SU1405719A1 - Apparatus for automatic driving of machine and tractor units - Google Patents

Abstract

This invention relates to the mechanization of agriculture. The purpose of the invention is to improve the quality of driving at work and the headland. In the release mode on the working drive, the device implements an algorithm embedded in the microcomputer memory. In the process of auto-driving of the microcomputer 21, through the information channel switch 9, the sensors 1, 12 of the vras frequency, the leading and guide wheels through the converters 10, 11 frequencies in the code, the sensors 2, 18 of the lateral and longitudinal N2 roll, 3 - the directions of the tractor wheels, 5 - trajectory errors, 19 - working machine masses, 20 - driving forces through analog-to-digital converters 13, 14, 15, 16 and 17, respectively. The output signals of the microcomputer through the multichannel amplifier 6 are fed to the inputs of the steering actuators 8, 24, 25 to adjust the longitudinal and transverse removal of the path copying point and to the audio signal 7. A universal algorithm is laid for control on the headland in the microelectronic memory 21 at the first turn. For this purpose, the switch 9, on request of the microcomputer 21, polls the rotational speed sensors. leading 1 and guide wheels 12, side 2 and longitudinal 18 heels, position 3 of the guide wheels, mass 19 of the working machine, forces 20 tons of g on the hook. After the operator completes the turnaround by the command from terminal 22, this information is entered at the appropriate addresses and is subsequently used to implement the turn in automatic mode. 2 h. item f-ly, 6 ill. Sfi (L cd

Description

Some of these are related to the mechanization of agriculture and can be used to automate the driving of mobile agricultural machine tools ai peraTOB when carrying out field mechanized works.

The goal of the invention is to increase the quality of driving on the working floor and the turning lane.

FIG. I shows a block diagram of the proposed device; in fig. 2 block

scheme of the switch room of information channels; in fig. 3-6 - diagrams of trajectories of turns (3 - circular non-circular rotation, 4 - loop-free rotation with a linear part. (3-4), 5 - looped unilateral rotation, 6 - angular rotation at an arbitrary angle).

The device for driving 11in-tractor, the aggregates contains sensors of the I rotation frequency of the driving wheels, 2 side heels, 3 positions of the tractor guide wheels, 4 positions of the machine’s operating elements, 5 trajectory errors, a multi-channel amplifier 6, an acoustic signal 7 and an actuator 8 steering and switchboard 9 information channels, to which, through the converters 10 and 1 of the I frequency to the binary code, sensors 1 of the rotational speed of the driving and 12 steering wheels are connected, through analog-to-digital converters 13---17 sensors 2 of the side and 18 longitudinal roll of the tractor are connected, 3 positions of the wheels 19 are directed - the weight of the working machine, 20 pulling forces, and sensors 4 of the position of the working bodies of the machine and 5 trajectory errors, to the tires about information (the drawing shows arrows;.) g1odk: yuchena microcomputer 21 with terminal 22, and to the outputs - a multiplex 11al1; th amplifier b connected to the input of the value, and through a digital regulator 23 to the input of the intensity of the control effect of the computer 8 turn guided;; their tractor wheels with executive .me By means of rsgu. of longitudinal 24 and transverse 25 offset 704 Kii: opirovany trajectory of the working rut, with the trajectory error in sensor 5:; with sound ;; m. signal 7, and the disrespectful mechanism 8 of turning the tractor's guide wheels has an additional mechanical connection with the sensor 5 of the vector guidance only.

Switchboard 9 information channels content; 1t. The decoder 26 of the ignitor vvo.cha, the input connected to the output of the microcomputer 21, and B1-: och: ode - with the selector-multiplexer 27 information channels, the output connected to the input of the microcomputer 21, as well as the decoder 28 of the output operator, which is connected to the microcomputer 21, and the output to the selector-multiplexer of 29 output channels, other inputs connected to the microcomputer. 21, and exit. - with multichannel amplifier 6.

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In the preferred embodiment, as the sensors 1.12 of the frequency of rotation of the driving and guide wheels, 4 positions of the working bodies of the machine, contactless limit switches of the type KVD-6/12 were used.

The sensors of the lateral 2 and longitudinal 18 banks of the tractor were used as sensors of the DCB type developed by VNIIStroyorodmash.

As the sensor 3 of the position of the tractor's guide wheels, a DSHB type sensor developed by VNIIStroy-Dormash was used.

As a force sensor 20 on the hook, a compression force sensor in the tractor's top hydraulic suspension system, made in the form of a spring and an electromechanical converter, was used.

As the sensor 5 of the trajectory error, the device was developed at the SECRP, but a photo-optical sensor developed by the Institute of Mechanics of Machines of the Academy of Sciences of the Georgian SSR or another, such as radio navigation, could be used. At the same time, it is important that the sensor provides information proportional to the magnitude of the trajectory mismatch in a digital form.

As a control device 21 and 22, any high-speed digital microcomputer built-in B technological equipment can be used.

Cyl; 1 cores with electrically controlled spools are used as exponential mechanisms 24 and 25. Executive .mechaniz.U; 8 rotations of the tractor guide wheels - development and production according to MTZ.

The digital regulator 23 of the intensity of the control action is developed by the VSEC.

The device works as follows.

By means of TepM i ;; a; ia 22, a device can function in one of the modes: auto-driving; motor-driving; 1e on the subway; preparation for work.

Preparation; (Work. Option A.

For the preparation of the proposed device for operation, it is necessary to perform the following.

1. Turn on the power of the control device from the tractor’s on-board electrical network, after the microcomputer 21 warms up - for 3-5 minutes using the keyboard; -, the device included in the terminal 22, enter into it the RUN directive 1z of the remote technical resolution to control the movement M TA uses the algorithmic language BASIC). The microcomputer will begin the execution of the first part of the program - input of the initial data.

2. On the display screen, Bh. also FJ composition of terminal 22, on the question:

"What kind of turn do you choose for this MTA

The program for a microcomputer provides for a circular loopless turn, a loopless one with a straight-line segment and a loopback one-sided one.

Using a keyboard device, enter into the microcomputer the answer to her question, for example: “Circular loopless. Press the key; VK.

3. On the screen of the display, according to the following question: "What kind of motion do you choose

The program for the microcomputer provides for the implementation of the methods of the shuttle movement (or the snake, the difference is only in the parameters of the trajectory of the turn), the spoiler and razvazval. Depending on the answer to the microcomputer's control question, it will implement its device: when moving by the shuttle, turns alternately left and right, vvval - only right, collapse - only left.

By means of a key device enter into the microcomputer the answer, for example: “Snake. Press the key: VK.

4. After pressing the key; VC on the screen of the display shows the text of the instruction to the driver: “I ask you to check in the unit

in a transport position along the trajectory marked on the floor surface. This is to enter the rotation parameters into the memory. The input of parameters begins immediately after the key is pressed; BK.

Following the instruction, the driver must raise the mounted machine to the transport position, and that of the trailed one - to deepen the working bodies. Then switch on the transmission (it is possible not working, but a lower one - it is easier to accurately follow the previously marked trajectory on it), to start the movement of the unit to the headland.

When the tractor crosses the control line of the headland with the rear wheels of the tractor, press the VC key and drive the unit along the marked trajectory. At the end of the trajectory, at the secondary crossing of the control line of the headland by the tractor, press the key; VK. The process of entering the turn path parameters into the microcomputer stops.

FIG. 3, it can be seen that the schemes of the MTA turn trajectories consist of certain sequences and the number of elements of the same type: segments O-1 and 6-7 straight on the driveway into the headland and away from it, sections 1-2, 2-3, 4 , 5-6 of variable curvature and arcs 3-4 (fig. 3 and 5) of a circle or a 3-4 segment (fig. 4) may be in the middle of the trajectory. Depending on the answer to the question about choosing the type of rotation, the microcomputer will go to the corresponding part of the program and prepare to enter the initial data of the selected type of rotation. Record the parameters of the trajectory of rotation - this means

at the requests of the microEVA, enter values from the sensors, for example, for the trajectory shown in FIG. 3 lengths of straight lines O-1 and 6-7, the increment of the angle of rotation of the guide wheels per unit length of the trajectory (control intensity) in sections 1-2 and 5-6 and their length, arc length 3-4 circumference and angle of rotation guide wheels (steering).

We have chosen the type of rotation of 5 elements of the trajectory, successively 5 times the microcomputer requests and analyzes information from sensors. Five times enters information from sensors 12 of rotational speed and 3 positions of tractor's guide wheels. Once at the beginning of the turn, information from the sensors 1 of the rotational speed of the driving wheels, 2 - lateral and 18 - longitudinal roll of the tractor, 19 - weight of the working machine, 20 - traction force on the hook is entered into the microcomputer 21. The regression coefficients for controlling the type are then calculated.

) i; V | -fB, (A 2-, V |) + C, VrTi +

+) | 0.m +, Rl -;.,

ar "S 2 2 + S2 (.V2- / Vl) + C2VV4n4

+ D2G. "- f 2P"; da

(2)

where. is the increment of the angle a of rotation of the tractor's guide wheels per unit increment of the length / part of the trajectory of variable curvature (intensity from the control action). rad./m:

L, B, C,

D, E - regression coefficients; L) and L 2-values of the signals at the time of polling the sensors of the frequency of the driving 1 and guiding 2 wheels of the tractor,

7 and | j, are the values of the signals at the time of the survey of the sensors of the lateral 2 and longitudinal 18 heels of the tractor, rad; G.V - values of the signal from the sensor 19 of the weight of the mounted machine (oil pressure in the shock cavity of the power cylinder of the tractor's hydraulic suspension system after moving the machine to the transport position), MPa;

RK is the signal value from the 20 force on the hook; Kli.

Equations (1) and (2) are intended to adjust the intensity, W and values of 1 1 a-ax of the controlling effect, if, when cornering, the speed is MTA, the skidding of the driving wheels, the slope of the floor, the weight of the working machine (with seeds and fertilizers) The hook forces on the hook will differ from the parameters entered earlier in the memory.

D), on the screen of the j-ile gyo vits question: "Will. 1 and repeat the turn trajectory Answer only or. If, in the opinion of the driver, the check was completed unsuccessfully (inaccurately), then it is possible to answer the question of the microcomputer; Yes, and repeat the check. At the same time, you have just done the following parameters: sotrets and a friend will be recorded in its place.

Suppose the answer is entered: "No. Press the VK key.

6. The on-screen display shows the message to the driver: “I am ready to work.

Preparation for work. Option .B.

The proposed device provides for the possibility of preliminary calculation of driving modes and parameters of turns without races along the trajectory marked on the floor surface. For this, the microcomputer is equipped with another software m. (New or augmented). Then, on request 1 of the micro-VMD, using the keypad of terminal 22, the driver enters the initial data. The machine performs the calculations necessary in this case, the results are entered into the memory and use them in the hall of the autogate in the same way as described.

Driving on the headland.

The driver enters the MTA and the first working driver, deepens the working bodies and performs technical operation during the first working pass without liOMOiij.H of the proposed device.

At the end of the worker, at the moment of intersection with the rear.; Vi of the tractor controlN. L (-; KII iiOBOpf r: -;.; H BAND, DRIVER LEVEL WaravtynI hydrch mounted system it T working parts of the machine. This is issued to the sensor 4 position The mains through the commutation of a-1 information channels of the signal to the input of the microcomputer 21.

The signaling of the commutator comm. 9 in-dopopMauKOiiHbix channels is carried out in the following way.

After v1G1Ol; in the following sequence. Psmos 1 st operations gi; preparat 1: and il to; -. tag device to work g; the appearance of the message display: “To the operation of the J-OTC, the microcomputer 2 is converted to cocTO v n; e G interrupt;: on the program. Interruption of work here is carried out; is snooper i opOM IT -iPIJT. After the operator slsdue ™ adL) ec, the value of the input variable will be written for the xsugor.

As soon as the microcomputer IIOHEHT- with d8O 1pcNI operator code INPUT den one factor 26 of the malicious operator misses on in: - one selector-multiplexer 27 information: and:, the address of the variable address. The same address is at the same time the address of O Tsego Infor tronny Dagchi; ;: -: .. Having received from the decoder 26 of the operator. Input the resolution and address of the variable, selector vy; slave the working torus 9

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the multiplexer 27 information signals transmits information from the corresponding sensor to the input of the microcomputer 21.

In this case, having received the signal from sensor 4 of the position of the working parts of the machine, the microcomputer begins controlling the movement of the MTA on the headland --- it implements a universal algorithm:

If that and.

If, then a a) ((- / i).

If (, then SS - Ш (/ -г з).

If, then a const and (3)

If, then (/ - / 4).

If, then a -sa (/ - / b).

If / G (7, then a) 0.

If a . This automatically switches to interrupt mode with simultaneous switching on 2 from the sound system.

If cx is max, then w- (signa) 0.

Here, / is the dead value of the sum of the signals from the rotation speed sensor 12 and the direction of the yushi wheels of the tractor - the path traveled by the MTA. from the beginning of the turn, m; - the length shown in FIG. 3 elements of the trajectories of turns, automatically introduced into the memory of the microcomputer 21 during the race on the trajectory marked on the floor; W is the intensity of the control action, calculated from the dependence (1) using m information from sensors, rad / m; a - the current value of the signal from the sensor 3 is the position of the tractor's guide wheels, rad: “max is the maximum angle of rotation of the tractor's guide wheels, calculated from (2) using information from the sensors, rad; sign is a sign (plus, zero or minus).

Unk versal algorithm (3) for MT.A automobile on the headland, in general, ek, as a solargit, 7 values of the length of the ale: -, ent1; trajectories, so when you receive a question about the choice of the type of rotation, for example, for circular loopless, the microcomputer 21 in the bee automatically records and. By this, the universal algorithm is transformed into the form of the iVVFA auto-driving algorithm along the trajectory of the type of turning chosen by the driver - a circular bes;

The implementation of the uniaosal algorithm (3j for MTA auto-driving on the front lane is performed by the following 1:;,; -; m processing: timing.

The switch 9 information channels. According to the command --- the request. Microcomputer 21 “responds. Frequency sensors rotate1:.; Vedu- 1dikh 1 and pa) ravl yushih 12 cholesa, lateral 2-: i d ./; no1-o iS KiieHa, psychic direction, KOJiec. weight 19 working machine, s.gy; 20 t g ;; “On the hook. Information from sensors .iianHCbiBaeriw and pmpy; microcomputer; PS corresponding address ::; m.

Therefore, according to the dependencies (PI (2) for the intensity and efficiency of the supervising manager, calculations are calculated taking into account the obtained and) and financial conditions. Simultaneously

The value of the distance traveled is accumulated in one memory cell:

l l -} - dl,

where rf / is the number of signals from the sensor 12 of the rotation frequency of the tractor's guide wheels per unit of time.

At the same time, the conditions are periodically checked.

, (,

When the MTA reaches the traversed path, the microcomputer 21 outputs the calculated value of the intensity of the control action. The decryptor 28 of the PRINT output operator issues a signal — a resolution to one of the outputs of the multiplexer selector of 29 output channels. The other inputs of it are assigned the destination address of the digital controller 23, the intensity value s of the control action and its sign.

The selector-multiplexer 29 through the multichannel amplifier 6 transmits the intensity value from the control to the input of the digital controller 23, and its sign to the input of the actuator 8 of the steering wheels. The digital regulator 23 sets the flow of the corresponding oil flow to the hydraulic input (to the power cylinder) of the actuator 8 of turning the guide wheels of the tractor. The electrical input of this actuator (one of two electromagnets) is given a control sign. The turning of the steering wheels begins.

Due to the fact that the multichannel amplifier 6 is made with the triggers on the inputs, the values of the control signals are saved until they are changed by others. This makes it possible, through a single switch 9 of informational cacals, to control several actuators.

Simultaneously with the rotation of the guide wheels, the microcomputer calculates

a (o (/ - /,)

The path traveled gradually increases, the proportion of the control action increases in proportion to the path.

At the same time, the condition is checked. As soon as the path traveled by the MTA reaches the value of / 2 stored in the memory, the microcomputer 21, via the switch 9 information channels and the multichannel amplifier b, sends to the input of the digital controller 23 a new intensity value o) of the controlling effect

(.

The magnitude of the control action (the angle of rotation of the guide wheels of the trac- tor) remains at the same time as it was at the moment the condition was continuously monitored.

At the moment when the path traveled by MTA reaches, microcomputer 21 through the switch 9 information channels, many

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channel amplifier 6 output; 1st to the inputs of the digital controller 23 and is the solpetemish). Mechanism 8, the new values of the value of n of the sign of the control action on the guide wheels, the latter will begin to turn towards the middle angle (the angle a will decrease to).

The condition is monitored; At the moment when the passed Path reaches / 6, the microcomputer 21 will give the next value of the intensity of the control action.

This will verify the condition. The condition / 7 is monitored. At the moment when the traversed path reaches, microcomputer 2 through the switch 9 of information channels and multichannel amplifier 6 will give the command to turn on the sound signal 7, and after 2 s to turn off the signal. Circular loop-free turn is completed. By means of the STOP operator, the implementation of the program was interrupted before the driver's command was received by pressing a key; the terminal terminal VC 22 on switching to auto-driving mode and on the working rink.

Driving on a worker i OHC.

When you hear the beep, drive. The w will be informed about the end of the turn and the transition of the control unit to the manual control of the direction of motion. On this signal, the driver must be convinced of the exact entrance of the MTA to the next working gon, if necessary, correct the trajectory of the aggregate, deepen the working bodies and press PA on the keypad terminal 22. This will cause the control device to transition on re.zh1 .m avtovozheni on working th.

In the automatic mode of the 5th day MT.4 in the working mode, the control device implements the following algorithm:

f (t) (t) dt + {y ((4)

 i

 w: signf sign (o;

where T:, T-2, Tz are the time constants of the integration of signals from sensors 5 by the error trajectory, 3 positions of the steering wheels, 2 lateral rolls of the tractor, respectively (experimentally, for example, for cultivators ;; MTA on the basis of the MTZ-80 tractor; the most accurate quality of motor-driving is consistent with a time constant value of 0.25, 0.25 and 8 s); Р, а, V - values of signal from the sensors 5 of the trajectory fault, 3 positions of the winding wheels, 2 lateral roll of the tractor:

A, B - gain factors;

(O - intensity of the control action on the tractor tractor scaffolds, calculated from dependence (4).

In the process of auto-collisions, sensors are interrogated continuously in a described manner, calculating the value and sign of the intensity of the control action and transferring the results from the microcomputer 21 through the switch 9 of information channels and the multichannel amplifier 6 to the inputs of the digital controller 23 and the actuator 8 of turning the steering wheels of the tractor.

The actuator 8 acts on the guide wheels of the tractor with which the sensor 3 of the position of the guide wheels is connected. The rotation of the wheel SEWERS leads to a decrease in the trajectory misalignment and to a gradual decrease in the angular velocity of their rotation, thus the elimination of the trajectory mismatch occurs with minimal overshoot and in the mode of damped oscillations.

Mechanical communication between the trajectory fault sensor 5 and the tractor steering wheels also contributes to the stabilization of the MTA movement on the rut: turning the tractor steering wheels towards the base furrow leads to a corresponding rotation of the trajectory error sensor 5 to clears the trajectory error signal before reducing its own trajectory error mismatch, i.e. with pre-emption.

At the same time, microcomputer 21 calculates the following dependencies: L / CA / T-bO; V | -fE;

(5) and transverse

Pr / cfy -f, where and, P- longitudinal

BbiHoc points of copying of the furrow of the furrow, m;

C. D, E, K. L1, L-regression coefficients; L: - frequency of rotation of the tractor's guide wheels, s-.

Calculated from the dependences (5) of the hfodol and transverse in the h; the 1-CRYCON copying is fed from the microcomputer 21 through the switch 9 information channels and the multi-channel amplifier 6 to the inputs of the actuators 24 and 25, which maintain the position required for high quality avtovozhdeniya-sensor 5 trajectory error.

At the end of the driving stage, when the tractor wheels cross the control line of the headland, the driver with the lever of the hydraulic pump system deepens the working parts of the machine. This results in: - outputting a signal from the microcomputer to the input from the position 4 of the working bodies and an automatic transfer; a control code;

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on the backwash mode. At the same time, the direction of rotation is automatically changed to the opposite, since the driver was previously a way to move the snake.

Claims (3)

Invention Formula . A device for driving cars and tractor units, containing sensors 1 of the rotational speed of the driving wheels, side 1-ren and the position of the tractor's guide wheels, the position of the machine's working parts, trajectory error, multi-channel power steering, sound that, in order to improve the quality of driving at work and the headland, the device contains sensors for the frequency of rotation of the guide wheels, the longitudinal roll of the tractor and the weight of the working mask, the switch information channels, a microcomputer with a terminal, actuators for controlling the longitudinal and transverse spreading of the copying point of the operating trajectory, a digital controller, two frequency converters to a binary code and five analog-digital converters, and to the inputs of the switch information channels through frequency converters to a binary The code is connected to the sensors of the frequency of rotation of the driving and steering wheels, through the aerial-digital converters, the sensors of the lateral and longitudinal wheels are attached to the tractor. the guide wheels, the weight of the working maschine and the pulling force, as well as the sensors of the position of the working parts of the machine and the trajectory fault, the microcomputer is connected to the information exchange buses with thermals 1–1 and the outputs have a multichannel amplifier connected to the magnitude input, and through the digital regulator - with the intensity input of the controlling influence of the executive mechanism for turning the tractor's guide wheels, with the executive mechanisms for adjusting the longitudinal and transverse movement of the copy point of the working headpath, which are At the same time, an error trajectory, with a sound signal /, the actuating mechanism for turning the taps of the tractor wheels has an additional connection with the trajectory error sensor. 2. The device in accordance with claim 1, which is {the main one is that the switch of information channels sol.ertifers the decoders of operators for input and output of information to the selector-cartoon-selector of informational channels and the output of the decoder operator the input is connected to the microcomputer vyulloy, and the output is connected to the selector-mu. type of information channels, the output of which is connected to the input of the microcomputer, the input of the decoder of the output operator is connected to the microcomputer, and the output is with one; 1-cultivator of output channels, which is connected to the microEVLA by other inputs, and outputs - with multi-channel amplifier. 3. Device 110 p. 1, characterized in that the multichannel amplifier is made with triggers on the input. Phi .2 2 / J 6 ( ag.b To gininro-computer 21 J O5 6 one Phi. .five l5 ABOUT Phage 5