CN115476939A - Cab horizontal control method and device - Google Patents

Abstract

The invention provides a cab level control method and device. The cab level control method comprises the following steps: step 1, acquiring a current cab attitude horizontal angle value and a preset cab attitude horizontal angle value range; step 2, judging whether the current cab attitude horizontal angle value is within a preset cab attitude horizontal angle value range or not; step 3, when the current cab attitude horizontal angle value is out of the preset cab attitude horizontal angle value range, generating an oil cylinder telescopic control instruction; and 4, controlling the oil cylinder to stretch according to the oil cylinder stretching control instruction. The current horizontal angle of the cab is detected in real time, a parameter correction basis is provided for closed-loop control, the length of the oil cylinder which needs to be stretched is calculated according to the signal value of current angle detection equipment, and the current angle of the cab is adjusted according to an oil cylinder stretching control instruction, so that the cab is always kept horizontal, the labor intensity of a driver is reduced, and the driving comfort is improved.

Description

A cab level control method and device

technical field

The invention relates to the technical field of tractors, in particular to a cab level control method and device.

Background technique

At present, the plowing operation of the tractor is the most commonly used working condition of the tractor. The working time of this working condition is long, and the cab is tilted at a certain angle during the operation. Existing tractor cabs are generally rigid cabs and suspended cabs. The cab is basically rigidly connected to the entire vehicle, and the cab is basically consistent with the angle of the entire vehicle.

Since the existing cab is rigidly connected to the whole vehicle, the cab will be tilted at a large angle when one side of the wheel enters the furrow during plowing operations, and the driver on the seat will also tilt accordingly, increasing the It reduces the labor intensity of the driver and reduces the driving comfort.

Contents of the invention

The technical problem to be solved by the present invention is to provide a cab level control method and device for the deficiencies of the prior art.

The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a cab level control method, comprising:

Step 1. Obtain the current cab attitude horizontal angle value and the preset cab attitude horizontal angle value range;

Step 2, judging whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range;

Step 3. When the current cab attitude horizontal angle value is outside the preset cab attitude horizontal angle value range, generate an oil cylinder telescopic control command;

Step 4. Control the expansion and contraction of the oil cylinder according to the oil cylinder expansion and contraction control instruction.

The beneficial effects of adopting the technical solution of the present invention are: real-time detection of the current horizontal angle of the driver's cab, providing parameter correction basis for closed-loop control, calculating the length of the oil cylinder that needs to be stretched according to the signal value of the current angle detection device, and according to the oil cylinder telescopic control command. Adjust the angle of the current cab to keep the cab level at all times, reduce the labor intensity of the driver and improve driving comfort.

Further, before said step 1 includes:

Determine whether the self-balancing mode is enabled;

When the self-balancing mode is enabled, go to step 1.

The beneficial effect of adopting the above-mentioned further technical solution is that it is convenient for the driver to open and close the function of keeping the level of the cab according to the operation requirements, so as to ensure that the cab can be connected with the whole vehicle and the angle can be adjusted through the oil cylinder.

Further, the preset cab attitude horizontal angle ranges from greater than -1° to less than 1°.

The beneficial effect of adopting the above-mentioned further technical solution is: the setting of the numerical range of the horizontal angle of the attitude of the preset cab makes it easy to determine whether it is necessary to adjust the expansion and contraction of the oil cylinder, so that the cab is always kept level, reduces the labor intensity of the driver, and improves driving comfort.

Further, said step 3 includes:

Step 31, when the horizontal angle value of the current cab attitude is less than or equal to -1°, generate an oil cylinder extension command;

Step 32, when the current cab attitude horizontal angle value is greater than or equal to 1°, generate an oil cylinder retraction instruction.

The beneficial effect of adopting the above-mentioned further technical solution is: when one side of the cab is tilted due to falling, the side of the cab is lifted up to the level of the cab through the extension of the oil cylinder; One side of the cab is lowered to the level of the cab; the cab is always kept level, reducing the labor intensity of the driver and improving driving comfort.

Further, the step 31 includes:

Calculate the value of the first length of the oil cylinder that needs to be extended according to the horizontal angle value of the current cab attitude, and generate a value command of the first length of the oil cylinder extension;

Said step 32 comprises:

Calculate the second length value that the oil cylinder needs to retract according to the horizontal angle value of the current cab attitude, and generate the second length value command for the oil cylinder retraction.

The beneficial effect of adopting the above-mentioned further technical solution is: accurately match the length of the oil cylinder that needs to be extended or retracted according to the current cab attitude horizontal angle value, so that the cab is always kept level, reduces the labor intensity of the driver, and improves driving comfort.

Further, the current cab attitude horizontal angle value is the cab's inclination angle value relative to the horizontal line.

The beneficial effect of adopting the above-mentioned further technical solution is: to detect in real time the angle value of the inclination of the four corners of the bottom of the cab relative to the horizontal line, and accurately adjust the corresponding oil cylinder to offset the inclination, so that the cab is always kept level and reduces the labor of the driver. Strength, improve driving comfort.

In addition, the present invention provides a cab level control device, comprising: an angle detection device, a signal processing device, a pair of electronic hydraulic valve blocks, a pair of oil cylinders, the angle detection device is installed at the bottom of the cab, a pair of the The oil cylinders are installed on both sides of the bottom of the cab in one-to-one correspondence, the angle detection equipment and the pair of electronic hydraulic valve blocks are connected to the signal processing equipment, and the pair of electronic hydraulic valve blocks are connected to the pair of electronic hydraulic valve blocks in one-to-one correspondence. cylinder connection,

The angle detection device is used to obtain the horizontal angle value of the current cab attitude;

The signal processing device is used to obtain a numerical range of a preset cab attitude horizontal angle;

The signal processing device is also used to judge whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range;

The signal processing device is further configured to generate an oil cylinder expansion and contraction control command when the current cab attitude horizontal angle value is outside the preset cab attitude horizontal angle value range;

A pair of electronic hydraulic valve blocks are used to control the expansion and contraction of the oil cylinder according to the expansion and contraction control instructions of the oil cylinder.

The beneficial effects of adopting the technical solution of the present invention are: the angle detection device at the bottom of the cab is used to detect the current horizontal angle of the cab in real time, and provides a parameter correction basis for closed-loop control; the signal processing device is used to determine the current angle detection device according to the signal value. Calculate the length that the oil cylinder needs to expand and contract, and control the oil cylinder by the electronic hydraulic valve block; the oil cylinder adjusts the angle of the current cab according to the control signal (oil cylinder telescopic control command), so that the cab is always kept horizontal.

Further, it also includes: a self-balancing switch, the self-balancing switch is connected to the signal processing device, and the oil cylinder is a two-way telescopic oil cylinder.

The beneficial effect of adopting the above further technical solution is that the self-balancing switching switch is used to control the work and stop of the system, and can be used by the driver to turn on and off the cab level maintenance function according to the operation requirements.

Advantages of additional aspects of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

Fig. 1 is one of the schematic flow charts of the cab level control method provided by the embodiment of the present invention.

Fig. 2 is the second schematic flowchart of the cab level control method provided by the embodiment of the present invention.

Fig. 3 is one of the structural schematic diagrams of the cab level control device provided by the embodiment of the present invention.

Fig. 4 is the second structural schematic diagram of the cab level control device provided by the embodiment of the present invention.

Description of reference numerals: 1. Angle detection equipment; 2. Signal processing equipment; 3. Electro-hydraulic valve block; 4. Oil cylinder.

detailed description

The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

As shown in Figure 1, an embodiment of the present invention provides a cab level control method, including:

Step 1. Obtain the current cab attitude horizontal angle value and the preset cab attitude horizontal angle value range;

Step 2, judging whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range;

Step 3. When the current cab attitude horizontal angle value is outside the preset cab attitude horizontal angle value range, generate an oil cylinder telescopic control instruction;

Step 4. Control the expansion and contraction of the oil cylinder according to the oil cylinder expansion and contraction control instruction.

The beneficial effects of adopting the technical solution of the present invention are: real-time detection of the current horizontal angle of the driver's cab, providing parameter correction basis for closed-loop control, calculating the length of the oil cylinder that needs to be stretched according to the signal value of the current angle detection device, and according to the oil cylinder telescopic control command. Adjust the angle of the current cab to keep the cab level at all times, reduce the labor intensity of the driver and improve driving comfort.

Wherein, the horizontal angle value of the attitude of the cab refers to the angle value at which the cab is tilted relative to the horizontal line.

Further, before said step 1 includes:

Determine whether the self-balancing mode is enabled;

When the self-balancing mode is enabled, go to step 1.

The beneficial effect of adopting the above-mentioned further technical solution is that it is convenient for the driver to open and close the function of keeping the level of the cab according to the operation requirements, so as to ensure that the cab can be connected with the whole vehicle and the angle can be adjusted through the oil cylinder.

Further, the preset cab attitude horizontal angle ranges from greater than -1° to less than 1°.

The beneficial effect of adopting the above-mentioned further technical solution is: the setting of the numerical range of the horizontal angle of the attitude of the preset cab makes it easy to determine whether it is necessary to adjust the expansion and contraction of the oil cylinder, so that the cab is always kept level, reduces the labor intensity of the driver, and improves driving comfort.

Further, said step 3 includes:

Step 31, when the horizontal angle value of the current cab attitude is less than or equal to -1°, generate an oil cylinder extension command;

Step 32, when the current cab attitude horizontal angle value is greater than or equal to 1°, generate an oil cylinder retraction instruction.

The beneficial effect of adopting the above-mentioned further technical solution is: when one side of the cab is tilted due to falling, the side of the cab is lifted up to the level of the cab through the extension of the oil cylinder; One side of the cab is lowered to the level of the cab; the cab is always kept level, reducing the labor intensity of the driver and improving driving comfort.

Further, the step 31 includes:

Calculate the value of the first length of the oil cylinder that needs to be extended according to the horizontal angle value of the current cab attitude, and generate a value command of the first length of the oil cylinder extension;

Said step 32 comprises:

Calculate the second length value that the oil cylinder needs to retract according to the horizontal angle value of the current cab attitude, and generate the second length value command for the oil cylinder retraction.

The beneficial effect of adopting the above-mentioned further technical solution is: accurately match the length of the oil cylinder that needs to be extended or retracted according to the current cab attitude horizontal angle value, so that the cab is always kept level, reduces the labor intensity of the driver, and improves driving comfort.

Further, the current cab attitude horizontal angle value is the cab's inclination angle value relative to the horizontal line.

The beneficial effect of adopting the above-mentioned further technical solution is: to detect in real time the angle value of the inclination of the four corners of the bottom of the cab relative to the horizontal line, and accurately adjust the corresponding oil cylinder to offset the inclination, so that the cab is always kept level and reduces the labor of the driver. Strength, improve driving comfort.

As shown in Figure 2, specifically, start, step 1, determine whether the self-balancing mode switch is pressed; step 2, if yes, determine whether the horizontal angle of the cab attitude is greater than -1° and less than 1°; step 3, if not , judge whether the horizontal angle of the cab attitude is less than or equal to -1°; step 4, if not, judge whether the horizontal angle of the cab attitude is greater than or equal to 1°; after step 2, if yes, return to step 2. After step 3, if yes, then control the oil cylinder to extend the first length value, and return to step 2. After step 4, if yes, control the oil cylinder to retract to the second length value, and return to step 2; if not, directly return to step 2.

As shown in Figure 3, in addition, the present invention provides a cab level control device, including: an angle detection device 1, a signal processing device 2, a pair of electronic hydraulic valve blocks 3, a pair of oil cylinders 4, the angle detection device 1 is installed at the bottom of the cab, a pair of oil cylinders 4 are installed on both sides of the bottom of the cab one by one, the angle detection device 1 and the pair of electronic hydraulic valve blocks 3 are connected to the signal processing device 2, A pair of the electronic hydraulic valve blocks 3 are connected to a pair of the oil cylinders 4 in one-to-one correspondence,

The angle detection device 1 is used to obtain the horizontal angle value of the current cab attitude;

The signal processing device 2 is used to obtain a numerical range of a preset cab attitude horizontal angle;

The signal processing device 2 is also used to judge whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range;

The signal processing device 2 is further configured to generate an oil cylinder expansion and contraction control command when the current cab attitude horizontal angle value is outside the preset cab attitude horizontal angle value range;

A pair of electronic hydraulic valve blocks 3 are used to control the expansion and contraction of the oil cylinder according to the oil cylinder expansion and contraction control instruction.

The beneficial effects of adopting the technical solution of the present invention are: the angle detection device at the bottom of the cab is used to detect the current horizontal angle of the cab in real time, and provides a parameter correction basis for closed-loop control; the signal processing device is used to determine the current angle detection device according to the signal value. Calculate the length that the oil cylinder needs to expand and contract, and control the oil cylinder by the electronic hydraulic valve block; the oil cylinder adjusts the angle of the current cab according to the control signal (oil cylinder telescopic control command), so that the cab is always kept horizontal.

Among them, a pair of oil cylinders can be installed on both sides of the bottom of the front part of the cab or on both sides of the bottom of the rear part. When a pair of oil cylinders are installed on both sides of the bottom of the front of the cab, the rear sides of the cab are hinged to the frame; when a pair of oil cylinders are installed on both sides of the bottom of the rear of the cab, the front sides of the cab are The frame is hinged.

As shown in Figure 4, the signal processing equipment is connected with MPU6050 (integrated 6-axis motion processing component, with 3-axis gyroscope and 3-axis acceleration sensor inside), power supply equipment and electronic hydraulic valve block, electronic hydraulic valve block and two-way telescopic oil cylinder connect. The model of the angle detection device may be MPU6050.

Further, it also includes: a self-balancing switch, the self-balancing switch is connected to the signal processing device, and the oil cylinder is a two-way telescopic oil cylinder.

The beneficial effect of adopting the above further technical solution is that the self-balancing switching switch is used to control the work and stop of the system, and can be used by the driver to turn on and off the cab level maintenance function according to the operation requirements.

The cab level control method and device provided by the embodiments of the present invention solve the problem that the cab of the tractor is tilted at a large angle during plowing operations. The cab level control device is a device that uses a gyroscope to maintain the level of the cab during tractor plowing operations. The cab level control device includes: angle detection equipment (cab angle detection equipment), self-balancing mode switch, signal processing equipment, electronic Hydraulic valve block, two-way telescopic oil cylinder, cab four-point fixed equipment. Among them, the self-balancing switch is used to control the work and stop of the system, which can be used by the driver to turn on and off the cab level maintenance function according to the operation requirements; the angle detection device is used to detect the current horizontal angle of the cab in real time, and provide parameter correction for the closed-loop control Basis: The signal processing equipment is used to calculate the length of the oil cylinder that needs to be stretched according to the signal value of the current angle detection device, and the oil cylinder is controlled by the electronic hydraulic valve block; the two-way telescopic oil cylinder adjusts the angle of the current cab according to the control signal, so that the cab is always Keep it level; the four-point fixing device of the cab is used to ensure that the cab can be connected with the whole vehicle and the angle can be adjusted through the oil cylinder. Reduce the labor intensity of the driver and improve driving comfort.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (8)

1. A cab level control method, characterized in that, comprising: Step 1. Obtain the current cab attitude horizontal angle value and the preset cab attitude horizontal angle value range; Step 2, judging whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range; Step 3. When the current cab attitude horizontal angle value is outside the preset cab attitude horizontal angle value range, generate an oil cylinder telescopic control command; Step 4. Control the expansion and contraction of the oil cylinder according to the oil cylinder expansion and contraction control instruction. 2. A kind of cab level control method according to claim 1, characterized in that, before the step 1, comprising: Determine whether the self-balancing mode is enabled; When the self-balancing mode is enabled, go to step 1. 3. A cab level control method according to claim 1, characterized in that, the range of the preset cab attitude horizontal angle is greater than -1° and less than 1°. 4. A kind of cab level control method according to claim 1, is characterized in that, described step 3 comprises: Step 31, when the horizontal angle value of the current cab attitude is less than or equal to -1°, generate an oil cylinder extension command; Step 32, when the current cab attitude horizontal angle value is greater than or equal to 1°, generate an oil cylinder retraction instruction. 5. A kind of cab level control method according to claim 4, is characterized in that, described step 31 comprises: Calculate the value of the first length of the oil cylinder that needs to be extended according to the horizontal angle value of the current cab attitude, and generate a value command of the first length of the oil cylinder extension; Said step 32 comprises: Calculate the second length value that the oil cylinder needs to retract according to the horizontal angle value of the current cab attitude, and generate the second length value command for the oil cylinder retraction. 6 . The cab level control method according to claim 1 , wherein the current cab attitude horizontal angle value is the cab's inclination angle value relative to the horizontal line. 7 . 7. A cab level control device, characterized in that it includes: angle detection equipment, signal processing equipment, a pair of electronic hydraulic valve blocks, a pair of oil cylinders, the angle detection equipment is installed at the bottom of the cab, a pair of said The oil cylinders are installed on both sides of the bottom of the cab in one-to-one correspondence, the angle detection equipment and the pair of electronic hydraulic valve blocks are connected to the signal processing equipment, and the pair of electronic hydraulic valve blocks are connected to the pair of electronic hydraulic valve blocks in one-to-one correspondence. cylinder connection, The angle detection device is used to obtain the horizontal angle value of the current cab attitude; The signal processing device is used to obtain a numerical range of a preset cab attitude horizontal angle; The signal processing device is also used to judge whether the current cab attitude horizontal angle value is within the preset cab attitude horizontal angle value range; The signal processing device is further configured to generate an oil cylinder expansion and contraction control command when the current cab attitude horizontal angle value is outside the preset cab attitude horizontal angle value range; A pair of electronic hydraulic valve blocks are used to control the expansion and contraction of the oil cylinder according to the expansion and contraction control instructions of the oil cylinder. 8. A cab level control device according to claim 7, further comprising: a self-balancing switch, the self-balancing switch is connected to the signal processing device, and the oil cylinder is a bidirectional telescopic oil cylinder .

Images