SU1630625A1 - Coniometric radio navigation system for automatic driving of tractor mounted unit - Google Patents

Abstract

The invention relates to agricultural machinery, namely, devices for automatic control of the movement of mobile agricultural units, and can be used to automatically guide the movement of MTA during the implementation of field and transport mechanized operations. Purpose of

Description

I

from i

hydraulic system j

The system is equipped with a keyboard device 2 input and a display device 3 associated with the primary transducer 4 radio navigation parameters, the actuator 5 controls the rotation of the guide wheels a tractor, as well as sensors 6 of theoretical speed, 7 positions of guide wheels, 8 side crane of a tractor, permanent reprogrammable memory device 9, The digital controller 10 control the intensity of effect. In the district at points with

The known coordinates are radio stations A, B, C. Before the start of the MTA movement, the operator enters the operator using the keypad 2.

coordinates of beacons, ground control points of the floor and route of the crossing, width of rotation of the aggregate grip. After the input of the initial data is completed, the computing device 1 performs calculations. Before

the beginning of the MTA movement, the computing device 1 enters information from the position sensors of the direction finding antennas, calculates the average values of the bearings on the A, B, C radios, and calculates the current coordinates of the MTA. 3 Cp ff, 10 ill.

The invention relates to agricultural machinery, namely, devices for automatic control of the movement of mobile agricultural units, and can be used to automatically guide the movement of MTA during the implementation of field and transport mechanized operations.

The aim of the invention is to improve the accuracy of the auto-driving of the machine of the traction assembly.

Figure 1 shows the block diagram of the control device of the proposed angular radio navigation system MTA; Fig. 2 is a design diagram for determining the location of the MTA during field work; 3-6 are a flowchart of the control algorithm; in fig. 7 is a block diagram of the channel identifier; 8 is a block diagram of a digital switch; figure 9 is a block diagram of a computing device; in fig. 10 is an interface diagram.

The system (Fig. 1) contains a computing device 1 with a key input device 2 and an information display device 3 associated with a primary transducer 4 of radio navigation parameters, the executive mechanism 5 by turning the tractor's steering wheels, and the sensors of theoretical speed 6, the position wheels and side roll of tractor 8, connected to inputs of computing device 1, permanent reprogrammable memory device 9, with information output connected to input, calculate nogo device 1, and a control input - to the output of the latter, the actuator 5 rotating the control wheel guide tractor electrical input is connected

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to the output of the computing device 1, and hydraulic (shown by the dotted line) to the digital regulator 10 of the control intensity, having connections with the hydraulic system of the tractor and the output of the computing device 1.

The primary transducer 4 of the radio navigation parameters contains two automatic multichannel radio direction finders 11 and 12, each of which includes the receiver 13, to the main input 14 of which a directional antenna 15 is connected, mechanically connected to the actuator 16 and the sensor 17 of the position antenna 15, to the main output 18 through the comparator 19 two buffer memories 20 and 21 are connected. The buffer device 20 is connected to the position sensor 15 of the directional antenna 15 by the second input Twi, and to the additional output 22 of the receiver 13, via the channel identifier 23, a second buffer storage device 21 is connected, the second input of which is connected to the output of the first buffer storage device 20, and the output is connected to the computing device 1, and the output of the comparator 19 is through digital switch 24 It is connected with the additional input 25 of the receiver 13. The antennas 15 of the directional action of the automatic multichannel radio direction finders 11 and 12 rotate in different directions, one relative to the other, and the values of the bearings on the radio stations zmer are position sensors 17, antenna 15, directional effect of the longitudinal tractor axis clockwise.

Receivers 13 automatic multi-channel finder 11 and 12 contain fixed tuning nodes (not

shown) to several radio stations, additional inputs 25 are associated with digital switches of 24 channels, and additional outputs 22 are associated with identifiers of 23 channels.

The channel identifier 23 (Fig. 7) contains active band-pass filters 26-28, inputs associated with the receiver output 22, and outputs with an encoder 29, the digital output of which is connected to the input of the buffer memory 21. The active band-pass filters 26-28 are tuned on the selective transmission of signals from the corresponding Macs. At the outputs, the active bandpass filters 26-28 contain comparators (not shown). The encoder 29 is a read-only memory programmed to convert signals from active band-pass filters 26 to 28 into binary code.

The digital switch 24 (Fig. 8) contains a single-shot 30 for generating control pulses of the required duration, and a binary pulse counter 31 associated with it, the digital outputs of which are connected to the receiver 13.

The computing device 1 (Fig. 9) is a microcomputer comprising a microprocessor 32, a shaper 33 of control signals of an operational storage device 34, an address multiplexer 35, an operating system permanent memory 36, an initial startup unit 37, a direct access controller 38 memory, the controller 39 of the information display device, the fixed memory of the character generator 40, the video signal generation unit 41, the synchronization signal generator 42, the interface 43 is connected to the keyboard uroy interface 44 - with external devices, interface circuit 45, a clock generator 46.

Computing device 1 is built according to the scheme with common buses of address 47, data 48, and control 49. In the preferred embodiment, K580 series microprocessor chipset chips are used, which uniquely determines the connections between them.

The interfacing circuit 45 (Fig. 10) contains selectors-multiplexers 50 ... 55, control inputs 60., .63 interconnected with the port A of the interface 44 of communication with external devices and with the address inputs of the reprogrammed Permanent Memory. devices 9. Information inputs of selectors-multiplexers 52 ... 55 are connected: 64, .. 67-sdatelki tractor theoretical speed, 68 ... 71 - with the sensor 7 position of the tractor's guide wheels, 72 ... 75 - with the sensor 8 lateral roll of the tractor, 76 ... 79 - with information outputs of a constant reprogrammed input huge capacity unit 9. Information outputs of selectors 80 ... 83 multiplexers 52 ... 55 associated with the port interface 44 in communication with external

0 devices. The information outputs 84 and 85 of the multiplexer selectors 50 and 51 are connected to the control inputs of the buffer registers 56 and 57, connected through amplifiers 58 and 59, respectively, to the control mechanism 5 for controlling the rotation of the steering wheels of the tractor and to the digital controller 10. Information inputs 86 ... 89 of the buffer registers 56 and 57 are connected to each other and to port C of the interface F0 44 of communication with external devices. The system works as follows. On the territory of the agricultural enterprise (or district), radio stations of the A, B, C, and C stations (Fig. 2) are located at points with known coordinates. Radio phones can be used as radio beacons.

Before the start of the movement of the MTA through the keyboard device 2 input

0, the operator enters the coordinates of the beacons, the reference points of the floor boundaries, and the route of the crossing, the width of the rotation of the aggregate pickup (Fig. 3, block 1). After the input of the initial data is completed, the numeral device 1 calculates (fig. 3, block 2) the coefficients of the equations of the direct speakers and aircraft passing through the radio beams A, B, C. the distances between them, the coefficients of the equations of the field boundaries and the equations of the segments right,

0 components of the crossing route (the last one in Fig. 3 is not shown), the angle between the straight lines AC and BC, the coordinates of the points PI of the beginning and P2 of the end, and the coefficients of the equations PiP2 of the first working passage,

5 floor widths and number of working passes. At the end of the calculations, the computing device 1, using the information display device 3, gives the operator a message about readiness for operation.

0After the start of the MTA movement, the computing device 1 according to block 3 in FIG. 3, through buffer memories 21 and 20, enters information from sensors 17 of position of antennas 15 of direction finders 11

5 and 12, calculates the average values of the bearings on the A, B, and C radios, and calculates the current MTA coordinates. The calculation for block 4 in FIG. 3 contains the definition of the angles between the bearings and between the PB, RA and

direct VS, SA, respectively, the distances PC, PB, RA to beacons, coefficients of equations of the same straight lines and their points of intersection, and the center of the error triangle. Next, a comparison is made of the current coordinates of the point P of the position of the MTA on the floor plane with the coordinates of the points of the boundaries of the working rut trajectory and it is concluded that the location of the MTA on the headland or working rink is in accordance with block 5 in FIG.

If the MTA is on the working rut, then the computing device 1 calculates the abscissa from the ordinate measured in the described manner (Fig. 4, block 6). Then (Fig. 3, block 11) information from side tilt sensors 8 and the position of the guide wheels of tractor 7 is entered into computing device 1. According to block 12 of figure 5, MTA speeds are calculated (information on the current coordinates of the aggregate calculated for the previous program processing cycle, and the constant cycle time), trajectory error, the selection of the absolute value and the sign of the latter.

The results of the calculations (Fig. 5, block 13) are output through the ports of the interface of the computing device 1 to the inputs of the actuator 5 and the digital controller 10 of the intensity of the control action. If the MTA has gone beyond the limits of the working rut and is on the headland (Fig. 3, block 5), the rotation subroutine begins to be implemented (Fig. 4, block 7).

The basis of the MTA auto-driving algorithm on the headland is the approximation of circular loop-free turns by the ellipse equation. In accordance with the specified computing device 1 calculates the semi-axes and coordinates of the center of the ellipse, the two abscissas of the trajectory measured and selected in block 4 of the ordinate. The ordinate of the turn end point is calculated.

Then in blocks 8, 9, and Ufig. 4, an analysis of the computational abscissa of an ellipse is performed, one of the two is chosen, the mismatch of which with the value of the measured current abscissa is smaller. Information from the side-roll sensors 8 and the position of the guide wheels of the tractor 7 (figure 5, block 11) is entered, the MTA speed, trajectory error (figure 5, block 12) are calculated, the results of the calculations are output: sign of the trajectory error on the actuator 5 turn the tractor's guide wheels, and its absolute value to the input of the digital regulator 10 of the intensity of the control action (Fig. 5, block 13).

Next, the termination of the turn or rut trajectory is checked (Fig. 5, block 14). If the execution of the trajectory is completed, the implementation of the program continues from block 3.

Computing device 1 calculates the coefficients of the trajectory equation of the next working rut (Fig. 5, block 15) and records the results in the memory cells reserved for implementing block 2 (Fig. 3). Values

The 0 MTA coordinates in the cells for block 13 (Fig. 5) are replaced by the current ones. A unit is added to the number of completed work passes.

Then, the number of completed working passes is analyzed (Fig. 6, block 16). If the number of completed work passes is greater than or equal to that calculated by block 2 (FIG. 3), then computing device 1 proceeds to the implementation of the subroutine of driving through block 17 (not disclosed in FIG. 6). If the number of completed work passes is less than that calculated by block 2 (FIG. 3), then computing device 1 continues the implementation of the algorithm from block 3

5 (FIG. 3) in the manner described.

If the source data for block 1 does not include the coordinates of the reference points of the crossing route, the system can function if there is a driver in the cab

0 (option MTA local automation). If the source data for block 1 includes the coordinates of the reference points of the crossing route and the program of the computing device 1 contains an algorithm for monitoring the technical state of MTA machines and technological parameters, then the system can function without the constant presence of a tractor driver (MTA integrated automation option).

0 The primary transducer 4 radio navigation parameters (figure 1) works as follows.

The tractor moves along a trajectory. The antennas 15 rotate in different directions by means of actuating mechanisms 16, and the antenna position digital sensors 17 continuously measure the angular position of the latter. The zero value of the angular position of each of the antennas 15

0 corresponds to the position of the antennas in which they are oriented parallel to the axis of the tractor and directed forward along its movement.

Each receiver 13 radio direction finders 11 and 12 is always tuned to one of

5 multiple fixed frequencies. At a moment close to the maximum of the received radio signal from one of the beacons, for example, A in Fig. 2, the comparator 19 outputs a signal in the form of a logical unit to the inputs of the buffer memory devices 20 and 21

and digital switch 24. At the same time, the identifier 23 of the channels analyzes the signal received from the radio by means of active band-pass filters with comparator outputs, converts the logical signal into the corresponding binary code by the encoder 29 and outputs the latter to the input of the buffer memory 21.

The buffer storage device 20, having received the control signal from comparator 19, stores the current value of the angular position of the antenna 15 from sensor 17 (the previous value is replaced by a new one) and transmits it to the input of the buffer storage device 21. The other inputs of the latter simultaneously receive the information from identifier 23.

The control signal from comparator 19 causes the buffer memory 21 to simultaneously store information about the angular position of the antenna 15 by means of the position sensor 17 and the source of the radio signal by means of the identifier 23. The new information changes the previous one and is read by the corresponding keyboard interface 44 presented in figure 3-6.

The digital switch 24 (Fig. 8), having received the control signal from the comparator 19, forms a counting pulse by means of the one-oscillator. The latter immediately enters the input of the pulse counter 31 with a predetermined division factor. Counter 31 sums up the pulse received from the one-oscillator 30 with the number already present. At the output of the pulse counter 31, the binary code is changed, which leads to switching the setting of the receiver 13 to the next frequency range.

The mating circuit 45 (FIG. 10) works as follows.

From the port A of the interface 44 of communication with external devices, the address of one of the sensors 6-8, reprogrammable Permanent Storage Device 9, actuator 5 or digital controller 10 comes. The specified address is transmitted through lines 60 ... 63 to the control inputs 60 ... 63 multiplexer selectors 50 ... 55, which immediately switch to receive information from the corresponding information inputs (64 ... 67,68..71,72. 75 or T6 ... 79). Information from sensors on lines 80 ... 83 is fed to port B of interface 44 of communication with external devices.

If the address of the actuator 5 or the digital

controller 10, the buffer register 56 or 57 receives the control signals from the selector-multiplexer 50 or 51 via lines 84 or 85 and stores information received from port C via lines 86 ... 89. The information entered is immediately fed through amplifiers 58 and 59 to the inputs of the actuator 5 and the digital controller 10. The control process is implemented.

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Claims (4)

1. Uglomernaya radionavigation system of auto-driving of a machine-tractor unit containing a computing device with a key input device 5 and the information display device associated with the primary converter of radio-navigation parameters, the actuator controlling the turning of the steering wheels of the tractor, characterized in that, in order to increase the accuracy of driving, it is equipped with a digital regulator of intensity of the control action, sensors of theoretical speed, position guide wheels and side roll of the tractor, connected to the inputs of the computing device, a permanent storage device, information outputs of which are connected to the input of the computing device, and the control inputs to the output of the latter, the actuator controlling the rotation of the steering wheels by the electric input connected to the output of the computing device, and hydraulic to the digital 5 control intensity regulator associated with the hydraulic system of the tractor and the output of the computing device. 2. The system according to claim 1, that is, that the primary transducer of radio navigation parameters contains two automatic multi-channel direction finders, each of which includes a receiver, to the main input of which 5, a directional antenna connected mechanically to the actuator and the position sensor of the directional antenna is connected, two buffer signals are connected to the main output via a comparator 0 memory devices, the first of which is connected to the second input of the directional antenna position sensor, and the second is connected to the auxiliary output of the receiver via the channel identifier 5, a buffer memory, the second input of which is connected to the output of the first buffer device, and the output to a computing device, the comparator output being connected via a digital switch to the auxiliary input of the receiver. 3. The system of claim 2, wherein the actuators of the directional antennas are rotatably connected in opposite directions to each other, and the position sensors of the directional antenna are fixed to enable measurement of the bearing value from the longitudinal axis of the tractor in a clockwise direction . B (W M (1,2) ABOUT 1 2 J 4 5 6 4. The system of claim 2, wherein the receivers of automatic multichannel radio direction finders contain fixed tuning units for several radio stations, with additional inputs associated with digital channel changers, and additional outputs with channel identifiers. C (12.13) A (1S) 789 FIG. 2 U 11 12 13/4 Input of the initial data: the coordinates of the beacons, the support / points of the floor boundaries and the crossing route; the width of the rotation and width of the unit Jj Calculations before driving: The calculation of the coefficients of the direct passing through the radio stations and the distances between the latter, the boundaries of the floor, the route of the crossing, the angle between the direct speaker and the sun, the beginning, ending and coefficients of the equation of the trajectory of the first working passage, the width of the floor and the number of working passes Entering information from direction finders (after the start of the movement MTA) 4I Determination of current MTA coordinates: the calculation of the angles "X and - between bearings, V and Y between the PB, RA, and direct VS, AS, respectively, the distances PC, PB, RA to beacons, the coefficients of the equations of the same name and the points of their intersection, the center of the error triangle J start j Rut routine: Calculation of the abscissa from the measured error trajectory. Calculation of the lower and upper rut boundaries Rotation routine: Calculation of the semiaxes and coordinates of the center of the ellipse, the two abscissas of the trajectory according to the measured in block 4 ordinate. Calculation of the ordinate of the end of the turn not FIG. # BUT 0 II Enter information from side tilt sensors and the position of the setting wheels of the tractor 12 Calculation: the MTA velocity at the current coordinates calculated for the previous cycle, and the cycle time, the trajectory error, the selection of the absolute value and the sign of the last 13 I Conclusion: on the actuator of the mark, and on the intensity regulator of the control action - the absolute value of the trajectory error overt or gor are over 15 Count: coefficients of the equation of the trajectory of the next working rut and write them into the cells of block 2. Replace in the cells of block 13 the values of the previous MTA coordinates with the current ones. Add one to the number of completed work passes. not - 22 I FIG. 7 R nineteen 24 25 FIG. eight AND