unloading hopper based on a position sensor, comprising the following steps:

[0018] S1. Obtain the sensor voltage value corresponding to the current position from the position sensor pre-installed on the unloading hopper;

[0019] S2, performing fault judgment on the sensor voltage value based on a set judgment condition, if the judgment result is normal, determining the unloading cylinder angle corresponding to the sensor voltage value based on the established sensor voltage value and unloading cylinder angle mapping model;

[0020] S3, issuing an unloading cylinder deployment command or a retraction command, performing start state verification based on a start condition, if the verification meets the start condition, performing deployment control on the unloading cylinder based on the deployment command and the unloading cylinder angle, or performing retraction control on the unloading cylinder based on the retraction command and the unloading cylinder angle.

[0021] In the embodiment, the combination of fault judgment and angle mapping model ensures that the control logic is executed based on reliable signals and accurate angle data, significantly improves the stability and accuracy of the unloading cylinder deployment and retraction operation, and lays a foundation for subsequent fine control. Combined with the pre-fault judgment, the control command is issued based on valid signals to avoid false operation caused by sensor drift or disconnection. At the same time, the start condition verification blocks the operation in the non-safe state, significantly improves the system reliability and equipment life, and reduces manual intervention. The problems of lack of systematic signal effectiveness judgment and accurate angle feedback in the prior art are solved, and the whole process from sensor signal to unloading cylinder action is controllable.

[0022] On the basis of the above embodiment, preferably, the fault judgment on the sensor voltage value based on the set judgment condition comprises:

[0023] comparing the sensor voltage value with a preset normal voltage range, if the sensor voltage value is less than the lower limit value of the preset normal voltage range and the duration exceeds the preset time, the judgment result is that there is a fault,

[0024] if the sensor voltage value is greater than the upper limit value of the preset normal voltage range and the duration exceeds the preset time, the judgment result is that there is a fault,

[0025] otherwise, the judgment result is normal.

[0026] In the embodiment, an explicit sensor signal effectiveness screening mechanism is established, solving the problem that the sensor signal cannot be identified in time when it is abnormal in the prior art;

[0027] avoiding the system to perform control operation based on invalid voltage signals (such as voltage abnormality caused by sensor disconnection and short circuit), reducing the risk of unloading cylinder false operation caused by signal error, and improving the reliability of control logic.

[0028] On the basis of the above-mentioned embodiments, preferably, the method further comprises the steps of: when the fault is determined, if the result of the determination is that there is a fault, detecting whether the deployment control or the retraction control is being performed, if yes, stopping the deployment control or the retraction control when the first preset delay time is reached, and if no, controlling the unloading cylinder to reset. For example, the unloading cylinder angle is set to 0 degrees, i.e., the reset point.

[0029] Specifically, the first preset delay time can be set to a time point, for example, a time point selected from 20-30 seconds.

[0030] In the embodiment, a hierarchical protection mechanism in a fault state is constructed, and the problem that the device has no clear protection action after the sensor fails in the prior art is solved.

[0031] If the deployment / retraction operation is being performed, the delay stop can avoid mechanical impact caused by sudden stop of the action; if the operation is not being performed, the reset control can restore the unloading cylinder to a safe initial state, thereby minimizing the damage risk of the fault to the device and improving the system safety.

[0032] On the basis of the above-mentioned embodiments, preferably, the deployment control of the unloading cylinder based on the deployment instruction and the unloading cylinder angle comprises:

[0033] The deployment control is started based on the deployment instruction, and it is determined whether the unloading cylinder angle is a preset deployment angle, if yes, the deployment control is stopped when the second preset delay time is reached, and if no, a current sensor voltage value is acquired in real time, a current unloading cylinder angle corresponding to the current sensor voltage value is determined based on a sensor voltage value and unloading cylinder angle mapping model, and it is determined whether the current unloading cylinder angle is the preset deployment angle, until the current unloading cylinder angle corresponding to the current sensor voltage value is the preset deployment angle, and the deployment control is stopped when the second preset delay time is reached.

[0034] Specifically, the second preset delay time can be set to a time point, for example, a time point selected from 2-5 seconds; when the second preset delay time is reached, the control signals of the unloading cylinder deployment solenoid valve and the enable solenoid valve are stopped to ensure that the unloading cylinder is stopped after being fully deployed.

[0035] In the embodiment, through the deployment control logic of "real-time angle monitoring-preset angle determination-delay stop after reaching the standard", dynamic closed-loop control of the unloading cylinder deployment process is realized, and the problem of insufficient deployment to position accuracy in the prior art is solved.

[0036] By updating the current angle in real time and comparing it with the preset deployment angle, it is ensured that the unloading cylinder is stopped after accurately reaching the target position, thereby avoiding the influence of insufficient deployment on the unloading efficiency or the mechanical overrun risk caused by excessive deployment, and improving the accuracy and reliability of the deployment operation.

[0037] On the basis of the above-mentioned embodiments, preferably, the retracting control of the unloading cylinder based on the retracting instruction and the unloading cylinder angle comprises:

[0038] Starting the retracting control based on the retracting instruction, and determining whether the unloading cylinder angle is a preset retracting angle, if yes, stopping the retracting control when reaching a second preset delay time, if not, acquiring a current sensor voltage value in real time, and determining a current unloading cylinder angle corresponding to the current sensor voltage value based on a sensor voltage value and unloading cylinder angle mapping model, and determining whether the current unloading cylinder angle is the preset retracting angle, until the current unloading cylinder angle corresponding to the current sensor voltage value is the preset retracting angle, and stopping the retracting control when reaching the second preset delay time.

[0039] In the embodiment, the problem of “not fully retracted” or “over-retracted” of the unloading cylinder during retraction is solved, and the real-time angle feedback ensures the accurate return of the unloading cylinder to the preset retraction position;

[0040] The risk of scratching and collision during equipment movement caused by not reaching the position, or damage to the mechanical structure caused by over-retraction is avoided, and the safety and accuracy of the retraction operation are improved.

[0041] On the basis of the above-mentioned embodiments, preferably, the starting state verification based on the starting condition comprises:

[0042] If the engine of the unloading cylinder is in the starting state and no emergency stop instruction is issued, the starting condition is verified.

[0043] Specifically, the second preset delay time can be set as a time point, for example, a time point selected from 2-5s; when reaching the second preset delay time, the control signals of the unloading cylinder retracting electromagnetic valve and the enabling electromagnetic valve are stopped to ensure that the unloading cylinder stops operating after being fully retracted.

[0044] In the embodiment, a safety threshold for operation starting is established, and the problem of lacking pre-operation safety verification in the prior art is solved;

[0045] Invalid operations or dangerous operations under the conditions of an unstarted engine (insufficient power) or an emergency stop state (emergency avoidance demand) are prevented, and equipment damage or personnel safety hazards caused by unsatisfied operation conditions are avoided from the source, and the standardization and safety of the operation are improved.

[0046] On the basis of the above-mentioned embodiments, preferably, the method further comprises the steps of:

[0047] During the unfolding control, if a retracting instruction is issued, the unfolding control is stopped, and the starting state verification based on the starting condition is performed, and if the starting condition is verified, the retracting control of the unloading cylinder based on the retracting instruction and the unloading cylinder angle is performed.

[0048] In the retracting control process, if the unfolding instruction is issued, the retracting control is stopped, and the starting state verification is performed based on the starting condition. If the verification meets the starting condition, the unloading cylinder is controlled to unfold based on the unfolding instruction and the unloading cylinder angle.

[0049] In the embodiment, the problem of insufficient operation flexibility in the prior art is solved, and real-time instruction adjustment in the operation process is supported.

[0050] The starting condition is re-verified during switching, ensuring that the new operation is executed under the premise of safety, which not only improves the operation flexibility in complex working conditions, but also guarantees the safety of the switching process, adapting to the actual needs of the changing agricultural operation.

[0051] On the basis of the above-mentioned embodiment, preferably, the method further comprises the step of:

[0052] In the unfolding control process, if the emergency stop instruction is issued, the unfolding control is stopped. If the unfolding instruction is reissued, the starting state verification is performed based on the starting condition. If the verification meets the starting condition, the unloading cylinder is controlled to unfold based on the unfolding instruction and the unloading cylinder angle.

[0053] In the retracting control process, if the emergency stop instruction is issued, the retracting control is stopped. If the retracting instruction is reissued, the starting state verification is performed based on the starting condition. If the verification meets the starting condition, the unloading cylinder is controlled to retract based on the retracting instruction and the unloading cylinder angle.

[0054] In the embodiment, a rapid response and secondary safety verification mechanism in emergency situations is constructed, solving the problem of no safety verification when restarting operation after emergency stop.

[0055] Immediately stopping the action when the emergency stop can quickly avoid danger, and the condition verification before re-operation prevents blind restart when the emergency stop reason has not been ruled out, significantly improving the emergency safety and operation reliability of the system.

[0056] On the basis of the above-mentioned embodiment, preferably, the method further comprises the step of establishing a sensor voltage value and unloading cylinder angle mapping model, comprising:

[0057] In the unloading cylinder no-load state, the unloading cylinder is adjusted to a preset angle by manual or semi-automatic control mode, and the sensor voltage value of the corresponding position is recorded, wherein the sensor voltage value of the corresponding position includes:

[0058] The unloading cylinder is adjusted to a fully retracted state, and the sensor voltage value is collected after stabilization, denoted as ,

[0059] The unloading cylinder is adjusted to a fully unfolded state, and the sensor voltage value is collected after stabilization, denoted as ;

[0060] Based on the linear relationship between the sensor voltage and the unloading cylinder angle, a relationship expression is obtained:

[0061] ,

[0062] wherein, is the unloading cylinder angle, is the sensor voltage value, is the proportional coefficient, is the intercept coefficient;

[0063] Substituting and into the relationship expression, a sensor voltage value and unloading cylinder angle mapping model is derived.

[0064] At least three intermediate angles (such as 25°, 50°, and 75°) are uniformly selected between 0° and 100°, and the corresponding voltage values , , are recorded respectively for verifying the linearity of the model.

[0065] Intermediate point verification and correction step: the intermediate verification point voltage value (such as the voltage corresponding to 25° ) is substituted into the formula to calculate the theoretical angle, and if the error with the actual angle is > ± 1°, it is necessary to recheck whether the mechanical limit is loose or the sensor installation deviation, and after correction, the data is collected again and the parameters are calibrated.

[0066] In this embodiment, a precise sensor voltage value and unloading cylinder angle mapping model is established to eliminate the influence of installation error or mechanical looseness and ensure long-term control accuracy.

[0067] Embodiment 2: As shown in Figure 2 , the present application provides an unloading cylinder unfolding and retracting device based on a position sensor, comprising:

[0068] a collector electrically connected with a position sensor pre-installed on the unloading cylinder, the collector being used to acquire a sensor voltage value corresponding to a current position from the position sensor;

[0069] a processor electrically connected with the collector, the processor being used to perform fault judgment on the sensor voltage value based on a set judgment condition, and if the judgment result is normal, determining an unloading cylinder angle corresponding to the sensor voltage value based on an established sensor voltage value and unloading cylinder angle mapping model;

[0070] A controller is electrically connected with the processor, and the controller is used to issue an unloading cylinder unfolding instruction or a retraction instruction, and to perform a start state check based on a start condition. If the check satisfies the start condition, the unloading cylinder is unfolded based on the unfolding instruction and the unloading cylinder angle, or the unloading cylinder is retracted based on the retraction instruction and the unloading cylinder angle.

[0071] Preferably, the unloading cylinder unfolding and retracting device further comprises a display device for displaying "sensor over-limit fault", "sensor under-limit fault" alarm information, etc.

[0072] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "linking", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0073] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0074] Although the embodiments of the present application have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A method for controlling the deployment and retraction of a grain unloading hopper based on a position sensor, characterized in that, The method comprises the following steps: obtaining a sensor voltage value corresponding to a current position from a position sensor pre-installed on the unloading cylinder; judging the sensor voltage value for faults based on a set judgment condition, and if the judgment result is normal, determining an unloading cylinder angle corresponding to the sensor voltage value based on an established sensor voltage value and unloading cylinder angle mapping model; issuing an unloading cylinder expansion instruction or a retraction instruction, and performing start state verification based on a start condition, and if the verification meets the start condition, performing expansion control on the unloading cylinder based on the expansion instruction and the unloading cylinder angle, or performing retraction control on the unloading cylinder based on the retraction instruction and the unloading cylinder angle; wherein the judgment of the sensor voltage value for faults based on the set judgment condition comprises: comparing the sensor voltage value with a preset normal voltage range, and if the sensor voltage value is less than the lower limit value of the preset normal voltage range and the duration exceeds a preset time, the judgment result is that there is a fault, if the sensor voltage value is greater than the upper limit value of the preset normal voltage range and the duration exceeds a preset time, the judgment result is that there is a fault, otherwise, the judgment result is normal; the start state verification based on the start condition comprises: if the engine of the unloading cylinder is in the start state and no emergency stop instruction is issued, the verification meets the start condition; further comprising the step of establishing a sensor voltage value and unloading cylinder angle mapping model, comprising: in the unloading cylinder no-load state, the unloading cylinder is adjusted to a preset angle by manual or semi-automatic control mode, and the sensor voltage value of the corresponding position is recorded, wherein the sensor voltage value of the corresponding position comprises: Adjust the unloading cylinder to the fully retracted state, and collect the sensor voltage value after stabilization, denoted as , Adjust the unloading cylinder to the fully expanded state, and collect the sensor voltage value after stabilization, denoted as V0. ; based on the linear relationship between the sensor voltage and the unloading cylinder angle, the relationship expression is obtained: ， wherein, is the unloading cylinder angle, is the sensor voltage value, is the proportional coefficient, is the intercept coefficient; Will and Substituting into the relational expression, a mapping model between the sensor voltage value and the unloading drum angle is derived.

2. The unloader cylinder deployment and retraction control method of claim 1, wherein, further comprising the step of: when the judgment result is that there is a fault, detecting whether the expansion control or the retraction control is being performed, if yes, stopping the expansion control or the retraction control when the first preset delay time is reached, and if no, controlling the unloading cylinder to reset.

3. The unloader tube deployment and retrieval control method of claim 1, wherein, the expansion control of the unloading cylinder based on the expansion instruction and the unloading cylinder angle comprises: starting the expansion control based on the expansion instruction, and judging whether the unloading cylinder angle is a preset expansion angle, if yes, stopping the expansion control when the second preset delay time is reached, and if no, obtaining the current sensor voltage value in real time, determining the current unloading cylinder angle corresponding to the current sensor voltage value based on the sensor voltage value and unloading cylinder angle mapping model, and judging whether the current unloading cylinder angle is the preset expansion angle, until the current unloading cylinder angle corresponding to the current sensor voltage value is the preset expansion angle, and stopping the expansion control when the second preset delay time is reached.

4. The unloader cylinder deployment and retraction control method of claim 1, wherein, the retraction control of the unloading cylinder based on the retraction instruction and the unloading cylinder angle comprises: Start the retraction control based on the retraction instruction, and determine whether the unloading cylinder angle is a preset retraction angle. If yes, stop the retraction control when the second preset delay time is reached. If no, obtain the current sensor voltage value in real time, determine the current unloading cylinder angle corresponding to the current sensor voltage value based on the sensor voltage value and the unloading cylinder angle mapping model, and determine whether the current unloading cylinder angle is the preset retraction angle until the current unloading cylinder angle corresponding to the current sensor voltage value is the preset retraction angle. Stop the retraction control when the second preset delay time is reached.

5. The unloader tube deployment and retrieval control method of claim 1, wherein, Further comprising steps: During the unfolding control process, if a retraction instruction is issued, stop the unfolding control, and perform start state verification based on the start condition. If the verification meets the start condition, perform retraction control on the unloading cylinder based on the retraction instruction and the unloading cylinder angle. During the retraction control process, if an unfolding instruction is issued, stop the retraction control, and perform start state verification based on the start condition. If the verification meets the start condition, perform unfolding control on the unloading cylinder based on the unfolding instruction and the unloading cylinder angle.

6. The unloader cylinder deployment and retraction control method of claim 1, wherein, Further comprising steps: During the unfolding control process, if an emergency stop instruction is issued, stop the unfolding control. If the unfolding instruction is issued again, perform start state verification based on the start condition. If the verification meets the start condition, perform unfolding control on the unloading cylinder based on the unfolding instruction and the unloading cylinder angle. During the retraction control process, if an emergency stop instruction is issued, stop the retraction control. If the retraction instruction is issued again, perform start state verification based on the start condition. If the verification meets the start condition, perform retraction control on the unloading cylinder based on the retraction instruction and the unloading cylinder angle.

7. A position sensor-based unloading cylinder deployment and retraction device employing the unloading cylinder deployment and retraction control method of any one of claims 1 to 6, characterized by Comprising: A collector electrically connected to a position sensor pre-installed on the unloading cylinder, the collector being configured to obtain a sensor voltage value corresponding to the current position from the position sensor; A processor electrically connected to the collector, the processor being configured to perform fault judgment on the sensor voltage value based on a set judgment condition. If the judgment result is normal, determine the unloading cylinder angle corresponding to the sensor voltage value based on the established sensor voltage value and unloading cylinder angle mapping model. A controller electrically connected to the processor, the controller being configured to issue an unfolding instruction or a retraction instruction of the unloading cylinder, perform start state verification based on the start condition, and perform unfolding control on the unloading cylinder based on the unfolding instruction and the unloading cylinder angle, or perform retraction control on the unloading cylinder based on the retraction instruction and the unloading cylinder angle if the verification meets the start condition.

Images