CN109024751B - Semi-automatic construction control system and control method for excavator - Google Patents
Semi-automatic construction control system and control method for excavator Download PDFInfo
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- CN109024751B CN109024751B CN201810854908.7A CN201810854908A CN109024751B CN 109024751 B CN109024751 B CN 109024751B CN 201810854908 A CN201810854908 A CN 201810854908A CN 109024751 B CN109024751 B CN 109024751B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
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- Mining & Mineral Resources (AREA)
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- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a semi-automatic construction control system and a control method for an excavator, which solve the technical problems of low construction efficiency and low construction precision in the operation process of flat land, slope repair and the like of the excavator. The control system and the control method provided by the invention also have the advantages of low requirement on the technical level of an excavator manipulator, high construction precision, no need of secondary measurement and the like.
Description
Technical Field
The invention relates to the technical field of excavators, in particular to a semi-automatic construction control system and a construction control method of an excavator.
Background
Along with the development of an electric control operation system, a foundation is laid for the automation of the excavator, wherein the control system structure of the excavator comprises: the control device receives 8 operating position command signals of the left and right operating handles and also transmits system control information to the display; the control information is used to control 8 operation pilot control proportional valves of 4 operation mechanisms such as a swing mechanism, a boom, an arm, and a bucket. Meanwhile, the displacement sensor and the angle sensor perform real-time feedback on the action of the excavator, so that the work of the excavator can be effectively controlled. In the traditional excavator construction process, the operation under different working conditions has high requirements on an excavator hand, particularly the engineering operation such as flat ground and slope repairing, the fatigue degree of the excavator hand in the repeated working process is high, after the construction is finished, professional measurement is needed, and the problems of low construction efficiency, high personnel cost and the like exist.
Disclosure of Invention
The invention discloses a semi-automatic construction control system and a control method for an excavator, aiming at solving the technical problems that operations such as flat ground and slope repairing of the excavator have high requirements on the operation of an operator and the excavator is easy to fatigue in repeated work, and the specific technical scheme is as follows:
a semi-automatic construction control system of an excavator comprises a sensor module, a control module, a measurement module and an operation module, wherein the sensor module and the measurement module transmit data to the control module, and the control module transmits feedback information to the operation module; the sensor module comprises a bucket cylinder displacement sensor, a movable arm angle sensor and a bucket rod angle sensor; the control module comprises a three-dimensional digital modeling unit and an engineering design unit; the measuring module comprises a height measuring device, a length measuring device and an angle measuring device; the operating module comprises a dipper digging handle and a display.
Further, the bucket rod excavating handle of the operation module comprises a left-hand side handle and a right-hand side handle, the bucket rod excavating handle is connected with the main controller, the sensor module is connected with the auxiliary controller, and the main controller and the auxiliary controller jointly control the engine and the hydraulic system to work.
Further, a three-dimensional digital modeling unit of the control module specifically establishes a three-dimensional digital model according to the actual field data acquired by the measurement module, and the engineering design unit comprises construction design data entry and construction purpose operation control.
Further, the controller used by the control module is a WW controller or a TD controller.
The control method comprises gradient control and target plane control, wherein a measurement module inputs measurement data into a control module, the control module realizes calculation of elevation, flatness and gradient by establishing a coordinate system, meanwhile, a sensor module feeds back the condition of excavator equipment to the control module, engineering design data is manually input into the control module, the control module transmits a feedback correction output signal to an operation module, and the excavator enters a semi-automatic state of two-linkage operation or three-linkage operation.
Further, the slope control specifically comprises the steps of inputting the angle, the length and the height of a slope through a construction design data entry part of an engineering design unit, further determining the starting point setting and the end point setting of the bucket, calculating a slope angle according to a bucket tooth movement path of the bucket by the controller module, and displaying the angle of the construction slope by the display.
Further, the target plane is specifically set to be the height and the length of the target plane, and the bucket teeth of the bucket move stably along the target plane to achieve target plane clearing.
Further, the two linkage operations are specifically that the excavator is operated to place the bucket tooth tips to the starting point positions; the two linkage buttons are inching, and the controller module enters a semi-automatic construction state of two linkage operations after receiving signals; the controller module sends construction mode information to a display; a bucket rod excavating handle is pulled to open a semi-automatic construction state, so that a target plane is prevented from being damaged; clicking the two linkage buttons again to enter a common operation mode; after the boom ascending operation is executed, the normal operation mode is also entered; and the height difference value of the bucket tooth point and the target plane is sent to the display through the measuring module.
Further, the third linkage operation is specifically to operate the excavator to place the bucket at the starting point position; clicking the three-linkage button, and entering a three-linkage operation semi-automatic construction state after the controller module receives a signal; the controller module sends construction mode information to a display; a bucket rod excavating handle is pulled to open a semi-automatic construction state, so that a target plane is prevented from being damaged; clicking the three-linkage button again to enter a common operation mode; after the boom ascending operation is executed, the normal operation mode is also entered; and the height difference value of the bucket tooth point and the target plane is sent to the display through the measuring module.
The beneficial effects of the invention include: according to the invention, through the combination of the sensor module, the control module, the measuring module and the operation module, two-linkage operation or three-linkage operation in the working processes of slope repair, flat land and the like is realized, and the technical problems of low construction efficiency and low construction precision in the operation processes of flat land, slope repair and the like of an excavator are solved; the semi-automatic construction method has the advantages of low requirement on the technical level of an excavator manipulator, high construction precision, no need of secondary measurement and the like; the semi-automatic control system is beneficial to the excavator to save fuel, shorten the construction period and reduce the personnel cost. In addition, the invention has the advantages of convenient modification, and capability of solving the problem of high construction difficulty by using various machine types.
Drawings
FIG. 1 is a schematic diagram of a semi-automatic control system for an excavator;
FIG. 2 is a schematic view of a dipper digging handle configuration;
FIG. 3 is a schematic view of excavator grading operation;
FIG. 4 is a graph of excavator construction speed versus handle travel;
in the figure: 1-a dipper handle; 2-a secondary controller; 3-a main controller; 4-a radiator; 5-an excavator; 61-bucket cylinder displacement sensor; 62-boom angle sensor; 63-dipper angle sensor; 7-a display; 8-a measurement module; 9-input window; 10-an engine; 11-a relay circuit; 12-an electromagnetic proportional valve; 13-a control line; 14-left handle; 15-right handle; 141-two interlocking buttons; 142-a horn; 143-hydraulic shears; 144-one key idle; 151-three interlock buttons; 152-power increasing button; 16-target trajectory; 17-actual trajectory.
Detailed Description
The invention provides a semi-automatic construction control system and a control method for an excavator, which are shown in fig. 1 to 4.
As shown in fig. 1, a semi-automatic construction control system for an excavator specifically includes a sensor module, a control module, a measurement module and an operation module, wherein the sensor module and the measurement module transmit data to the control module, and the control module transmits feedback information to the operation module. The sensor module includes a bucket cylinder displacement sensor 61, a boom angle sensor 62, and an arm angle sensor 63. The control module comprises a three-dimensional digital modeling unit and an engineering design unit, wherein the three-dimensional digital modeling unit of the control module specifically establishes a three-dimensional digital model according to the field actual data acquired by the measuring module, and the engineering design unit comprises construction design data input and construction purpose operation control. The measuring module 8 comprises a height measuring device, a length measuring device and an angle measuring device, and the controller used by the control module is a WW controller or a TD controller. The operation module comprises a bucket rod excavating handle and a display, the bucket rod excavating handle 1 of the operation module comprises a left-hand side 14 and a right-hand side 15, the bucket rod excavating handle 1 is connected with the main controller 3, the sensor module is connected with the auxiliary controller 2, and the main controller 3 and the auxiliary controller 2 control the engine 10 and the hydraulic system to work together.
As shown in fig. 2 and 3, the buttons of the left handle 14 of the arm excavating handle comprise two linkage buttons 141, a horn 142 button, a hydraulic shear 143 button and a one-key idle 144 button; the keys of the right handle 15 comprise three linkage buttons 151, an increasing force button 152, a hydraulic shear button 143 and a one-key idling 144 button, wherein the two linkage buttons are connected with a main controller, and the three linkage buttons are connected with the main controller.
The control method of the semi-automatic control system of the excavator by utilizing the semi-automatic construction control system of the excavator comprises the following steps of gradient control and target plane control: the slope control specifically comprises the steps of inputting the angle, the length and the height of a slope through a construction design data entry part of an engineering design unit, further determining the starting point setting and the end point setting of the bucket, calculating a slope angle according to a bucket tooth movement path of the bucket by a controller module, and displaying the angle of the construction slope by a display. The target plane is set specifically by setting the height and length of the target plane, and the bucket teeth move smoothly along the target plane to achieve target plane clearing. The measuring module inputs measured data into the control module, the control module realizes calculation of elevation, flatness and gradient by establishing a coordinate system, meanwhile, the sensor module feeds back the condition of the excavator equipment to the control module, engineering design data are manually input into the control module, the control module transmits a feedback correction output signal to the operation module, and the excavator enters a semi-automatic state of two-linkage operation or three-linkage operation.
In a control method of a semi-automatic control system of an excavator, in a semi-automatic construction state of two-link operation or three-link operation, whenever an operation boom is raised, a normal operation mode is switched. In the slope control, a slope setting way comprises directly inputting an angle in a display, inputting a ratio of a height H to a length L in the display to determine the angle and automatically learning and setting the angle, wherein the automatically learning and setting the angle is specifically that firstly, a tooth tip is placed at a starting point, and a starting point setting button is pressed; secondly, putting the tooth tip to the end point, and pressing an end point setting button; and finally, the controller module calculates the angle according to the position information of the starting point and the end point and stores and sets the angle. When the target plane is set to be used under the condition that the gradient is set to be zero, firstly, the tooth tip is placed on the target plane, the target plane setting button is pressed down on the display, and the controller module automatically records the target plane according to the current position of the tooth tip; the target plane protection function is provided in the setting, and the working device cannot dig below the height of the target plane; when the target plane clearing button on the display homepage is pressed, the controller clears the target plane data, and further closes the target plane protection function, and the working device can dig out the target plane below the height.
The two linkage operations are specifically that the excavator is operated to place the bucket tooth tips to the starting point positions; the two linkage buttons are inching, and the controller module enters a semi-automatic construction state of two linkage operations after receiving signals; the controller module sends construction mode information to a display; a bucket rod excavating handle is pulled to open a semi-automatic construction state, so that a target plane is prevented from being damaged; clicking the two linkage buttons again to enter a common operation mode; after the boom ascending operation is executed, the normal operation mode is also entered; the height difference between the bucket tooth tip and the target plane is sent to a display through a measuring module.
The two-linkage operation flat land construction specifically comprises the steps of firstly setting the gradient to be 0 in a display, secondly placing a tooth tip on a target plane, and setting the target plane in the display; then the working device is extended out, and two linkage buttons are pressed to start two linkage semi-automatic land leveling; after the bucket reaches the position near the machine, the movable arm is lifted, at the moment, the machine automatically returns to a common operation mode, and the materials in the bucket are unloaded to a specified position in the common operation mode; after the material is unloaded, the machine is operated to reach the starting point of the target plane, the two linkage buttons are pressed, and the automatic land leveling operation is repeated.
The two-linkage operation slope repairing construction specifically comprises the steps of firstly setting a slope in a display; then, operating in a common mode to enable the tooth tip to reach the starting point, and pressing two linkage buttons, wherein the controller module receives two information of the starting point and two linkage instructions; the bucket rod is operated to excavate and start semi-automatic slope repairing, after the bucket reaches the position near a machine, the movable arm is lifted up and is automatically switched to a common operation mode, and materials in the bucket are unloaded to a specified position in the common operation mode; after unloading, operating the excavator bucket to reach the starting point, pressing the two linkage buttons, and repeating the automatic slope repairing operation.
The third linkage operation is specifically to operate the excavator and place the bucket at the starting point position; clicking the three-linkage button, and entering a three-linkage operation semi-automatic construction state after the controller module receives a signal; the controller module sends construction mode information to a display; a bucket rod excavating handle is pulled to open a semi-automatic construction state, so that a target plane is prevented from being damaged; clicking the three-linkage button again to enter a common operation mode; after the boom ascending operation is executed, the normal operation mode is also entered; and the height difference value of the bucket tooth point and the target plane is sent to the display through the measuring module.
The three-linkage operation flat land construction specifically comprises the steps of firstly setting the gradient to be 0 in a display; then, the back of the bucket is placed on a target surface, and a target plane is arranged in the display; the excavator bucket is extended out to reach a starting point, the three-linkage button is pressed down, and a three-linkage operation semi-automatic construction state is entered; when the bucket reaches the position near the excavator body, the bucket rod can be operated to unload materials, and semi-automatic extending operation is carried out; if a large amount of materials exist in the bucket at the moment, the movable arm can be lifted, the system automatically enters a common operation mode, and the excavator is operated to unload materials; and operating the excavator to reach the starting point of the target plane, pressing the three linkage buttons, and repeating the automatic land leveling operation.
The third linkage operation slope repairing construction specifically comprises the steps of firstly setting a slope in a display; then operating the excavator to enable the back of the bucket to reach the starting point, pressing the three-linkage button, and receiving two information of the starting point and the three-linkage instruction by the controller module; when the bucket reaches the position near the body of the excavator, the bucket rod can be operated to unload materials, and semi-automatic extending operation is carried out; if a large amount of materials exist in the bucket at the moment, the movable arm can be lifted, the system automatically enters a common operation mode, and the excavator is operated to unload materials; and operating the excavator to reach the starting point, pressing the three linkage buttons, and repeating the automatic slope repairing operation.
As shown in fig. 4, in the aspect of controlling the semi-automatic construction speed, a method for adjusting the semi-automatic construction speed according to the stroke of the bucket rod excavating handle is adopted, and specifically, the method comprises the following steps: when the handle stroke is 0-30%, the precision requirement of fine construction is within 50mm, and the total stroke time of the oil cylinder is less than 10 s; when the handle stroke is 30-80%, the precision requirement of fine construction is within 60mm, and the total stroke time of the oil cylinder is less than 7 s; when the handle stroke is 80-100%, the precision requirement of fine construction is within 80mm, and the total stroke time of the oil cylinder is less than 5 s.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (6)
1. The semi-automatic construction control system of the excavator is characterized by comprising a sensor module, a control module, a measurement module and an operation module, wherein the sensor module and the measurement module transmit data to the control module, and the control module transmits feedback information to the operation module; the sensor module comprises a bucket cylinder displacement sensor, a movable arm angle sensor and a bucket rod angle sensor; the control module comprises a three-dimensional digital modeling unit and an engineering design unit; the measuring module comprises a height measuring device, a length measuring device and an angle measuring device; the operating module comprises a bucket arm excavating handle and a display; the bucket rod excavating handle of the operation module comprises a left-hand side and a right-hand side, the bucket rod excavating handle is connected with the main controller, the sensor module is connected with the auxiliary controller, and the main controller and the auxiliary controller jointly control the engine and the hydraulic system to work; the three-dimensional digital modeling unit of the control module specifically establishes a three-dimensional digital model according to the field actual data acquired by the measurement module, and the engineering design unit comprises construction design data input and construction purpose operation control; the controller used by the control module is a WW controller or a TD controller.
2. A control method of a semi-automatic control system of an excavator is characterized in that the semi-automatic construction control system of the excavator in claim 1 is utilized, gradient control and target plane control are included, the measurement module inputs measurement data into the control module, the control module realizes calculation of elevation, flatness and gradient by establishing a coordinate system, meanwhile, the sensor module feeds back the condition of excavator equipment to the control module, engineering design data are manually input into the control module, the control module transmits a feedback correction output signal to the operation module, and the excavator enters a semi-automatic state of two-linkage operation or three-linkage operation.
3. The control method of the semi-automatic control system of the excavator as claimed in claim 2, wherein the slope control is specifically that the angle, the length and the height of the slope are input through a construction design data entry part of an engineering design unit to determine a start point setting and an end point setting of the bucket, the controller module calculates the slope angle according to a bucket tooth movement path of the bucket, and the display displays the angle of the construction slope.
4. The control method of the semi-automatic control system of the excavator according to claim 2, wherein the target plane setting is specifically to set the height and the length of the target plane, and the bucket teeth move smoothly along the target plane to realize target plane clearing.
5. The control method of a semi-automatic control system of an excavator according to claim 2, wherein the two linkage operations are specifically that the excavator is operated to place the bucket tooth point to the starting position; the two linkage buttons are inching, and the controller module enters a semi-automatic construction state of two linkage operations after receiving signals; the controller module sends construction mode information to a display; a bucket rod excavating handle is pulled to open a semi-automatic construction state, so that a target plane is prevented from being damaged; clicking the two linkage buttons again to enter a common operation mode; after the boom ascending operation is executed, the normal operation mode is also entered; and the height difference value of the bucket tooth point and the target plane is sent to the display through the measuring module.
6. The control method of the semiautomatic control system for the excavator according to claim 2, wherein the three-link operation is specifically to operate the excavator to place the bucket at the starting position; clicking the three-linkage button, and entering a three-linkage operation semi-automatic construction state after the controller module receives a signal; the controller module sends construction mode information to a display; a bucket rod excavating handle is pulled to open a semi-automatic construction state, so that a target plane is prevented from being damaged; clicking the three-linkage button again to enter a common operation mode; after the boom ascending operation is executed, the normal operation mode is also entered; and the height difference value of the bucket tooth point and the target plane is sent to the display through the measuring module.
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110331756A (en) * | 2019-06-11 | 2019-10-15 | 潍柴动力股份有限公司 | Sub-controlling unit, control system and the control method of excavator |
| CN110593347B (en) * | 2019-06-28 | 2021-10-29 | 三一重机有限公司 | Semi-automatic control excavator and excavator control method |
| CN111962599B (en) * | 2020-08-20 | 2022-05-24 | 徐州徐工挖掘机械有限公司 | Compound driving system and control method of electric excavator |
| CN112681413B (en) * | 2020-12-21 | 2022-06-03 | 徐州威卡电子控制技术有限公司 | Triple-linkage slope repairing system and method for semi-automatic control excavator |
| CN113216311B (en) * | 2021-05-19 | 2022-08-16 | 三一重机有限公司 | Excavator self-adaptive control method and device and excavator |
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| CN1970894A (en) * | 2006-10-26 | 2007-05-30 | 上海交通大学 | Caisson 3D scene rebuilding and excavator collision avoidance system based on laser scanning |
| CN108286272A (en) * | 2017-12-27 | 2018-07-17 | 青岛雷沃工程机械有限公司 | It is semi-automatic to repair slope excavator |
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| US7810260B2 (en) * | 2007-12-21 | 2010-10-12 | Caterpillar Trimble Control Technologies Llc | Control system for tool coupling |
| US9903090B2 (en) * | 2012-01-18 | 2018-02-27 | Harnischfeger Technologies, Inc. | System and method for vibration monitoring of a mining machine |
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| CN1970894A (en) * | 2006-10-26 | 2007-05-30 | 上海交通大学 | Caisson 3D scene rebuilding and excavator collision avoidance system based on laser scanning |
| CN108286272A (en) * | 2017-12-27 | 2018-07-17 | 青岛雷沃工程机械有限公司 | It is semi-automatic to repair slope excavator |
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