CN102259625B - Barrier measurement and control device of hillside orchard traction cargo transport machine, and measurement and control method thereof - Google Patents

Abstract

The invention provides an obstacle measurement and control device for towing a freight aircraft in a mountain orchard, comprising a microprocessor, a driving detection unit, an ultrasonic obstacle detection unit, a wireless remote control unit, a driving voice warning unit, a manual controller, a power supply unit, a driving detection unit, The ultrasonic obstacle detection unit, the wireless remote control unit, the driving voice warning unit, the manual controller are connected with the microprocessor, the power supply unit is connected with the microprocessor, the driving detection unit, the ultrasonic obstacle detection unit, the wireless remote control unit, the driving voice warning unit, The manual controller is connected; the driving detection unit is installed on the fixed frame above the wheel; the ultrasonic obstacle detection unit is installed on the side rails of the freighter under test in each running direction; the wireless remote control unit is externally connected to the motor control device of the freighter under test. The invention also provides a measurement and control method for the above device. The invention enables the cargo plane to quickly brake when an obstacle is found, thereby enhancing its control stability and safety.

Description

Obstacle measurement and control device and measurement and control method for towing cargo aircraft in mountain orchards

technical field

The invention relates to the technical field of obstacle detection, in particular to an obstacle measurement and control device and a measurement and control method for a mountain orchard towing a freighter.

Background technique

The site conditions for fruit production in southern my country are mostly mountains and hills, especially in the subtropical and mid-subtropical fruit production distribution areas. Orchard labor is increasingly scarce, and the role of orchard production mechanization is increasingly reflected.

In orchard production, tractor freighters are suitable for the transportation of fertilizers, pesticides, fruits and production tools in mountain orchards with large slopes (50 degrees). This type of machinery uses steel wire ropes as the traction mechanism, and the transportation mechanism uses rails and cargo freighters. The rails can be bent and undulating to adapt to the topography of mountain orchards, so as to realize the effective transportation of mountain orchard items. The motor and its control device of the traction freighter are usually installed on the top of the orchard, and the track is laid along the mountain road, and the freighter passes through the orchard. Due to the influence of the terrain and fruit trees, the operators cannot quickly find the obstacles at the front end of the freighter and remove them. Timely control of the motor to make it brake, there is a greater potential safety hazard. Therefore, it is of great application value to research and develop the method and equipment for obstacle detection during the moving of the mountain orchard wire rope traction freighter and for fast and effective braking after the obstacle is found.

Contents of the invention

The main purpose of the present invention is to overcome the shortcomings and deficiencies of the above-mentioned prior art, and provide an obstacle measurement and control device for mountain orchard traction freight aircraft that realizes obstacle detection and active braking of freight aircraft. During the operation of the cargo aircraft, the controller cannot quickly find the obstacles in front of the cargo aircraft and control the electric motor to brake the cargo aircraft in time, so as to improve the safety of the cargo aircraft.

Another object of the present invention is to provide a measurement and control method for the obstacle measurement and control device of the above-mentioned mountain orchard traction freighter.

In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: the obstacle measurement and control device of the mountain orchard traction freighter, including a microprocessor, a driving detection unit, an ultrasonic obstacle detection unit, a wireless remote control unit, a driving voice warning unit, and a manual control unit. device and power supply unit, the driving detection unit, ultrasonic obstacle detection unit, wireless remote control unit, driving voice warning unit, and manual controller are all connected to the microprocessor respectively, and the power supply unit is respectively connected to the microprocessor and the driving detection unit , an ultrasonic obstacle detection unit, a wireless remote control unit, a driving voice warning unit, and a manual controller are connected; the driving detection unit is installed on the fixed frame above the wheel; On the side guardrails of each running direction of the freighter to be tested; the microprocessor, wireless remote control unit, driving voice warning unit, and power supply unit are all placed in the control box of the freighter to be tested externally, and the wireless remote control unit is externally connected to the Measuring the motor control unit of a cargo aircraft.

As a preferred solution, there are two ultrasonic obstacle detection units, which are respectively installed on the front and rear side rails of the freighter to be tested.

The driving detection unit includes an infrared reflective sensor detection probe, and the infrared reflective sensor detection probe is installed on the fixed frame above the wheel of the external tested freight locomotive, and the outer surface of the external tested freight locomotive wheel is provided with black and white spray paint layer. The wheels are painted in black and white, and the infrared rays emitted from the transmitting end of the infrared reflective sensor detection probe are reflected by the wheel surface and then reach the receiving end of the infrared reflective sensor detection probe. The intensity of infrared rays reaching the sensor receiving end varies, which is used as a sign of a change in driving status.

Each ultrasonic obstacle detection unit includes a housing, an ultrasonic probe and a signal processing circuit, the housing is fixed on the side guardrail in the running direction of the freighter to be tested, the ultrasonic probe and the signal processing circuit are placed in the housing, and the ultrasonic probe and The signal processing circuit is connected, and the signal processing circuit is connected with the microprocessor by means of serial communication.

In the signal processing circuit, the transmitting circuit is composed of CD4049 inverter-driven and single-power level conversion chip (model MAX232), and the receiving circuit is composed of NE5532 language amplifier chip. That is: the signal processing circuit includes a signal transmitting circuit and a signal receiving circuit, the signal transmitting circuit includes a double inverting driver and a single power supply level conversion chip connected in sequence, the double inverting driver is connected with the microprocessor, and the single power supply circuit The level conversion chip is connected with the ultrasonic probe. When working, first use the double inverting driver to drive, and then use the single power supply level conversion chip to boost the transmission signal; the signal receiving circuit includes the first inverting amplifier connected in sequence, 40kHz A band-pass filter amplifier, a second inverting amplifier and an adjustable comparator, the first inverting amplifier is connected to the ultrasonic probe, and the adjustable comparator is connected to the microprocessor. When working, the received signal of the ultrasonic probe first passes through the first inverting The amplifier performs the first inverting amplification, and the amplified signal is amplified through a 40kHz band-pass filter, and finally the second inverting amplifier performs the second inverting amplification, and the amplified signal is processed by an adjustable comparator and then sent back to the microprocessor deal with.

The wireless remote control unit adopts the existing wireless remote control technology, including a wireless transmitting module based on PT2262 (low power consumption and low price general encoding and decoding circuit) and a wireless receiving module based on PT2272, in order to improve the transmitting distance, the transmitting terminal has a power amplifier circuit , PT2262/2272 modules all work in the 433MHz frequency band.

The power supply unit includes a battery and a voltage stabilizing and step-down circuit group connected with the battery, and the voltage stabilizing and step-down circuit group is respectively connected with the microprocessor, the driving detection unit, the ultrasonic obstacle detection unit, and the wireless remote control unit. Wherein, the battery is preferably a 6.2V rechargeable lithium battery and a 7.4V rechargeable lithium battery, and the voltage stabilizing and step-down circuit group converts the voltage of the 6.2V battery into the voltage required for the normal operation of other units in the device except the wireless remote control unit , and convert the 7.4V battery voltage to the normal working voltage of the wireless remote control unit.

The driving voice warning unit comprises a voice chip, an audio amplifier circuit and a loudspeaker connected in sequence, and the voice chip is connected to a microprocessor; the voice chip and the audio amplifier circuit are all placed in the control box of an external freighter to be tested Inside, the loudspeaker is mounted on the control box support frame of the cargo aircraft under test outside.

The manual controller has three keys in total, which are respectively connected to the microprocessor; the three keys respectively realize the normal up (normal upward running), normal down (normal downward running) and normal stop of the freighter under test; When pressed, the microprocessor judges the pressed key and transmits the corresponding control information to the remote wireless remote control unit, and realizes the control of the freighter at the operating point according to the above wireless remote control method.

The measurement and control method for the obstacle measurement and control device of the above-mentioned mountain orchard traction cargo aircraft includes the following steps:

(1) The voltage stabilizing and step-down circuit group in the power supply unit converts the voltage of the battery into the voltage required for the normal operation of the microprocessor, the driving detection unit, the ultrasonic obstacle detection unit, the wireless remote control unit and the driving voice warning unit, which is Power supply for microprocessor, driving detection unit, ultrasonic obstacle detection unit, wireless remote control unit and driving voice warning unit;

(2) Send a control signal to the wireless remote control unit through the manual controller, and the wireless remote control unit sends the control signal to the motor control device of the freighter under test in the form of remote wireless communication, so as to normally start the freighter under test to run upwards, Run down or stop the freighter under test normally;

(3) The driving detection unit collects the wheel running state information of the freighter under test in real time, and feeds back the wheel running state information to the microprocessor;

(4) The microprocessor analyzes and processes the wheel running state information according to the wheel running state information sent by the driving detection unit, determines the rotation speed and steering of the wheel, and then determines the current running state and current running direction of the freighter under test ; Correspondingly, the microprocessor sends an obstacle detection signal to the ultrasonic obstacle detection unit installed in the current running direction of the freighter under test;

(5) The signal processing circuit in the ultrasonic obstacle detection unit starts the ultrasonic probe to transmit an ultrasonic signal to the current direction of motion of the cargo plane under test according to the obstacle detection signal received, and the ultrasonic signal is reflected when encountering an obstacle; signal processing After the circuit receives the echo of the ultrasonic wave, it converts the transit time of the received echo into a distance signal between the side rail of the cargo plane under test and the obstacle, and sends the distance signal to the microprocessor;

Specifically: in the signal processing circuit, the double inverting driver in the signal transmitting circuit receives the obstacle detection signal of the microprocessor and drives the ultrasonic probe, and the single power supply level conversion chip boosts the ultrasonic probe and supplies the ultrasonic The probe transmits the signal, starts the ultrasonic probe to transmit the ultrasonic signal to the current moving direction of the cargo plane under test; after the first inverting amplifier of the signal receiving circuit receives the echo of the ultrasonic wave, the transit time of the received echo is sequentially passed through the band Pass filter amplifier, second inverting amplifier, adjustable comparator to convert the distance signal between the side guardrail of the cargo plane under test and the obstacle, and send the distance signal to the microprocessor;

(6) The microprocessor compares the received distance signal with its internally set threshold distance, and sends a control signal to the wireless remote control unit according to the comparison result; the wireless remote control unit sends the control signal in the form of remote wireless communication To the motor control device of the freight plane under test, the motor control device of the freight plane under test starts or stops the motor of the freight plane under test according to the signal, so as to realize the control of braking, stopping or retaining the current running state of the freight plane under test.

In said step (6), when the distance received by the microprocessor is less than the threshold distance, the microprocessor sends a brake stop control signal to the wireless remote control unit and records the current state, and sends the signal to the freighter under test The motor control device to stop its motor to realize the braking stop control of the cargo plane under test; when the distance received by the microprocessor is greater than or equal to the threshold distance, the microprocessor sends a message to the wireless remote control unit to keep the current running state control signal, and send the signal to the motor control device of the cargo plane under test, so as to realize the control of keeping the current running state of the cargo plane under test.

When in said step (2), when normally starting the cargo plane under test to move up, run down or normally stop the cargo plane under test, and, when the brake stops the cargo plane under test in said step (6), the microprocessor The device sends a corresponding voice warning signal to the voice chip of the driving voice warning unit, and after being processed by the audio amplifier circuit, it is transmitted to the outside by the loudspeaker.

In said step (2) and step (6), the remote wireless communication between the wireless remote control unit and the motor control device of the freighter under test is specifically: the wireless remote control unit receives the control signal from the microprocessor, and fills the control signal into The data field in the wireless communication data packet, and send the complete data packet to the motor control device of the cargo aircraft under test in the form of remote wireless communication; after receiving the data packet, the motor control device extracts the data field and restores the control Signal, according to the control signal to start or stop the motor, to realize the start and stop control of the cargo aircraft under test.

In the present invention, the ultrasonic obstacle detection unit is installed at suitable positions at the front and rear ends of the freighter, and the built-in ultrasonic probe emits ultrasonic signals to the front of the freighter, and the signals are reflected when encountering pedestrians or other obstacles, and the corresponding signal processing The circuit can calculate the actual distance from the current cargo plane to the obstacle according to the transit time of ultrasonic signal transmission and reflection. When this distance is less than the dangerous distance of collision, immediately brake the freighter to avoid collision between the freighter and the obstacle. The electric motor and its control device of the traction freighter are usually installed on the top of the orchard, and the braking of the freighter must be realized by stopping the operation of the motor. The cargo plane operates in the orchard, and it is impossible to set up a wired control line from the cargo plane to the traction motor, so wireless communication must be used to transmit control information. Affected by orchard topography and fruit trees, complex wireless channels lead to greater signal attenuation. High-power long-distance wireless communication technology must be used to overcome this effect.

Therefore, the device of the present invention possessing the functions of ultrasonic obstacle detection and long-distance wireless communication is a key device of the mountain orchard traction freighter.

Compared with the prior art, the present invention has the following advantages and beneficial effects: the present invention aims at the complex terrain in mountainous orchard traction freight aircraft operation, and the characteristics that the traction motor of freight aircraft is usually located on the top of the mountain and has great interference with the wireless channel between the operating points. The method of on-vehicle detection of ultrasonic transit time measures the distance between the freighter and obstacles in real time; using long-range high-power wireless communication, the freighter can brake quickly when obstacles are found at any operating point, shortening the braking distance and enhancing The detection device controls the stability and safety of the cargo aircraft. The invention does not need the support of any fixed network, and is especially suitable for mountain orchards with relatively remote geographical location, large slope and dense fruit trees.

Description of drawings

Fig. 1 is the overall structural block diagram of the device of the present invention.

Fig. 2 is a structural schematic diagram of the device of the present invention installed on a freighter to be tested.

Fig. 3 is a left side view of the device shown in Fig. 2 .

Detailed ways

The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Example

Figures 1 to 3 show the specific structural schematic diagrams of this embodiment. As shown in Figure 1, the obstacle measurement and control device for traction freight aircraft in this mountain orchard includes a microprocessor, a driving detection unit, an ultrasonic obstacle detection unit, a wireless remote control unit, driving voice warning unit, manual controller 12 and power supply unit, the driving detection unit, ultrasonic obstacle detection unit 1, ultrasonic obstacle detection unit 10, wireless remote control unit, driving voice warning unit, manual controller 12 are respectively Connected with the microprocessor, the power supply unit is respectively connected with the microprocessor, the driving detection unit, the ultrasonic obstacle detection unit 1, the ultrasonic obstacle detection unit 10, the wireless remote control unit, the driving voice warning unit, and the manual controller 12; as As shown in Fig. 2, the driving detection unit is installed on the fixed frame above the wheel 4; the ultrasonic obstacle detection unit is two, respectively ultrasonic obstacle detection unit 1, ultrasonic obstacle detection unit 10, and installed respectively On the side guardrails of each running direction of the freighter 11 under test (i.e. respectively installed on the side guardrails 13 and the side guardrails 9 before and after the holding platform of the freighter 11 under test); the microprocessor, the wireless remote control unit, the driving Both the voice warning unit and the power supply unit are placed in the control box 8 of the freighter 11 under test, and the wireless remote control unit is externally connected to the motor control device of the freighter 11 under test through wireless signals.

As shown in Figure 3, the driving detection unit includes an infrared reflective sensor detection probe 3, and the infrared reflective sensor detection probe 3 is installed on the fixed frame above the wheel 4 of the external tested freighter 11, and the external measured freighter The outer surface of 11 wheels 4 is provided with black and white spray paint layer. Wheel 4 is painted black and white with spray paint, and the infrared rays sent from the transmitting end of infrared reflective sensor detection probe 3 are reflected by the surface of wheel 4 and arrive at the receiving end of infrared reflective sensor detection probe 3. Due to the absorption of infrared rays by the paint on the surface of wheel 4 The intensity of the infrared rays reaching the receiving end of the sensor is different due to the difference in reflectivity, which is used as a sign of the change of the driving state.

Ultrasonic obstacle detection unit 1, ultrasonic obstacle detection unit 10 all comprise casing, ultrasonic probe and signal processing circuit respectively, and the casing of ultrasonic obstacle detection unit 1 is fixed on the side guardrail 13 of tested cargo plane 11, and ultrasonic obstacle detection The shell of the unit 10 is fixed on the side guardrail 9 of the cargo plane 11 under test, the ultrasonic probe and the signal processing circuit are placed in the shell, and the ultrasonic probe is connected with the signal processing circuit, and the signal processing circuit communicates with the micro Processor connection.

In the signal processing circuit, the transmitting circuit is composed of CD4049 inverter-driven and single-power level conversion chip (model MAX232), and the receiving circuit is composed of NE5532 language amplifier chip. That is: the signal processing circuit includes a signal transmitting circuit and a signal receiving circuit, the signal transmitting circuit includes a double inverting driver and a single power supply level conversion chip connected in sequence, the double inverting driver is connected with the microprocessor, and the single power supply circuit The level conversion chip is connected with the ultrasonic probe. When working, first use the double inverting driver to drive, and then use the single power supply level conversion chip to boost the transmission signal; the signal receiving circuit includes the first inverting amplifier connected in sequence, 40kHz A band-pass filter amplifier, a second inverting amplifier and an adjustable comparator, the first inverting amplifier is connected to the ultrasonic probe, and the adjustable comparator is connected to the microprocessor. When working, the received signal of the ultrasonic probe first passes through the first inverting The amplifier performs the first inverting amplification, and the amplified signal is amplified through a 40kHz band-pass filter, and finally the second inverting amplifier performs the second inverting amplification, and the amplified signal is processed by an adjustable comparator and then sent back to the microprocessor deal with.

The wireless remote control unit adopts the existing wireless remote control technology, including a wireless transmitting module based on PT2262 and a wireless receiving module based on PT2272. In order to improve the transmitting distance, the transmitting end has a power amplifier circuit, and the PT2262/2272 modules all work in the 433MHz frequency band.

The power supply unit includes a battery and a voltage stabilizing and step-down circuit group connected to the battery. The voltage stabilizing and step-down circuit group is respectively connected with the microprocessor, the driving detection unit, the ultrasonic obstacle detection unit 1, the ultrasonic obstacle detection unit 10, the wireless remote control unit connection. Among them, the battery is a 6.2V rechargeable lithium battery and a 7.4V rechargeable lithium battery. The voltage regulator circuit group converts the voltage of the 6.2V battery into the voltage required for the normal operation of other units in the device except the wireless remote control unit. And convert the 7.4V battery voltage to the normal working voltage of the wireless remote control unit.

The driving voice warning unit comprises a voice chip, an audio amplifier circuit and a loudspeaker 2 connected in sequence, and the voice chip is connected with a microprocessor; In the control box 8, the loudspeaker 2 is installed on the control box support frame 7 under the holding platform of the external cargo plane 11 to be tested.

The manual controller 12 has three buttons in total, which are respectively connected with the microprocessor; the three buttons respectively realize the normal uplink (normal upward movement), normal downlink (normal downward movement) and normal stop of the cargo plane 11 under test; When the key is pressed, the microprocessor judges the pressed key and transmits the corresponding control information to the remote wireless remote control unit, and realizes the control of the freighter 11 at the operating point according to the above wireless remote control mode.

When the cargo plane 11 was running, the wheels 4 and 6 were in contact with the rails 5, and the infrared reflective sensor detection probe 3 in the driving detection unit could measure the rotating speed and steering of the wheels 4, so as to determine whether the cargo plane 11 was in stop, up or Downlink state: the signal processing circuit in the driving detection unit processes the running state information of the freighter 11 from the detection probe 3 of the infrared reflective sensor and sends it to the microprocessor.

The measurement and control method for the obstacle measurement and control device of the above-mentioned mountain orchard traction cargo aircraft includes the following steps:

(1) The voltage stabilizing and step-down circuit group in the power supply unit converts the voltage of the battery to the microprocessor, the driving detection unit, the ultrasonic obstacle detection unit 1, the ultrasonic obstacle detection unit 10, the wireless remote control unit and the driving voice warning unit. The voltage required for operation supplies power for the microprocessor, the driving detection unit, the ultrasonic obstacle detection unit 1, the ultrasonic obstacle detection unit 10, the wireless remote control unit and the driving voice warning unit;

(2) Send a control signal to the wireless remote control unit through the manual controller 12, and the wireless remote control unit sends the control signal to the motor control device of the tested freighter 11 in the form of remote wireless communication, so as to normally start the tested freighter 11 run up, run down or normally stop the freighter 11 under test;

(3) The driving detection unit collects the wheel 4 running state information of the freighter 11 under test in real time, and feeds back the wheel 4 running state information to the microprocessor;

(4) The microprocessor analyzes and processes the wheel 4 operating state information according to the wheel 4 operating state information sent by the driving detection unit, determines the rotating speed and steering of the wheel 4, and then determines the current operating state and status of the freighter 11 under test. Its current running direction; the microprocessor correspondingly sends an obstacle detection signal to the ultrasonic obstacle detection unit (ultrasonic obstacle detection unit 1 or ultrasonic obstacle detection unit 10) installed on the current running direction of the freighter 11 under test;

(5) The signal processing circuit in the ultrasonic obstacle detection unit (ultrasonic obstacle detection unit 1 or ultrasonic obstacle detection unit 10) starts the ultrasonic probe to the current direction of motion of the freighter 11 under test according to the obstacle detection signal received Transmit an ultrasonic signal, which is reflected when the ultrasonic signal encounters an obstacle; after the signal processing circuit receives the echo of the ultrasonic wave, it converts the transit time of the received echo into the distance between the side guardrail of the cargo plane 11 under test and the obstacle. distance signal, and send the distance signal to the microprocessor;

Specifically: in the signal processing circuit, the double inverting driver in the signal transmitting circuit receives the obstacle detection signal of the microprocessor and drives the ultrasonic probe, and the single power supply level conversion chip boosts the ultrasonic probe and supplies the ultrasonic The probe transmits a signal, and starts the ultrasonic probe to transmit ultrasonic signals to the current moving direction of the freighter 11 under test; after the first inverting amplifier of the signal receiving circuit receives the echo of the ultrasonic wave, the transit time of receiving the echo is sequentially passed The band-pass filter amplifier, the second inverting amplifier, and the adjustable comparator are converted into distance signals between the side guardrail of the cargo plane 11 under test and the obstacle, and the distance signal is sent to the microprocessor;

(6) The microprocessor compares the received distance signal with its internally set threshold distance, and sends a control signal to the wireless remote control unit according to the comparison result; the wireless remote control unit sends the control signal in the form of remote wireless communication To the motor control device of the freight plane 11 under test, the motor control device of the freight plane 11 under test starts or stops the motor of the freight plane 11 under test according to the signal, so as to realize the braking stop of the freight plane 11 under test or keep the current operation state control.

In said step (6), when the distance received by the microprocessor is less than the threshold distance, the microprocessor sends a brake stop control signal to the wireless remote control unit and records the current state, and sends the signal to the freighter under test 11 of the motor control device to stop its motor, to achieve the brake stop control of the tested freighter 11; when the distance received by the microprocessor is greater than or equal to the threshold distance, the microprocessor sends the reserved current to the wireless remote control unit The operating state control signal is sent to the motor control device of the tested freighter 11 to realize the control of the tested freighter 11 retaining the current operating state.

When in said step (2), when normally starting the upward operation of the tested freighter 11, moving downward or normally stopping the tested freighter 11, and, in said step (6), braking stops the tested freighter 11 At this time, the microprocessor sends a corresponding voice warning signal to the voice chip of the driving voice warning unit, and after being processed by the audio amplifier circuit, it is transmitted to the outside by the loudspeaker 2 .

In said step (2) and step (6), the remote wireless communication between the wireless remote control unit and the motor control device of the cargo plane 11 under test is specifically: the wireless remote control unit receives the control signal from the microprocessor, and fills in the control signal Enter the data field in the wireless communication data packet, and send the complete data packet to the motor control device of the cargo plane 11 under test in the form of remote wireless communication; after receiving the data packet, the motor control device extracts the data field therein and The control signal is recovered, and the motor is started or stopped according to the control signal, so as to realize the start-stop control of the freighter 11 under test.

The above-mentioned embodiment is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, Simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (9)

1. hillside orchard is drawn the obstacle measure and control device of air truck; It is characterized in that: comprise microprocessor, driving detecting unit, ultrasonic obstacle quality testing measurement unit, wireless remote control unit, driving voice warn unit, manual mode controller and power supply unit; Warn unit, manual mode controller of said driving detecting unit, ultrasonic obstacle quality testing measurement unit, wireless remote control unit, driving voice is connected with microprocessor respectively, and said power supply unit is connected with warn unit, manual mode controller of microprocessor, driving detecting unit, ultrasonic obstacle quality testing measurement unit, wireless remote control unit, driving voice respectively; Said driving detecting unit is installed on the fixed mount of wheel top of outside tested air truck; Said ultrasonic obstacle quality testing measurement unit is several, is installed in respectively on the side rail of outside tested each service direction of air truck; Warn unit, power supply unit of said microprocessor, wireless remote control unit, driving voice all places in the control box of outside tested air truck, and wireless remote control unit is through the control device of electric motor of the external tested air truck of wireless signal; The driving detecting unit comprises infrared reflection sensor probe, and infrared reflection sensor probe is installed on the fixed mount of outside tested air truck wheel top, and the outside face of the tested air truck wheel in said outside is provided with chequered with black and white layer of paint.

2. the obstacle measure and control device of hillside orchard traction air truck according to claim 1; It is characterized in that: each ultrasonic obstacle quality testing measurement unit includes shell, ultrasonic probe and signal processing circuit; Shell is fixed on the side rail of tested air truck service direction; Said ultrasonic probe, signal processing circuit all place in the shell, and ultrasonic probe is connected with signal processing circuit, and signal processing circuit adopts serial communication mode to be connected with microprocessor.

3. the obstacle measure and control device of hillside orchard traction air truck according to claim 2; It is characterized in that: said signal processing circuit comprises signal transmission circuit and signal receiving circuit; Said signal transmission circuit comprises two rp-drives of bonded assembly and single supply level transferring chip successively; Two rp-drives are connected with microprocessor, and the single supply level transferring chip is connected with ultrasonic probe; Said signal receiving circuit comprises bonded assembly first inverting amplifier, band-pass filter amplifier, second inverting amplifier and adjustable comparator successively, and first inverting amplifier is connected with ultrasonic probe, and adjustable comparator is connected with microprocessor.

4. the obstacle measure and control device of hillside orchard traction air truck according to claim 2; It is characterized in that: said power supply unit comprise battery and with battery bonded assembly voltage stabilizing reduction voltage circuit group, voltage stabilizing reduction voltage circuit group is connected with microprocessor, driving detecting unit, ultrasonic obstacle quality testing measurement unit, wireless remote control unit respectively.

5. the obstacle measure and control device of hillside orchard traction air truck according to claim 4; It is characterized in that: the said driving voice unit of warning comprises bonded assembly speech chip, audio amplifier circuit and loudspeaker successively, and said speech chip is connected with microprocessor; Said speech chip, audio amplifier circuit all place in the control box of outside tested air truck, and loudspeaker is installed on the control box bracing frame of outside tested air truck.

6. the investigating method of the obstacle measure and control device of the said hillside orchard traction of claim 5 air truck is characterized in that, comprises the steps:

(1) the voltage stabilizing reduction voltage circuit group in the power supply unit is microprocessor, driving detecting unit, ultrasonic obstacle quality testing measurement unit, a wireless remote control unit and driving voice required voltage when warning the unit normal operation with the voltage transitions of battery, is the unit power supply of warning of microprocessor, driving detecting unit, ultrasonic obstacle quality testing measurement unit, wireless remote control unit and driving voice;

(2) manual mode controller transmits control signal to wireless remote control unit through microprocessor; Wireless remote control unit is sent to the control device of electric motor of tested air truck with this control signal with the mode of remote radio communication, with the upwards operation of the tested air truck of normal startup, operation downwards or normally stop tested air truck;

(3) the driving detecting unit is gathered the running state of wheels information of tested air truck in real time, and gives microprocessor with this running state of wheels message feedback;

(4) microprocessor is according to the running state of wheels information that sends over of driving detecting unit; This running state of wheels information is carried out analyzing and processing; Confirm the rotating speed of wheel and turn to, and then confirm the current running state and the current service direction thereof of tested air truck; Microprocessor sends obstacle detection signal to the ultrasonic obstacle quality testing measurement unit that is installed on the current service direction of tested air truck accordingly;

(5) signal processing circuit in the ultrasonic obstacle quality testing measurement unit starts ultrasonic probe to the current sense of motion emission ultrasonic signal of tested air truck according to the obstacle detection signal that receives, and this ultrasonic signal reflects when running into obstacle; After signal processing circuit receives the hypracoustic echo, convert its transit time that receives echo into the side rail of tested air truck and the range signal between the obstacle, and this range signal is sent to microprocessor;

(6) microprocessor compares the threshold distance of its range signal that receives and its inner setting, and according to comparative result, transmits control signal to wireless remote control unit; Wireless remote control unit is sent to this control signal the control device of electric motor of tested air truck with the mode of remote radio communication; The control device of electric motor of tested air truck is according to this signal enabling or stop the electrical motor of tested air truck, to realize the braking of tested air truck is stopped or keeping the control of current running state.

7. the investigating method of the obstacle measure and control device of hillside orchard traction air truck according to claim 6; It is characterized in that: in the said step (6); The distance that receives when microprocessor is during less than threshold distance; Microprocessor sends the braking stop control signal and writes down current state to wireless remote control unit, and the control device of electric motor that this signal is sent to tested air truck is to stop its electrical motor, to realize that the braking of tested air truck is stopped control; The distance that receives when microprocessor is during more than or equal to threshold distance; Microprocessor sends to wireless remote control unit and keeps current running state control signal; And this signal is sent to the control device of electric motor of tested air truck, to realize tested air truck is kept the control of current running state.

8. the investigating method of the obstacle measure and control device of hillside orchard traction air truck according to claim 7; It is characterized in that: when the tested air truck of normal startup in the said step (2) upwards moves, moves downwards or normally stops tested air truck; And when braking stopped tested air truck in the said step (6), microprocessor sent the relevant voice signal of warning to the warn speech chip of unit of driving voice; And after audio amplifier circuit is handled, pass on to the external world by loudspeaker.

9. the investigating method of the obstacle measure and control device of hillside orchard traction air truck according to claim 8; It is characterized in that: in said step (2) and the step (6); The remote radio communication of the control device of electric motor of wireless remote control unit and tested air truck is specially: wireless remote control unit receives from microprocessor control signal; This control signal is inserted the data field in the wireless communication data bag, and complete data packet is sent to the control device of electric motor of tested air truck with the mode of remote radio communication; After control device of electric motor receives this data packet, extract data field wherein and go back original control signal, start or stop electrical motor, realize start and stop control tested air truck according to this control signal.

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