CN207665482U - A kind of Mechatronic control system of self-propelled hydraulic lotus root digging machine - Google Patents

Abstract

The utility model discloses an electromechanical control system of a self-propelled hydraulic lotus root digging machine. The system uses a vehicle-mounted camera to obtain the operation posture of the lotus root digging machine in real time, and transmits the operation posture of the lotus root digging machine to a visual display through an image transmission module. Above, according to the operation posture information of the lotus root digging machine obtained from the display, the manual sends out operation instructions through the industrial control board, and the digital transmission module transmits the operation instruction information to the MCU, and the MCU adjusts and outputs the generated PWM signal through the PID control algorithm, and the power The amplifier amplifies the power of the PWM signal and controls the flow and direction of the electromagnetic proportional directional valve through the signal current, thereby driving the hydraulic steering module to perform operations such as forward, backward, and steering. The electromechanical control system of the utility model can be manually operated on land when the lotus root digging machine is performing lotus picking operations or field transfer operations, which reduces labor intensity and improves the efficiency of lotus root digging operations and the harvesting quality of lotus roots.

Description

An electromechanical control system of a self-propelled hydraulic lotus root digging machine

technical field

The utility model belongs to the technical field of lotus root digging machine equipment and relates to an electromechanical control system of a self-propelled hydraulic lotus root digging machine.

Background technique

Lotus root is a common economical crop with edible and medicinal value; the planting area of lotus root in my country is extensive, according to incomplete statistics, the planting area of lotus root in my country has reached more than 4 million hectares; Generally, it is 25cm to 30cm, and the depth of entering the mud is generally 30cm to 40cm; according to the growth characteristics of the lotus root, the harvesting operation is required to be carried out in water. The harvesting time of the lotus root is from October to April of the next year, and the harvesting period is long. During the harvesting period, the water temperature is low, and manual harvesting of lotus roots requires a lot of work and physical exertion, which is a time-consuming and labor-intensive physical labor.

Traditional lotus root harvesting machines mainly include floating harvesting machines and towed harvesting machines. These harvesting machines are poor in flexibility and heavy, and are not suitable for multiple lotus root fields. A large number of manual operations are performed on the machine, such as control and transition. It is very inconvenient to manually operate the lotus root digging machine in water, and the labor intensity is very high. The traditional lotus root digging machine not only has low harvesting efficiency and high labor costs, but also easily causes damage to the lotus root, affecting The quality and yield of lotus root.

Contents of the invention

Aiming at the deficiencies of the prior art, the utility model provides an electromechanical control system of a self-propelled hydraulic lotus root digging machine.

The utility model is realized through the following technical scheme, which provides an electromechanical control system of a self-propelled hydraulic lotus digging machine, including a hydraulic steering module and a hydraulic steering control module based on video acquisition; The hydraulic pump and the left travel motor and right travel motor installed on the left and right travel wheels of the lotus root digging machine respectively; the left and right travel motors are respectively connected to the left oil circuit and the right oil circuit; the oil circuits on the left and right sides Collected on the main oil circuit at the outlet of the hydraulic pump; electromagnetic proportional reversing valves are provided at the oil inlet ends of the left oil circuit and the right oil circuit.

The hydraulic steering control module based on video acquisition includes: a real-time camera, the real-time camera transmits the video signal of the lotus root digging machine to the visual display for manual observation through the image transmission module; The manual input command is transmitted to the micro control unit (MCU) through the digital transmission module; the micro control unit (MCU) generates a PWM signal from the operation command, which is isolated and processed by the optocoupler isolation unit, and the signal is amplified by the power amplifier to control the operation of the hydraulic steering module ; Power module.

The main function of the real-time camera is to obtain the operation attitude image of the lotus digging machine.

The main function of the image transmission module is to transmit the images acquired by the real-time camera.

The function of the visual display is to display the operation posture information of the lotus digging machine transmitted by the image transmission module, so as to facilitate manual observation.

The industrial control board, as an artificial operating system platform, includes a CPU main board, a storage device, a touch screen and an interface, and its function is to manually input corresponding instructions through the touch screen according to the operation posture of the lotus digging machine.

The main function of the data transmission module is to transmit the instructions issued by the industrial control board.

The main function of the micro control unit (MCU) is to process the instructions of the industrial control board and generate corresponding PWM signals.

The function of the optocoupler isolation unit is to isolate and process the PWM signal, and isolate and protect the micro control unit (MCU) and the power amplifier circuit.

The function of the power amplifier is to amplify the power of the PWM signal.

The function of the power supply module is to provide voltage to each part of the hydraulic steering control module based on video acquisition, so as to ensure the stable operation of the system.

The working process of this scheme: when the lotus root digging machine is digging the lotus root, the real-time camera obtains the operation attitude information of the lotus root digging machine, and uses the image transmission module to transmit, and displays the operation attitude of the lotus root digging machine on the visual display; manual can real-time According to the observed operating posture of the lotus root digging machine on the visual display, the control command information is sent to the operation posture of the lotus root digging machine through the industrial control board; the command information is sent to the micro control unit (MCU) through the digital transmission module; the micro control unit receives the command After information, the command information is calculated to generate the corresponding PWM signal, and the PID algorithm controller is used to adjust the stability of the PWM signal; the optocoupler isolation unit isolates the PWM signal, and isolates the micro control unit (MCU) and the power amplifier circuit Protection; the power amplifier amplifies the power of the PWM signal to form a high-power signal current; the PWM signal current controls the action of the electromagnetic proportional reversing valve, so that the oil circuits on the left and right sides can obtain the hydraulic oil required by the hydraulic motor to drive the traveling wheels The size and direction of the liquid flow enable the lotus digging machine to complete operations such as forward, backward, stop and turn.

Beneficial effects of the utility model: the electromechanical control system of a self-propelled hydraulic lotus root digging machine of the utility model can control its steering, forward and backward through the industrial control board on the basis of extracting and observing the working posture of the lotus root digging machine Operations such as stop and stop have enhanced the operational flexibility and accuracy of the lotus root digging machine. During the lotus root picking operation or the lotus root digging machine transfer operation, the manual operation of the lotus root digging machine on land can get rid of the need for water to dig the lotus root. The traditional way of operating the lotus root machine greatly improves the operating efficiency, reduces labor intensity and labor costs, improves the quality of lotus root harvesting, and is conducive to promoting the precise operation of lotus root digging machinery and the development of intelligent agricultural equipment.

Description of drawings

Fig. 1 is the schematic diagram of the utility model hydraulic steering module;

Figure 2 is a schematic diagram of a hydraulic steering control module based on video acquisition;

In the figure: 1. Left travel motor, 2. Right travel motor, 3. High pressure oil pipe, 4. Electromagnetic proportional directional valve, 5. Relief valve, 6. Fuel tank, 7. Hydraulic pump, 8. Diesel engine, 9. Hydraulic pressure tank.

Detailed ways

In order to clearly illustrate the technical features of the solution, the solution will be described below through specific implementation modes.

Query Figure 1 and Figure 2, an electromechanical control system of a self-propelled hydraulic lotus digging machine, including a hydraulic steering module and a hydraulic steering control module based on video acquisition.

As shown in Figure 1, the hydraulic steering module includes a hydraulic pump 7 communicating with a hydraulic oil tank 9, and a left travel motor 1 and a right travel motor 2 respectively installed on the left and right travel wheels of the lotus digging machine; the left and right travel motors are respectively Connect the left oil circuit and the right oil circuit; the left and right oil circuits are collected on the main oil circuit at the outlet of the hydraulic pump 7; the oil inlet ends of the left and right oil circuits are provided with Electromagnetic proportional reversing valve 4.

The speed of the hydraulic motor can be controlled by adjusting the flow rate of the electromagnetic proportional directional valve, and the rotation direction of the hydraulic motor can be controlled by adjusting the flow direction of the electromagnetic proportional directional valve. When the lotus digging machine needs to move forward, adjust the flow rate and direction of the electromagnetic proportional directional control valves on both sides of the oil circuit, so that the flow rate and direction of the electromagnetic proportional directional control valves on both sides are consistent. When the lotus root digging machine needs to turn, the speed of the hydraulic motors at the left and right ends is controlled by adjusting the flow rate of the electromagnetic proportional reversing valve on both sides, and the turning can be realized by using the speed difference of the hydraulic motors at both ends. When the lotus digging machine needs to move backward, adjust the liquid flow direction of the electromagnetic proportional reversing valve on both sides, change the steering of the hydraulic motors at both ends, and realize the backward walking of the lotus root digging machine.

The electromagnetic proportional reversing valve is a 4WRA10W40-13 type three-position four-way electromagnetic proportional reversing valve, with proportional electromagnets installed at both ends to control the displacement of the valve core of the pressure reducing valve. If the proportional electromagnet at the left end inputs current, electromagnetic attraction will be generated to move the valve core of the pressure reducing valve to the right, and the valve port on the right will be opened. When the proportional electromagnet at the right end inputs current, the spool of the pressure reducing valve will move to the left, and the left valve port will open, thereby changing the direction of the liquid flow, changing the input current of the proportional electromagnet, and changing the flow rate of the liquid. The pulse width modulation PWM control technology is used to adjust the current size, which can realize various walking operations of the lotus root digging machine and complete the lotus root digging operation.

The hydraulic steering control module based on video acquisition mainly includes a real-time camera, image transmission module, visual display, industrial control board, data transmission module, micro control unit (MCU), optocoupler isolation unit, power amplifier and power supply module.

The real-time camera is selected as a kc-6760 tractor vehicle-mounted camera, which is used to obtain the operation attitude of the lotus root digging machine in real time. The camera has a wide range of observation angles and good visualization effects, and is suitable for manual observation of the operation posture of the lotus root digging machine.

The image transmission module is selected as the model TS832 image transmission module, which has the advantages of stable transmission, long transmission distance, strong anti-interference, etc., and can realize stable transmission of the video of the operation posture of the lotus root digging machine.

The visual display is an industrial display of model GPC-121T, and the image transmission module receives the image information from the camera and transmits it to the display. The gray-scale response time of the display is short, which is suitable for manual real-time observation of the operation attitude information of the lotus root digging machine.

The industrial control board is selected from the Kunlun Tongtai industrial control board, and the industrial control board is used to issue operating instructions such as forward, turning, backward, and stop manually according to the operation attitude information of the lotus root digging machine.

The digital transmission module is a digital transmission module of model E32-DTU-1W, which has a stable transmission effect and strong anti-interference.

The micro control unit (MCU) selects an ARM processor chip MCU of STM32F103C8T6 enhanced series, receives instruction information transmitted by the digital transmission module, and outputs corresponding PWM signals.

The function of the optocoupler isolation unit is to isolate and protect the STM32 chip processor and the power amplifier circuit of the micro control unit (MCU).

The function of the power amplifier is to amplify the power of the PWM signal, and after amplifying the current signal, supply power to the proportional electromagnets at both ends of the electromagnetic proportional reversing valve.

The power supply module is divided into a vehicle-mounted power supply module and an artificial ground control lotus digging machine power supply module, which provide stable voltages for the system respectively, including vehicle-mounted camera voltage, micro control unit (MCU) voltage, data transmission module receiving terminal voltage, and image transmission module The voltage of the sending end, as well as the voltage of the sending end of the data transmission module, the voltage of the industrial control board, the voltage of the receiving end of the video transmission module, and the voltage of the display.

The utility model embodiment is a control method of the electromechanical control system of the self-propelled hydraulic lotus root digging machine:

(1) The real-time camera acquires the attitude information of the lotus digging machine during the lotus digging operation, and sends the obtained real-time operation attitude through the sending end of the image transmission module, and the receiving end of the image transmission module receives the operating attitude information of the lotus root digging machine, and sends the lotus root digging machine The working attitude of the machine is displayed on the visual display.

(2) Manually observe the operating attitude of the lotus digging machine on the visual display, and issue control command information to the operating attitude of the lotus root digging machine through the Kunlun Tongtai industrial control board.

(3) The control command information of the Kunlun Tongtai industrial control board is sent to the sending end of the data transmission module through serial communication.

(4) The receiving end of the data transmission module receives the instruction information from the sending end of the data transmission module, and sends the instruction information to the micro control unit (MCU) through serial communication.

(5) After the micro control unit (MCU) receives the instruction information, it calculates and generates the corresponding PWM signal for the instruction information, and uses the PID algorithm controller to adjust the stability of the PWM signal. The PWM signal is firstly isolated and processed by the optocoupler isolation unit, and then the current signal is amplified by the power amplifier, and the flow rate and direction of the output liquid flow of the electromagnetic proportional reversing valve are controlled by outputting the PWM signal current.

(6) When the lotus root digging machine is moving forward, the electromagnetic proportional directional control valves of the oil circuits on both sides are turned on, and the proportional electromagnets at the left end of the electromagnetic proportional directional valves are respectively given the same magnitude of current, so that the electromagnetic proportional directional valves of the oil circuits on both sides The proportional reversing valve maintains the same liquid flow rate, drives the hydraulic motors in the left oil circuit and the right oil circuit to rotate at the same speed, and keeps the lotus root digging machine in a straight line to carry out the lotus root digging operation. Simultaneously, adjusting the flow rate of the liquid flow output by the electromagnetic proportional reversing valve of both sides of the oil circuit can adjust the driving speed of the lotus root digging machine.

(7) When the lotus digging machine performs steering operation, the input current of the proportional electromagnets of the electromagnetic proportional directional valves on both sides of the oil circuit is adjusted to adjust the flow rate of the electromagnetic proportional directional directional valves on both sides of the oil circuit. The differential speed of the hydraulic motor in the left oil circuit and the right oil circuit realizes the turning and driving of the lotus digging machine.

(8) When the lotus root digging machine is running backward, input current to the proportional electromagnet at the right end of the electromagnetic proportional reversing valve on both sides of the oil circuit, so as to reverse the liquid flow of the electromagnetic proportional reversing valve and drive the hydraulic motors at both ends to change the steering direction. Realize the backward running of the lotus root digging machine.

(9) When the spools of the three-position four-way electromagnetic proportional reversing valves on both sides of the oil circuit are in the middle position, the lotus root digging machine will keep stopping.

In the hydraulic steering control module based on video acquisition in the electromechanical control system of this embodiment, the STM32 processor of the micro control unit (MCU) calculates and generates PWM signals according to the instruction information sent by the manually operated industrial control board, and uses the PID algorithm to generate PWM signals. Make stability adjustments. The incremental PID algorithm can improve the stability of the hydraulic system, and control the lotus root digging machine to run smoothly when turning and changing speed during the lotus root digging operation. The error generated; the PID algorithm formula for adjusting the PWM signal is as follows:

Among them, KP is the coefficient of the proportional term, KI is the coefficient of the integral term, KD is the coefficient of the differential term, the sample period T, the sampling time point t (0,1,2,3...), u(t) and u(t- 1) is the sampling deviation between the t-th sampling and the t-1 sampling, and w(t) is the output value at the t-th sampling.

Beneficial effects of this embodiment: the electromechanical control system of a self-propelled hydraulic lotus root digging machine in the embodiment of the utility model, when the lotus root digging machine is performing lotus picking operations or field transfer operations, the operator can control the excavation on land. The walking of the lotus root machine implements operations such as turning, forward, backward and stopping, which enhances the operational flexibility of the lotus root digging machine, improves the efficiency of lotus root digging operations, reduces labor intensity and labor costs, and improves the quality of lotus root harvesting.

Claims (9)

1. An electromechanical control system of a self-propelled hydraulic lotus root digging machine, characterized in that: comprise a hydraulic steering module, a hydraulic steering control module based on video acquisition; The left travel motor and the right travel motor on the left and right travel wheels of the lotus digging machine; the left and right travel motors are respectively connected to the left oil circuit and the right oil circuit; the oil circuits on the left and right sides are collected in the hydraulic pump On the main oil circuit of the outlet; electromagnetic proportional reversing valves are provided on the oil inlet ends of the left oil circuit and the right oil circuit. 2. the electromechanical control system of a kind of self-propelled hydraulic lotus root digging machine according to claim 1, it is characterized in that: the hydraulic steering control module based on video collection includes a real-time camera, and the real-time camera will dig lotus root machine video The signal is transmitted to the visual display through the image transmission module for manual observation; the industrial control board, as the artificial operating system platform, transmits the manual input instructions to the micro control unit (MCU) through the data transmission module; the micro control unit (MCU) The PWM signal generated by the operation command is isolated and processed by the optocoupler isolation unit, and the signal is amplified by the power amplifier to control the operation of the hydraulic steering module; the power module; among them, The effect of described real-time camera is to obtain the operation posture image of lotus root digging machine; The function of the image transmission module is to transmit the images obtained by the real-time camera; The function of the visual display is to display the operation posture information of the lotus root digging machine delivered by the image transmission module, so as to facilitate manual observation; As the artificial operating system platform, the industrial control board includes a CPU main board, a storage device, a touch screen and an interface, and its effect is to manually input corresponding instructions through the touch screen according to the operation attitude of the lotus root digging machine; The function of the data transmission module is to transmit the instructions sent by the industrial control board; The function of the micro control unit (MCU) is to process the instructions of the industrial control board and generate corresponding PWM signals; The function of the optocoupler isolation unit is to isolate and process the PWM signal, and isolate and protect the micro control unit (MCU) and the power amplifier circuit; The function of the power amplifier is to amplify the power of the PWM signal; The function of the power supply module is to provide voltage to each part of the video acquisition and hydraulic steering module, so as to ensure the stable operation of the system. 3. The electromechanical control system of a self-propelled hydraulic lotus root digging machine according to claim 1, characterized in that: the electromagnetic proportional directional control valve is a 4WRA10W40-13 three-position four-way electromagnetic proportional directional control valve. 4. The electromechanical control system of a self-propelled hydraulic lotus digging machine according to claim 2, characterized in that: the real-time camera is a KC-6760 tractor-mounted camera. 5. The electromechanical control system of a self-propelled hydraulic lotus root digging machine according to claim 2, wherein the image transmission module is a model TS832. 6 . The electromechanical control system of a self-propelled hydraulic lotus digging machine according to claim 2 , wherein the visual display is an industrial display of model GPC-121T. 7. The electromechanical control system of a self-propelled hydraulic lotus root digging machine according to claim 2, wherein the industrial control board is a Kunlun Tongtai industrial control board. 8. The electromechanical control system of a self-propelled hydraulic lotus root digging machine according to claim 2, characterized in that: the digital transmission module is a digital transmission module whose model is E32-DTU-1W. 9. The electromechanical control system of a self-propelled hydraulic lotus digging machine according to claim 2, wherein the micro control unit (MCU) is an ARM processor chip MCU of STM32F103C8T6 enhanced series.