CN110056026A - Perching knife control system, land leveller and its control method - Google Patents
Perching knife control system, land leveller and its control method Download PDFInfo
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- CN110056026A CN110056026A CN201910361888.4A CN201910361888A CN110056026A CN 110056026 A CN110056026 A CN 110056026A CN 201910361888 A CN201910361888 A CN 201910361888A CN 110056026 A CN110056026 A CN 110056026A
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- perching knife
- range sensor
- sensor
- land leveller
- height
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
- E02F3/845—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention proposes one kind perching knife control system, land leveller and its control methods, wherein perching knife control system includes: perching knife, is liftably set to the front end of car body；Range sensor is set in front of perching knife and is connected with perching knife, and range sensor is for obtaining height of the range sensor position relative to benchmark；Vehicle speed sensor is set on car body, and vehicle speed sensor is for detecting speed；Controller is connect with range sensor, vehicle speed sensor；Wherein, controller is used to calculate the time that perching knife reaches target position, and according to time and height, and before perching knife reaches target position, control perching knife is gone up and down to the position between benchmark at a distance of preset height.According to the technical solution of the present invention, before perching knife reaches target position, perching knife position is controlled, the precision of perching knife position is ensure that, reduces error, improve construction efficiency.
Description
Technical field
The present invention relates to land leveller technical field, in particular to a kind of perching knife control system, a kind of land leveller and its
Control method.
Background technique
Land leveller is mainly used for prepartion of land and plastic operation.In order to guarantee flatness of constructing, in the operation of land leveller
It needs to control the position of perching knife in journey to guarantee that the road slot flatness scraped meets the requirements, and due to grader position
It sets and is controlled by multiple oil cylinders, each oil cylinder is manually operated by operator and is controlled, level land essence very high to the technical requirements of driver
Degree can not further increase, and construction efficiency is low；In addition, the perching knife of some land levellers and perching knife range sensor are arranged in parallel, do not have
There is dynamic driving process when considering operation, and sensor response and perching knife leveling movement need the time, will cause movement in this way
Lag, brings error.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
In view of this, it is an object of the present invention to provide a kind of perching knife control systems.
It is another object of the present invention to provide a kind of land levellers.
It is another object of the present invention to provide a kind of control methods of land leveller.
To achieve the goals above, the technical solution of first aspect present invention provides a kind of perching knife control system, is used for
Land leveller, comprising: perching knife, liftably set on the front end of the car body of land leveller；Range sensor, be set to perching knife in front of and with shovel
Knife is connected, and range sensor is for obtaining height of the range sensor position relative to benchmark；Vehicle speed sensor is set to vehicle
On body, vehicle speed sensor is for detecting speed；Controller is connect with range sensor, vehicle speed sensor, and controller is for receiving
Height and speed signal；Wherein, controller be used for according to range sensor at a distance from perching knife and speed calculate perching knife reach
The time of target position, and the lifting of perching knife is controlled before perching knife reaches target position according to time and height.
In the technical scheme, by the way that range sensor is arranged in front of perching knife and is connected with perching knife, and in perching knife control
Vehicle speed sensor is introduced in system processed, range sensor is enabled to detect the real-time height of the target position in the front of perching knife in advance
Degree, controller can be calculated according to the speed and the distance between range sensor and perching knife that vehicle speed sensor detects
Perching knife reaches the time of target position, to reach the height between the time and perching knife and benchmark of target position according to perching knife
Degree, in advance goes up and down perching knife, so that perching knife before reaching target position, i.e., liftable is apart preset between benchmark
The position of height reduces error, so that perching knife can be immediately begun to after reaching target position so as to avoid movement lag
Prepartion of land and plastic operation are carried out, improves construction quality, and the lifting of perching knife is grasped by controller according to preset height
Make, rather than be manually operated by driver, greatly improves the position precision of perching knife, ensure that the flatness energy of the road slot scraped
It enough meets the requirements, also improves construction efficiency.
It is to be appreciated that the lifting of perching knife, can be the lifting of perching knife entirety, it can also be only the liter of perching knife one end
Drop, to realize the leveling and positioning of perching knife.
It may also be noted that target position is the operating position of perching knife, the driving direction in land leveller is referred mainly to here
On position, be not the height and position of perching knife；In addition, since perching knife is connected on land leveller, perching knife with land leveller traveling
And move, i.e. perching knife is synchronous with land leveller in driving direction, and the speed of land leveller is perching knife in driving direction
Movement speed, therefore can calculate perching knife according to the speed and perching knife of land leveller at a distance from land leveller and reach target position
The time set.
In the above-mentioned technical solutions, perching knife control system further include: one end of bracket, bracket is connect with perching knife, bracket
The other end extends to the front of perching knife；Range sensor is connected on the other end of bracket, and range sensor is relative to perching knife
Position is adjustable.
In any of the above-described technical solution, perching knife control system further include: hydraulic cylinder has oil inlet pipe and fuel-displaced
Pipeline, the left and right ends of perching knife are respectively provided with a hydraulic cylinder；Ratio valve group is connected in oil inlet pipe and/or oil outlet pipe,
Ratio valve group is also connect with controller；Wherein, controller controls the disengaging oil of hydraulic cylinder by ratio valve group, so that hydraulic oil
The flexible driving perching knife of cylinder is gone up and down to the position between range sensor and benchmark at a distance of preset height.
In any of the above-described technical solution, perching knife control system further include: horizontal slope sensor is set on perching knife with detection
The lateral inclination angle of perching knife；Horizontal slope sensor is connect with controller.
In the above-mentioned technical solutions, perching knife control system further include: longitudinal slope sensor is set on car body, longitudinal slope sensor
For detecting the tilt angle of car body in a forward direction；Revolving platform, perching knife are rotatablely connected by revolving platform and car body；Rotation
Turn sensor, to detect rotation angle of the perching knife relative to car body on revolving platform；Longitudinal slope sensor and rotation sensor
It is connect with controller；And/or display device, it is connect with controller.
In any of the above-described technical solution, perching knife control system further include: operating device is connect with controller, with logical
Cross controller and display device manipulation perching knife；And/or controller includes signal input module, control module and letter interconnected
Number output module, wherein signal input module is connect with range sensor, and signal output module and ratio valve group connect.
The technical solution of second aspect of the present invention provides a kind of any one of land leveller, including above-mentioned first aspect technology
The perching knife control system of scheme.
In the technical scheme, by using the perching knife control system of any of the above-described technical solution, to be provided with
Whole beneficial effects of technical solution are stated, details are not described herein.
The technical solution of third aspect present invention provides a kind of control method of land leveller, for above-mentioned technical proposal
Land leveller, comprising: obtain height and level land of the range sensor for being set to and being connected in front of perching knife and with perching knife relative to benchmark
The speed of machine；According to the distance between height, range sensor and perching knife and speed, control perching knife go up and down to range sensor with
Benchmark is at a distance of the position of preset height.
In the technical scheme, by obtaining speed of the perching knife relative to the height pacifically machine of benchmark, so that controller
The time that perching knife reaches target position can be calculated according to the distance between range sensor and perching knife and speed, thus according to
Perching knife reaches the height of the time and perching knife of target position relative to benchmark, goes up and down in advance to perching knife, so that perching knife exists
Before reaching target position, i.e., liftable to the position between benchmark at a distance of preset height subtracts so as to avoid movement lag
Lack error, so that perching knife can immediately begin to carry out prepartion of land and plastic operation after reaching target position, improves work
Make efficiency, and the lifting of perching knife is operated by controller according to pre-determined distance, rather than be manually operated by driver, is substantially mentioned
The position precision for having risen perching knife ensure that the flatness of the road slot scraped can meet the requirements, also improve construction efficiency.
It is to be appreciated that the lifting of perching knife, can be the lifting of perching knife entirety, it can also be only the liter of perching knife one end
Drop, to realize the leveling and positioning of perching knife.
It may also be noted that target position is the operating position of perching knife, the driving direction in land leveller is referred mainly to here
On position, be not the height and position of perching knife；In addition, since perching knife is connected on land leveller, perching knife with land leveller traveling
And move, i.e. perching knife is synchronous with land leveller in driving direction, and the speed of land leveller is perching knife in driving direction
Movement speed, therefore can calculate perching knife according to the speed and perching knife of land leveller at a distance from land leveller and reach target position
The time set.
In the above-mentioned technical solutions, according to the distance between height, range sensor and perching knife and speed, perching knife liter is controlled
Range sensor and benchmark be down at a distance of the position of preset height, specifically include: according between range sensor and perching knife away from
Determine that perching knife reaches the time of target position from, speed；Determine the difference between height and preset height；According to difference and when
Between, control perching knife is gone up and down to range sensor and benchmark at a distance of the position of preset height.
In the above-mentioned technical solutions, it is gone up and down to range sensor and benchmark after preset height in control perching knife, also
It include: the car body inclination angle in a forward direction for obtaining the lateral inclination angle of perching knife, the rotation angle of perching knife pacifically machine
Degree；According to lateral inclination angle, horizontal slope value is calculated；According to rotation angle, tilt angle, horizontal slope value is corrected；Compare school
Horizontal slope value and default horizontal slope value after just, and generate comparison result；According to comparison result, controls perching knife and move to horizontal slope value and pre-
If the consistent position of horizontal slope value.
In the above-mentioned technical solutions, it is gone up and down to range sensor and benchmark after preset height in control perching knife, also
It include: the car body inclination angle in a forward direction for obtaining the lateral inclination angle of perching knife, the rotation angle of perching knife pacifically machine
Degree；According to rotation angle, tilt angle and lateral inclination angle, control perching knife moves to predeterminated position.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the land leveller of one embodiment of the present of invention；
Fig. 2 is the structural schematic block diagram of the land leveller of one embodiment of the present of invention；
Fig. 3 is the flow diagram of the control method of the land leveller of one embodiment of the present of invention；
Fig. 4 is the flow diagram of the control method of the land leveller of another embodiment of the invention.
Wherein, the appended drawing reference in Fig. 1 and Fig. 2 and the corresponding relationship between component names are as follows:
1 land leveller, 100 car bodies, 102 perching knives, 104 range sensors, 106 vehicle speed sensor, 108 controllers, 110
Frame, 112 ratio valve groups, 114 hydraulic cylinders, 116 horizontal slope sensors, 118 longitudinal slope sensors, 120 rotation sensors, 122 displays
Device, 124 operating devices, 126 crossbeams.
Specific embodiment
It is with reference to the accompanying drawing and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
According to some embodiments of the present invention referring to Fig. 1 to Fig. 4 description.
As shown in Figure 1, the perching knife control system of the one embodiment proposed according to the present invention, is used for land leveller, comprising: shovel
Knife 102, liftably set on the front end of the car body 100 of land leveller 1；Range sensor 104, be set to the front of perching knife 102 and with shovel
Knife 102 is connected, and range sensor 104 is for obtaining height of 104 position of range sensor relative to benchmark；Speed sensing
Device 106 is set on car body 100, and vehicle speed sensor 106 is for detecting speed；Controller 108, with range sensor 104, speed
Sensor 106 connects, and controller 108 is for receiving height and speed signal；Wherein, controller 108 is used for according to Distance-sensing
Device 104 is at a distance from perching knife 102 and speed calculates the time that perching knife 102 reaches target position, and according to time and height,
Before perching knife 102 reaches target position, the lifting of perching knife 102 is controlled.
In this embodiment, by the way that the setting of range sensor 104 is connected in 102 front of perching knife and with perching knife 102, and
Vehicle speed sensor 106 is introduced in 102 control system of perching knife, and range sensor 104 is enabled to detect the mesh in 102 front of perching knife in advance
The real-time height of cursor position, controller 108 can be according to the speeds and range sensor 104 that vehicle speed sensor 106 detects
The distance between perching knife 102 calculates the time that perching knife 102 reaches target position, to reach target position according to perching knife 102
Height between the time set and perching knife 102 and benchmark, in advance goes up and down perching knife 102, so that perching knife 102 reaches
Before target position, i.e., liftable to the position between benchmark at a distance of preset height reduces so as to avoid movement lag
Error improves work so that perching knife 102 can immediately begin to carry out prepartion of land and plastic operation after reaching target position
Efficiency and construction quality, and the lifting of perching knife 102 is operated by controller 108 according to preset height, rather than by driver
Manual operation, greatly improves the position precision of perching knife 102, ensure that the flatness of the road slot scraped can meet the requirements, also
Improve construction efficiency.
It is to be appreciated that the lifting of perching knife 102, can be the whole lifting of perching knife 102, can also be only perching knife 102
The lifting of one end, to realize the leveling and positioning of perching knife 102.
It may also be noted that target position is the operating position of perching knife 102, the traveling in land leveller 1 is referred mainly to here
Position on direction is not the height and position of perching knife 102；In addition, since perching knife 102 is connected on land leveller 1, perching knife 102 with
The traveling of land leveller 1 and move, i.e. perching knife 102 is synchronous with land leveller 1 in driving direction, and the speed of land leveller 1 is
It is movement speed of the perching knife 102 in driving direction, therefore can be according to the speed and perching knife 102 and land leveller of land leveller 1
1 distance calculates the time that perching knife 102 reaches target position.
In addition, benchmark can be a face, it is also possible to a line, such as the ground that land leveller 1 travels, or when construction
Draw the horizontal line etc. set.
In the above-described embodiments, 102 control system of perching knife further include: bracket 110, one end of bracket 110 and perching knife 102 connect
It connects, the other end of bracket 110 extends to the front of perching knife 102；Range sensor 104 is connected on the other end of bracket 110, away from
It is adjustable relative to the position of perching knife 102 from sensor 104.
In this embodiment, by the way that the bracket 110 extended to the front of perching knife 102 is arranged on perching knife 102, and apart from biography
Sensor 104 is connected on bracket 110, may insure that range sensor 104 is always positioned at perching knife when land leveller 1 advances in this way
102 front enables controller 108 to shift to an earlier date according to testing result so as to detect the situation of perching knife 102 in advance
Position adjustment is carried out to perching knife 102, further guarantees the position precision and levelling precision of perching knife 102, avoids movement lag,
Reduce error, improves construction efficiency.
Range sensor 104 is adjustable relative to the position of perching knife 102, is conducive to the inspection for expanding range sensor 104 in this way
Survey range.
In any of the above-described embodiment, 102 control system of perching knife further include: hydraulic cylinder 114, have oil inlet pipe and
Oil outlet pipe, the left and right ends of perching knife 102 are respectively provided with a hydraulic cylinder 114；Ratio valve group 112, be connected to oil inlet pipe and/
Or in oil outlet pipe, ratio valve group 112 is also connect with controller 108；Wherein, controller 108 controls liquid by ratio valve group 112
The disengaging oil of compressing cylinder 114, so that flexible driving perching knife 102 lifting of hydraulic cylinder 114 is between range sensor 104 and benchmark
At a distance of the position of preset height.
In this embodiment, controller 108 controls the disengaging oil of hydraulic cylinder 114 by ratio valve group 112, so that hydraulic
Flexible driving perching knife 102 lifting of oil cylinder 114 is such to the position between range sensor 104 and benchmark at a distance of preset height
Structure is simple, easy to control, does not need the lifting of user's manual manipulation perching knife 102, reduces labor intensity, ensure that perching knife 102
The accuracy and speed of lifting improves construction efficiency, and the number for being conducive to control disengaging oil liquid by electric signal changes drive
The size of power, and then change the lifting speed of hydraulic cylinder 114, in other words convenient for the lifting speed of control perching knife 102, thus
Distance is larger between perching knife 102 and benchmark or land leveller 1 reach target position time it is shorter when, biggish drive can be exported
Power is adjusted in place as early as possible with accelerating 102 lifting speed of perching knife；Distance is smaller between perching knife 102 and benchmark or land leveller 1 arrives
When time up to target position is longer, lesser driving force can be exported to reduce power consumption, save the energy.
It is to be appreciated that by being respectively provided with a hydraulic cylinder 114 in the left and right ends of perching knife 102, so that perching knife 102 can
It to realize left and right ends while go up and down, can also only be gone up and down one end, in this way convenient for perching knife 102 according to benchmark and pre-determined distance
It is leveled, guarantees that the flatness of the road slot scraped can meet the requirements.
As depicted in figs. 1 and 2, in any of the above-described embodiment, perching knife control system further include: horizontal slope sensor 116,
The lateral inclination angle of perching knife 102 is detected on perching knife 102；Horizontal slope sensor 116 is connect with controller 108.
In this embodiment, by the setting of horizontal slope sensor 116, convenient for detecting the lateral inclination angle of perching knife 102, or
Person says the horizontal slope value of detection perching knife 102, by the horizontal slope value of real-time detection perching knife 102, convenient for controller 108 according to real-time cross
Slope value controls the hydraulic cylinder 114 of 102 two sides of perching knife, so that the position of perching knife 102 meets default horizontal slope value, realizes shovel
The adjust automatically of knife 102 guarantees the position precision of perching knife 102, reduces error.
Preferably, horizontal slope sensor 116 is set on the knife spine of perching knife 102.
As shown in Figure 1, in the above-described embodiments, perching knife control system further include: longitudinal slope sensor 118 is set to car body 100
On, longitudinal slope sensor 118 is for detecting the tilt angle of car body 100 in a forward direction；Revolving platform, perching knife 102 pass through back
Turn platform and car body 100 is rotatablely connected；Rotation sensor 120, to detect perching knife 102 relative to car body on revolving platform
100 rotation angle；Longitudinal slope sensor 118 is connect with controller 108 with rotation sensor 120；And/or display device 122,
It is connect with controller 108.
In this embodiment, the setting of longitudinal slope sensor 118 and rotation sensor 120 is able to detect that car body 100 preceding
Into the rotation angle of tilt angle and perching knife 102 relative to car body 100 on direction, thus adjusting perching knife according to horizontal slope value
Before 102 positions, pass through the rotation angle of tilt angle and perching knife 102 relative to car body 100 of car body 100 in a forward direction
Horizontal slope value is corrected, the precision of 102 position of perching knife adjustment is further improved.
Further, by the setting of display device 122, be conducive to the various positions that user is intuitive to see perching knife 102
Parameter, and land leveller is manipulated according to these location parameters, improve the convenience that product uses.
Preferably, longitudinal slope sensor 118 is set on the crossbeam 126 of car body 100.
In any of the above-described embodiment, perching knife control system further include: operating device 124 is connect with controller 108,
To manipulate perching knife 102 by controller 108 and display device 122；And/or controller 108 is inputted including signal interconnected
Module, control module and signal output module, wherein signal input module is connect with range sensor 104, signal output module
It is connect with ratio valve group 112.
In the technical scheme, by the setting of operating device 124, and operating device 124 is connected with controller 108, just
Land leveller is manipulated in user's input various instructions；Operating device 124 can be independent station, operating stick, various
The switch of entity, button etc., can also be with 122 one of display device, i.e. display device 122 is touch screen, and user is touching
It is manipulated on screen.
Further, controller 108 includes signal input module, control module and signal output module, and signal inputs
Module is connect with range sensor 104, and signal output module and ratio valve group 112 connect, and is convenient for inputting mould by signal in this way
Block receives the distance between the perching knife 102 that range sensor 104 detects and benchmark, by control module according to speed, distance, control
Signal output module processed exports electric signal, drives the adjustment shovel of hydraulic cylinder 114 to control inlet and outlet of fuel channel by ratio valve group 112
102 position of knife, realizes the adjust automatically of perching knife 102, to promote the precision of 102 position of perching knife adjustment, avoids error.
The embodiment of second aspect of the present invention provides a kind of any one of land leveller, including above-mentioned first aspect embodiment
Perching knife control system.
In this embodiment, by using the perching knife control system of any of the above-described embodiment, to be provided with above-mentioned reality
Whole beneficial effects of example are applied, details are not described herein.
As shown in figure 3, the embodiment of third aspect present invention provides a kind of control method of land leveller, it to be used for above-mentioned reality
It applies the land leveller of example, comprising: step S100: obtaining the range sensor for being set to and being connected in front of perching knife and with perching knife relative to benchmark
Height and land leveller speed；Step S102: according to the distance between height, range sensor and perching knife and speed, control
Perching knife processed is gone up and down to range sensor and benchmark at a distance of the position of preset height.
In this embodiment, by obtaining speed of the perching knife relative to the height pacifically machine of benchmark, enable controller
It is enough that the time that perching knife reaches target position is calculated according to the distance between range sensor and perching knife and speed, thus according to shovel
Knife reaches the height of the time and perching knife of target position relative to benchmark, goes up and down in advance to perching knife, so that perching knife arrives
Up to before target position, i.e., liftable to the position between benchmark at a distance of preset height is reduced so as to avoid movement lag
Error improves work so that perching knife can immediately begin to after reaching target position to carry out prepartion of land and plastic operation
Efficiency, and the lifting of perching knife is operated by controller according to pre-determined distance, rather than be manually operated by driver, it is substantially improved
The position precision of perching knife, ensure that the flatness of the road slot scraped can meet the requirements, also improves construction efficiency.
It is to be appreciated that the lifting of perching knife, can be the lifting of perching knife entirety, it can also be only the liter of perching knife one end
Drop, to realize the leveling and positioning of perching knife.
It may also be noted that target position is the operating position of perching knife, the driving direction in land leveller is referred mainly to here
On position, be not the height and position of perching knife；In addition, since perching knife is connected on land leveller, perching knife with land leveller traveling
And move, i.e. perching knife is synchronous with land leveller in driving direction, and the speed of land leveller is perching knife in driving direction
Movement speed, therefore can calculate perching knife according to the speed and perching knife of land leveller at a distance from land leveller and reach target position
The time set.
In the above-described embodiments, according to the distance between height, range sensor and perching knife and speed, control perching knife lifting
To range sensor and benchmark at a distance of the position of preset height, specifically include: according to the distance between range sensor and perching knife,
Speed determines that perching knife reaches the time of target position；Determine the difference between height and preset height；According to difference and time, control
Perching knife processed is gone up and down to range sensor and benchmark at a distance of the position of preset height.
In this embodiment, due to having a certain distance between range sensor and perching knife, and perching knife and land leveller exist
Synchronizing moving in driving direction, therefore perching knife arrival can be calculated according to the distance between range sensor and perching knife, speed
The time of target position, further according to height preset height between difference and the time, control perching knife be moved between benchmark
At a distance of the position of preset height, perching knife is adjusted, before reaching target position to guarantee that perching knife reaches mesh
When cursor position starts construction, position is had been adjusted to, to guarantee the position precision of perching knife when construction, and then guarantees the road slot scraped
Flatness can meet the requirements.
It is to be appreciated that the difference between height and preset height is bigger, the time is shorter, then the speed of perching knife position adjustment
It needs faster；Difference between height and preset height is smaller, and the time is longer, then the speed of perching knife position adjustment can suitably drop
It is low, to reduce power consumption, save the energy.
In the above-described embodiments, it goes up and down to range sensor and benchmark after preset height in control perching knife, also wraps
It includes: the car body tilt angle in a forward direction of the rotation angle of the lateral inclination angle, perching knife that obtain perching knife pacifically machine；
According to lateral inclination angle, horizontal slope value is calculated；According to rotation angle, tilt angle, horizontal slope value is corrected；After comparing correction
Horizontal slope value and default horizontal slope value, and generate comparison result；According to comparison result, controls perching knife and move to horizontal slope value and default cross
Slope is worth consistent position.
In this embodiment, by comparing horizontal slope value and default horizontal slope value, convenient for determining it is default whether perching knife position meets
Horizontal slope value, and when position does not meet default horizontal slope value, control perching knife move to the default consistent position of horizontal slope value, have in this way
Conducive to perching knife position precision is promoted, error is reduced, to guarantee that the flatness for the road slot that perching knife scrapes can meet the requirements.
Further, according to rotation angle, tilt angle, horizontal slope value is corrected, is conducive to further promote perching knife
The precision of position adjustment, reduces error.
In the above-described embodiments, it goes up and down to range sensor and benchmark after preset height in control perching knife, also wraps
It includes: the car body tilt angle in a forward direction of the rotation angle of the lateral inclination angle, perching knife that obtain perching knife pacifically machine；
According to rotation angle, tilt angle and lateral inclination angle, control perching knife moves to predeterminated position.
In this embodiment, according to rotation angle, tilt angle and lateral inclination angle, control perching knife moves to default position
It sets, i.e., determines perching knife position by multiple parameters, be conducive to promote perching knife position precision, error reduced, to guarantee that perching knife is scraped
The flatness of road slot out can meet the requirements.
As shown in figure 4, according to the control method of the land leveller of a specific embodiment of the application proposition, comprising: step
S200: the range sensor for being set to and being connected in front of perching knife and with perching knife is obtained relative to the height of benchmark and the vehicle of land leveller
Speed；Step S202: according to the distance between range sensor and perching knife and speed, determine that perching knife reaches the time of target position；
Step S204: the difference between height and preset height is determined；Step S206: according to height preset height between difference and
Time, control perching knife are moved to the position between benchmark at a distance of preset height；Step S208: the superelevation angle of perching knife is obtained
Degree, perching knife rotation angle pacifically machine car body tilt angle in a forward direction；Step S210: according to superelevation angle
Degree calculates horizontal slope value；Step S212: according to rotation angle, tilt angle, horizontal slope value is corrected；Step S214: compare school
Horizontal slope value and default horizontal slope value after just, and generate comparison result；Step S216: it according to comparison result, controls perching knife and moves to
Horizontal slope value and the default consistent position of horizontal slope value.
In this specific embodiment, it is arrived by calculating perching knife according to the distance between range sensor and perching knife and speed
Up to the time of target position, the height between the time and perching knife and benchmark of target position is reached further according to perching knife and is preset
Difference between height, in advance goes up and down perching knife so that perching knife is before reaching target position, i.e., liftable to and benchmark
Between at a distance of preset height position, so as to avoid movement lag, reduce error；Further, it is rotated also according to perching knife
Angle and the longitudinal slope value (i.e. the tilt angle of the car body of land leveller in a forward direction) of perching knife are to the lateral inclination angle of perching knife
It is compared again with default horizontal slope value after being corrected, and perching knife is controlled according to comparison result and moves to horizontal slope value and default horizontal slope
It is worth consistent position, to greatly improve the position precision of perching knife, ensure that the flatness for the road slot that perching knife scrapes can accord with
It closes and requires, also improve construction efficiency.
As shown in Figure 1 and Figure 2, the land leveller 1 of the specific embodiment proposed according to the application, 104 cloth of range sensor
It sets in the front of perching knife 102, when adjusting 102 position of perching knife, introduces speed, and the distance for combining perching knife 102 preposition, it is comprehensive
The height for adjusting perching knife 102 is overlapped collection point and action response point, improves levelling dynamic accuracy.
As shown in Figure 1, the perching knife 102 of the land leveller 1 in the application is levelling, it is according to 1 perching knife 102 of land leveller away from datum level
The measurement distance of (line) automatically adjusts 114 stroke of hydraulic cylinder and realizes the shovel of land leveller 1 by 108 logical operation of controller
The Automatic Levelling of knife 102.The land leveller 1 of the application include at least controller 108, range sensor 104, rotation sensor 120,
Longitudinal slope sensor 118, horizontal slope sensor 116, display and vehicle speed sensor 106.
Specifically, controller 108 is mounted in 1 driver's cabin power control cabinet of land leveller, and controller 108 includes that signal inputs mould
Block, CPU control module and signal output module, sensor are connect with signal input module, signal output module and ratio valve group
112 connections.
Controller 108 is the core of entire land leveller 1, range sensor 104 (such as ultrasonic sensor), horizontal slope sensing
Device 116, rotation sensor 120, longitudinal slope sensor 118 and operator interface box (i.e. display device 122) pass through CAN
(Controller Area Network, controller local area network) bus is attached thereto, the real time information of all the sensors acquisition
It is all aggregated into controller 108, controller 108 passes through corresponding operation, and is compared with the setting value of user, then will be corresponding
PWM (Pulse WidthModulation, pulse width modulation) signal is output to ratio valve group 112, and ratio valve group 112 passes through
Control to inlet and outlet of fuel channel goes up and down hydraulic cylinder 114 accordingly to perching knife 102, to guarantee the perching knife of land leveller 1
102 carry out automatic and accurate construction according to horizontal slope value set by user and pre-determined distance.
Wherein, it as shown in Figure 1, range sensor 104 is mounted on one end of 1 perching knife 102 of land leveller, is shoveled for real-time measurement
Knife 102 and the distance between datum level immediately below it.Range sensor 104 is properly installed to 102 front of perching knife by bracket 110
Position, when land leveller 1 travels operation, in conjunction with the speed that vehicle speed sensor 106 detects, controller 108 calculates perching knife 102
The actuation time of test point (i.e. target position) is moved in driving direction；Controller 108 again will be immediately below perching knife 102 and its
The longitudinal slope setting value that the user of the distance between datum level and preservation in systems has been previously set is compared, controller 108
Corresponding electric signal is issued the electro-hydraulic proportional valve in ratio valve group 112, electric-hydraulic proportion by difference and actuation time in conjunction with the two
Valve makes 102 liang of side cylinders of perching knife make corresponding lifting by the control to oil circuit again, and perching knife 102 is adjusted to suitable position, is made
The height for obtaining the acquisition of range sensor 104 is corresponding with the position height of 102 action response of perching knife, dynamic holding perching knife 102
Positioning height precision.
As shown in Figure 1, horizontal slope sensor 116 is mounted on the knife spine of 1 perching knife 102 of land leveller, installation direction and perching knife
102 is parallel, and for measuring the lateral inclination angle of perching knife 102, and by the real-time lateral inclination angle measured, (horizontal slope value is needed
The land leveller 1 at the moment that the rotation angle and longitudinal slope sensor 118 measured through rotation sensor 120 measures is in advance side
Upward tilt angle is corrected) it is sent to controller 108, controller 108 by it and saves user's thing in systems again
The horizontal slope setting value first set is compared, and corresponding electric signal is issued ratio valve group 112 according to the difference of the two by system
Electro-hydraulic proportional valve, electro-hydraulic proportional valve makes 102 liang of side cylinders of perching knife make corresponding lifting by the control to oil circuit again, by perching knife
102 are adjusted to corresponding position, so that land leveller 1 returns to the horizontal slope value of setting.Pass through the real-time inspection of horizontal slope sensor 116 in this way
It surveys, land leveller 1 can realize the adjust automatically of perching knife 102, so that perching knife 102 is always according to the horizontal slope of user being previously set
Value is constructed automatically.
As shown in Figure 1, the rotation centre of gyration that rotation sensor 120 is fixedly mounted on 1 perching knife 102 of land leveller (such as returns
Turn platform) on, for measuring rotation angle of the perching knife 102 relative to car body 100, and the rotation angle measured is total by CAN
Line is sent to controller 108, and the land leveller 1 at the moment which measures with longitudinal slope sensor 118 is in direction of advance
On tilt angle participate in the calculating of the practical horizontal slope value of land leveller 1 together.
As shown in Figure 1, longitudinal slope sensor 118 is mounted on the crossbeam 126 of land leveller 1, before installation direction and land leveller 1
Consistent into direction, it and horizontal slope sensor 116 are actually that same equipment, only installation site and installation direction are different, main
It is used to measure the tilt angle of 1 fuselage of land leveller in a forward direction.Land leveller is measured in real time by longitudinal slope sensor 118
The rotation angle at the moment that the tilt angle of 1 fuselage in a forward direction, the tilt angle and rotation sensor 120 measure
The calculating of the practical horizontal slope value of land leveller 1 is participated in together.
As shown in Figure 1, display device 122 is mounted in the operating room of land leveller 1, have operating device 124, operation thereon
Device 124 is equipped with switch and input button, can be to horizontal slope value, longitudinal slope value and other systems parameter by its operator
It is set, setting can also be carried out manual to left and right, automatically and the parameters such as level land direction is set.
The above-mentioned specific embodiment of the application can acquire object height position in job state in advance；It is shoveled in adjustment
When 102 position of knife, vehicle speed data is introduced, i.e., using speed signal as feedback, it is contemplated that the time that perching knife 102 adjusts；To
It can be avoided 102 adjustment of perching knife movement lag, realize the dynamic process for being precisely controlled the leveling of perching knife 102.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, according to the technical solution of the present invention, effectively exists
Before perching knife reaches target position, basis of reference and preset height, default horizontal slope value in advance control perching knife position, guarantee
The precision of perching knife position, reduces error, improves construction efficiency.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of perching knife control system is used for land leveller characterized by comprising
Perching knife (102), liftably set on the front end of the car body (100) of land leveller；
Range sensor (104) is set in front of the perching knife (102) and is connected with the perching knife, the range sensor (104)
For obtaining height of the range sensor (104) position relative to benchmark；
Vehicle speed sensor (106) is set on the car body (100), and the vehicle speed sensor (106) is for detecting speed；
Controller (108) is connect with the range sensor (104), the vehicle speed sensor (106), the controller (108)
For receiving the height and speed signal；
Wherein, the controller (108) is used at a distance from perching knife (102) and described according to the range sensor (104)
Speed calculates the time that the perching knife (102) reaches target position, and according to the time and the height, in the perching knife
(102) before reaching the target position, the lifting of the perching knife (102) is controlled.
2. perching knife control system according to claim 1, which is characterized in that further include:
One end of bracket (110), the bracket (110) is connect with the perching knife (102), the other end of the bracket (110) to
The front of the perching knife (102) extends；
The range sensor (104) is connected on the other end of the bracket (110), and the range sensor (104) is opposite
It is adjustable in the position of the perching knife (102).
3. perching knife control system according to claim 1 or 2, which is characterized in that further include:
Hydraulic cylinder (114) has oil inlet pipe and oil outlet pipe, and the left and right ends of the perching knife (102) are respectively provided with an institute
State hydraulic cylinder (114)；
Ratio valve group (112), is connected in the oil inlet pipe and/or oil outlet pipe, the ratio valve group (112) also with it is described
Controller (108) connection；
Wherein, the controller controls the disengaging oil of the hydraulic cylinder (114) by the ratio valve group (112), so that institute
Hydraulic cylinder (114) flexible driving perching knife (102) lifting is stated to phase between the range sensor (104) and the benchmark
Position away from preset height.
4. perching knife control system according to claim 1 or 2, which is characterized in that further include:
Horizontal slope sensor (116) is set on the perching knife (102) and detects the lateral inclination angle of the perching knife (102)；It is described
Horizontal slope sensor (116) is connect with the controller (108).
5. perching knife control system according to claim 4, which is characterized in that further include:
Longitudinal slope sensor (118) is set on the car body (100), and the longitudinal slope sensor (118) is for detecting the car body
(100) tilt angle in a forward direction；
Revolving platform, the perching knife (102) are rotatablely connected by the revolving platform and the car body (100)；
Rotation sensor (120) detects the perching knife (102) relative to the car body (100) on the revolving platform
Rotation angle；
The longitudinal slope sensor (118) connect with the controller (108) with the rotation sensor (120)；And/or
Display device (122) is connect with the controller (108).
6. a kind of land leveller, which is characterized in that
Including perching knife control system of any of claims 1-5.
7. a kind of control method of land leveller is used for land leveller as claimed in claim 6 characterized by comprising
It obtains and is set in front of perching knife and the height and land leveller of the range sensor that is connected with the perching knife relative to benchmark
Speed；
According to the distance between the height, the range sensor and perching knife and the speed, control the perching knife go up and down to
The range sensor and the benchmark are at a distance of the position of preset height.
8. control method according to claim 7, which is characterized in that
It is described according to the distance between the height, the range sensor and perching knife and the speed, control the perching knife liter
The range sensor and the benchmark are down at a distance of the position of preset height, is specifically included:
According to the distance between the range sensor and perching knife, the speed determine the perching knife reach target position when
Between；
Determine the difference between the height and the preset height；
According to the difference and the time, controls the perching knife and go up and down to the range sensor and the benchmark at a distance of described
The position of preset height.
9. control method according to claim 8, which is characterized in that
It is gone up and down to the range sensor and the benchmark after the preset height controlling the perching knife, further includes:
The car body of the lateral inclination angle of the perching knife, the rotation angle of the perching knife and the land leveller is obtained in direction of advance
On tilt angle；
According to the lateral inclination angle, horizontal slope value is calculated；
According to the rotation angle, the tilt angle, the horizontal slope value is corrected；
The horizontal slope value and default horizontal slope value after comparing correction, and generate comparison result；
According to the comparison result, controls the perching knife and move to the horizontal slope value and the default consistent position of horizontal slope value.
10. control method according to claim 8, which is characterized in that
It is gone up and down to the range sensor and the benchmark after the preset height controlling the perching knife, further includes:
The car body of the lateral inclination angle of the perching knife, the rotation angle of the perching knife and the land leveller is obtained in direction of advance
On tilt angle；
According to the rotation angle, the tilt angle and the lateral inclination angle, controls the perching knife and move to default position
It sets.
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| CN201910361888.4A CN110056026B (en) | 2019-04-30 | 2019-04-30 | Blade control system, land leveler and control method thereof |
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| CN201910361888.4A CN110056026B (en) | 2019-04-30 | 2019-04-30 | Blade control system, land leveler and control method thereof |
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| CN110056026B CN110056026B (en) | 2021-08-06 |
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| CN110905019A (en) * | 2019-12-19 | 2020-03-24 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Automatic control system of land leveler |
| CN110905021A (en) * | 2019-12-03 | 2020-03-24 | 深知智能科技(金华)有限公司 | Automatic adjustment control method and system for operation posture of land leveler working device |
| CN111519675A (en) * | 2020-05-11 | 2020-08-11 | 中交第四航务工程局有限公司 | Rail type land leveler and construction method thereof |
| CN111576514A (en) * | 2020-05-28 | 2020-08-25 | 江苏徐工工程机械研究院有限公司 | Leveling control method and system, controller and land leveler |
| CN112458812A (en) * | 2020-11-30 | 2021-03-09 | 四川仟坤建设集团有限责任公司 | Test road section filling construction device and construction method thereof |
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| CN201089948Y (en) * | 2007-09-05 | 2008-07-23 | 天津工程机械研究院 | Intelligent leveling system of grader |
| CN102304932B (en) * | 2011-07-27 | 2013-01-23 | 三一重工股份有限公司 | Land leveler leveling control system, control method and land leveler |
| US8655556B2 (en) * | 2011-09-30 | 2014-02-18 | Komatsu Ltd. | Blade control system and construction machine |
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