CN114353924B - On-line weighing method for materials in hydraulic excavator bucket - Google Patents
On-line weighing method for materials in hydraulic excavator bucket Download PDFInfo
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- CN114353924B CN114353924B CN202111448092.6A CN202111448092A CN114353924B CN 114353924 B CN114353924 B CN 114353924B CN 202111448092 A CN202111448092 A CN 202111448092A CN 114353924 B CN114353924 B CN 114353924B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/52—Weighing apparatus combined with other objects, e.g. furniture
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
Abstract
The invention discloses an on-line weighing method for materials in a bucket of a hydraulic excavator, which comprises the following steps: acquiring pressure value P of hydraulic cylinder of bucket rod in real time 1 And pressure value P of hydraulic cylinder of bucket 2 (ii) a The center of a hinged point of a base and a movable arm of the excavator is taken as an original point, the horizontal advancing direction is an X axis, the direction perpendicular to the X axis is a y axis, the inclination angle theta of the bucket rod relative to the horizontal plane is obtained in real time, wherein the theta is positive above the X axis and negative below the X axis; real-time acquisition of length l of bucket rod hydraulic cylinder AB Length l of hydraulic bucket cylinder DE (ii) a And then the data processor of the material weighing module brings the acquired data into a formula, so that the weight of the material in the bucket can be obtained. The weighing method considers the gravity centers of all parts and materials of the excavator and the influence on the online measurement of the weight of the materials in the bucket when the working surface is not horizontal, so that the measurement result of the weight of the materials is more accurate, the online measurement of the weight of the materials excavated by the bucket of the excavator in the construction process and the statistical measurement of the total amount of the materials excavated by the excavator in the engineering construction are realized, and the foundation is laid for the realization of digital and intelligent construction.
Description
Technical Field
The invention relates to an online weighing method for materials in a bucket of a hydraulic excavator, in particular to a weighing device and method for accurately measuring the weight of the materials in the bucket of the hydraulic excavator on line in real time.
Background
The hydraulic excavator is widely applied to the fields of building construction, resource exploitation and the like. In the use process of the hydraulic excavator, when a construction party has a weight requirement on materials excavated by the hydraulic excavator, the traditional hydraulic excavator does not have the function of accurately weighing the materials excavated in a bucket on line in real time, and the traditional method for solving the problem is to intensively load the materials excavated by the hydraulic excavator each time and weigh the materials by devices such as a wagon balance and the like. The mode not only wastes human resources, but also often causes underload or overload due to incapability of realizing real-time measurement of the weight of materials in the bucket, thereby causing rework and wasting a large amount of time.
The invention discloses a weighing system and a method of an excavator, wherein the weighing system is disclosed as CN 113008345A in 6-month-22-year-2021, chinese invention patent is characterized in that a movable arm position sensor, a bucket rod position sensor, a bucket position sensor and an oil pressure sensor are used for acquiring data, and a controller is used for calculating digging weight by utilizing the functional relation between main oil tank oil pressure and digging weight of the excavator. The invention discloses an automatic weighing method for a material of a mining excavator, which is disclosed as CN 104132721A in 11/05/2014 in China invention patent, and utilizes an angle sensor to acquire a rotation angle between each part for calculating a real-time position between each part, and further calculates kinematic parameters such as speed, acceleration and the like of each part through differentiation. The invention discloses a method and a system for weighing an excavator, which are disclosed as CN 113010979A in China invention patent No. 2021, 6-month-22, the method and the system utilize an angle sensor and an oil cylinder pressure sensor to detect the inclination angle of a bucket rod, the inclination angle of a connecting rod and the thrust of a bucket oil cylinder, and utilize triangular geometric parameters to simply and accurately obtain the weight of materials through calculation, but only consider the working condition of the excavator on a horizontal working surface, but not consider the working condition of the excavator on a working surface with a certain gradient, so the application range is greatly limited.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the on-line weighing method for the materials in the hydraulic excavator bucket, and the device can accurately measure the weight of the materials in the hydraulic excavator bucket on line in real time.
In order to realize the purpose, the invention is realized by the following technical scheme:
the embodiment of the invention provides an online weighing method for materials in a bucket of a hydraulic excavator, which comprises the following steps:
acquiring pressure value P of hydraulic cylinder of bucket rod in real time 1 And pressure value P of hydraulic cylinder of bucket 2 ；
The center of a hinged point of a base and a movable arm of the excavator is taken as an original point, the horizontal advancing direction is an X axis, the direction perpendicular to the X axis is a y axis, the inclination angle theta of the bucket rod relative to the horizontal plane is obtained in real time, wherein the theta is positive above the X axis and negative below the X axis;
real-time acquisition of length l of bucket rod hydraulic cylinder AB Length l of bucket cylinder DE ；
Then the material weighing module brings the data obtained by the sensor into the following formula, and the weight of the material in the bucket can be obtained;
wherein the parameter l AC 、l BC 、l DF 、l EF 、l CG 、l GF All can be obtained by size measurement provided by manufacturers,
l EG according to the cosine theorem; c 1 、C 2 The dynamic calibration is carried out by the excavator under the no-load condition.
As a further technical scheme, the pressure value P 1 Measured by a pressure sensor arranged on the bucket rod.
As a further technical proposal, the pressure isForce value P 2 Measured by a pressure sensor provided on the bucket.
As a further technical scheme, the inclination angle theta is measured by an angle sensor arranged on the bucket rod.
As a further technical scheme, the length l of the hydraulic bucket rod cylinder AB Measured by a laser displacement sensor arranged on the hydraulic cylinder of the bucket rod.
As a further technical solution, the length l of the bucket hydraulic cylinder DE Measured by a laser displacement sensor arranged on the bucket hydraulic cylinder.
As a further technical scheme, the device also comprises a coordinate conversion unit arranged on the excavator body.
As a further technical solution, when the working surface on which the excavator is located is an inclined surface, the coordinate conversion unit may be used to measure the inclination angle γ of the working surface of the excavator relative to the horizontal plane, and establish a coordinate system X 'OY' when the excavator is located on the inclined working surface, where an included angle between the coordinate system X 'OY' and the coordinate system XOY is γ, and then the coordinate conversion formula of the corresponding point on the two coordinate systems is as follows:
wherein (X, y) is the coordinate of a certain point m on the excavator in the coordinate system XOY, and (X ', y') is the coordinate of the point in the coordinate system X 'OY'; according to a coordinate conversion formula, mapping each point on the body of the excavator when the excavator is in an inclined working surface into a horizontal plane coordinate system, and thus carrying out online measurement on the weight of the material according to an excavator material measurement method on the horizontal plane coordinate system.
As a further technical solution, the dynamic calibration process is as follows:
firstly, a movable arm of a hydraulic excavator is lifted to a certain height so as to ensure that a bucket and a bucket rod cannot be contacted with the ground in a dynamic calibration process, then the bucket rod is extended and contracted to a limit position successively by controlling a bucket rod hydraulic cylinder, and the inclination angle theta of the bucket rod at the limit position is recorded respectively 1 、θ 2 ；
At theta 1 、θ 2 Average ten Angle values Angle within the range interval 1 ……Angle 10 Sequentially extending and retracting the dipper to Angle 1 ……Angle 10 And lifting the movable arm record data at a constant speed at each angle value, and then dynamically calibrating two unknown parameters C related to the gravity center position of the movable arm in different states by a recursive least square method 1 、C 2 。
As a further technical scheme, the system also comprises a history recording function based on the data storage module.
The invention has the following beneficial effects:
compared with the traditional hydraulic excavator, the online weighing method for the materials in the bucket of the hydraulic excavator provided by the invention can realize the real-time accurate measurement function of the materials in the bucket of the hydraulic excavator.
Compared with the existing hydraulic excavator with the function of weighing the materials in the bucket on the market, the method for weighing the materials in the bucket of the hydraulic excavator on line can finish the real-time weight measurement of the materials in the bucket during excavation only by carrying out dynamic calibration before the excavator carries out excavation, and can carry out measurement without moving a movable arm, a bucket and a bucket rod of the excavator to a fixed posture during excavation, so that a large amount of time is saved, and the working efficiency is greatly improved. Meanwhile, the method for weighing the materials in the bucket of the hydraulic excavator on line considers the gravity centers of all parts and materials of the excavator and the influence (referring to a weighing formula) on the weight on-line measurement of the materials in the bucket when a working surface is not horizontal, so that the result of the weight measurement of the materials is more accurate, the construction process is more precise and intelligent, and unnecessary rework caused by too much or too little weight of the materials excavated by the excavator is reduced. Meanwhile, the excavating amount of the excavator can be displayed on a mobile phone, a computer or an IPAD of an operator through the data transmission module, and the visualization of the working process and construction information of the excavator can be realized, so that the accurate construction and the intelligent construction are realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1: a work flow diagram of the excavator;
FIG. 2: functional block diagrams of the excavator;
FIG. 3: a scheme diagram of material on-line weighing;
FIG. 4: a bucket and bucket rod stress analysis chart;
FIG. 5: a schematic diagram of an excavator working device;
FIG. 6: a working surface coordinate conversion schematic diagram;
in the figure: 1. a wheel; 2. a swing mechanism; 3. a control cabin; 4. a movable arm; 5. a bucket rod hydraulic cylinder; 6. a bucket rod; 7: a bucket hydraulic cylinder; 8. a bucket; 9. a boom cylinder.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
as introduced by the background art, the defects in the prior art are overcome, and in order to solve the technical problems, the invention provides an online weighing method for materials in a bucket of a hydraulic excavator.
In a typical embodiment of the present invention, as shown in fig. 3, in order to provide an excavator structure corresponding to the weighing method, a bucket pressure measuring unit, a bucket cylinder length measuring unit, an arm pressure measuring unit, an arm tilt angle measuring unit, an arm cylinder length measuring unit, and a coordinate converting unit are attached to a conventional excavator; the weight of the material in the bucket of the excavator can be detected on line in real time through the measuring units, so that the on-line weighing of the material in the bucket of the hydraulic excavator is realized;
further, in this embodiment, the arm pressure measuring unit and the bucket pressure measuring unit are respectively a first pressure sensor and a second pressure sensor; the coordinate conversion unit is respectively a first angle sensor and a second angle sensor; the length measuring unit of the bucket rod hydraulic cylinder and the length measuring unit of the bucket hydraulic cylinder are respectively a first laser displacement sensor and a second laser displacement sensor.
After the sensors finish data acquisition and transmit the data to the material weighing module, the least square method is adopted to process the data, so that the measurement precision is more accurate. Meanwhile, the processor also has a history recording function, the data storage module can record the mass of materials in the bucket and the total mass of the materials excavated in the whole excavation process when the excavator excavates every time, and the data communication module sends data to the terminal, wherein the terminal can be a mobile phone, a computer or an IPAD of an operator.
The corresponding measurement method is described in detail below:
as shown in FIG. 3, the center of the hinged point of the base and the movable arm of the excavator is taken as the original point, the horizontal advancing direction is taken as the x axis, the direction vertical to the x axis is taken as the y axis, and the pressure value P of the hydraulic cylinders of the arm and the bucket is measured by the arm pressure measuring unit and the bucket pressure measuring unit which are arranged on the arm and the bucket hydraulic cylinder of the excavator 1 、P 2 The length l of the arm hydraulic cylinder and the bucket hydraulic cylinder is measured in real time by an arm hydraulic cylinder length measuring unit and a bucket hydraulic cylinder length measuring unit which are installed on the arm hydraulic cylinder and the bucket hydraulic cylinder AB ，l DE . When the hydraulic excavator worksWhen the surface is not horizontal, the coordinate conversion is performed by a coordinate conversion unit mounted on the body.
Further, firstly, the excavator is subjected to static analysis, and the pressure P of the bucket rod and the bucket hydraulic cylinder is measured through the first pressure sensor and the second pressure sensor which are arranged on the bucket rod and the bucket hydraulic cylinder 1 、P 2 The dip angle theta of the bucket rod can be measured by the first angle sensor arranged on the bucket rod, and the length l of the bucket rod and the length l of the bucket hydraulic cylinder are monitored in real time by the first laser displacement sensor and the second laser displacement sensor which are arranged on the bucket rod and the bucket hydraulic cylinder AB ，l DE Meanwhile, by utilizing the length size parameters of all components of the excavator, solving unknown length parameters based on a triangle principle, and obtaining a moment of a connecting point C of a movable arm and a bucket rod, the moment can be obtained by a moment balance principle:
in the formula:
the moment of the gravity of the bucket rod to the connecting point C,
the moment of the gravity of the bucket on the connecting point C,
is the moment of the gravity of the material to the connecting point C,
the pressure of the hydraulic cylinder of the bucket rod on the connecting point C is obtained.
l AC 、l BC The length of (c) can be provided by the manufacturer,. L AB The length of the angle can be obtained by a length measuring unit of a hydraulic cylinder of the bucket rod, and the angle ABC can be obtained by the cosine law
Therefore:
α 1 is the included angle between the barycenter of the dipper and the edge of the dipper, wherein the barycenter of the dipper can be obtained by a weighing method or a suspension method, and then the included angle alpha between the barycenter of the dipper and the edge of the dipper can be obtained 1 And theta is the inclination angle of the bucket rod, so that the following can be calculated:
therefore, the moment of the weight of the bucket rod to the point C is as follows:
for the same reason, because EF 、l DF All can be obtained from the size parameters provided by the manufacturer,. L DE Can be obtained by a bucket hydraulic cylinder length measuring unit, so the & lt DEF can be obtained by the cosine law:
obtained by the cosine theorem:
wherein l EF 、l FG Available in the size provided by the manufacturer,. L EG Can be obtained by the cosine theorem in Δ FEG.
∠GEP 2 ＝π-∠DEF-∠FEG (8)
Therefore:
bucket gravity m 2 g and load gravity m 3 The sum of the moments of g to point C is:
bucket gravity m 2 g. Load gravity m 3 g. Bucket cylinder pressure P 2 The sum of moments for point G is 0:
substituting formulae (11) and (13) into formula (12) can give:
substituting the formulas (3), (5) and (10) into (1) to obtain:
the formula (11) is simplified as follows:
order:
when m is 3 When g =0, namely when no load exists, dynamic calibration is carried out, and the following results are obtained:
the following equations (2), (6), (7), (15) and (16) are simplified to the following equation (12):
in formula 17, P 1 、P 2 、θ、l AB 、l DE Can be respectively measured by a bucket rod pressure measuring unit, a bucket rod inclination angle measuring unit, a bucket rod hydraulic cylinder length measuring unit and a bucket hydraulic cylinder length measuring unit in real time, and the measurement is a function of time t. Parameter l AC 、l BC 、l DF 、l EF 、l CG 、l FG All can be obtained by size measurement provided by the manufacturer,. L EG Can be obtained by the cosine theorem in Δ FEG. So m 3 g is about P 1 (t)、P 2 (t)、θ(t)、l AB (t)、l DE (t), so equation (19) can be simplified as:
F(P 1 (t)、P 2 (t)、θ(t)、l AB (t)、l DE (t))＝m 3 g (20)
the real-time pressure of the bucket rod oil cylinder, the real-time pressure of the bucket oil cylinder, the real-time angle of the bucket rod, the real-time length of the bucket rod oil cylinder and the real-time length of the bucket oil cylinder measured by each sensor are put into the above formula (20) to calculate the load capacity m 3 g。
Further, the excavator needs to be dynamically calibrated under the condition of no load before weighing so as to determine the weighing parameter C of the hydraulic excavator 1 、C 2 . In the dynamic calibration process, a movable arm of the hydraulic excavator is lifted to a certain height to ensure that a bucket and a bucket rod cannot contact with the ground in the dynamic calibration process, and then the bucket and the bucket rod pass throughControlling the hydraulic cylinder to extend and retract the bucket rod to the limit positions, and respectively recording the inclination angle theta of the bucket rod at the limit positions 1 、θ 2 . At theta 1 、θ 2 Averaging ten Angle values in the range interval 1 ……Angle 10 (Angle value Angle is omitted here) 2 -Angle 9 ) Sequentially extending and retracting the dipper to Angle 1 ……Angle 10 (Angle value Angle is omitted here) 2 -Angle 9 ) And lifting the movable arm record data at a constant speed at each angle value, and then dynamically calibrating two unknown parameters C related to the gravity center position of the movable arm in different states by a recursive least square method 1 、C 2 。
Further, when the working surface of the excavator is an inclined surface, the inclination angle γ of the working surface of the excavator relative to the horizontal plane can be measured by means of the angle sensor 2 mounted on the excavator body, as shown in fig. 6, a coordinate system X 'OY' when the excavator is located on the inclined working surface is established, and an included angle between the coordinate system X 'OY' and the coordinate system XOY is γ, then a conversion relationship between corresponding points on the two coordinate systems is:
where (X, y) is the coordinate of a certain point m on the excavator in the coordinate system XOY, and (X ', y') is the coordinate of the point in the coordinate system X 'OY'. According to the coordinate conversion formula (21), all points on the machine body when the excavator is in an inclined working surface can be mapped into a horizontal plane coordinate system, so that the online measurement of the weight of the material can be carried out according to the excavator material measurement method on the horizontal plane coordinate system.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. An on-line weighing method for materials in a bucket of a hydraulic excavator is characterized by comprising the following steps:
acquiring pressure value P of hydraulic cylinder of bucket rod in real time 1 And pressure value P of hydraulic cylinder of bucket 2 ；
The center of a hinged point of a base and a movable arm of the excavator is taken as an original point, the horizontal advancing direction is an X axis, the direction perpendicular to the X axis is a y axis, the inclination angle theta of the bucket rod relative to the horizontal plane is obtained in real time, wherein the theta is positive above the X axis and negative below the X axis;
real-time acquisition of length l of bucket rod hydraulic cylinder AB Length l of bucket cylinder DE ；
Then the material weighing module brings the data obtained by the sensor into the following formula, and the weight of the material in the bucket can be obtained;
wherein the parameter l AC 、l BC 、l DF 、l EF 、l CG 、l GF All can be obtained by size measurement provided by the manufacturer,. L EG According to the cosine theorem; c 1 、C 2 The method is obtained by carrying out dynamic calibration on the excavator under the no-load condition;
the dynamic calibration process is as follows: firstly, a movable arm of a hydraulic excavator is lifted to a certain height so as to ensure that a bucket and a bucket rod cannot be contacted with the ground in a dynamic calibration process, then the bucket rod is extended and contracted to a limit position successively by controlling a bucket rod hydraulic cylinder, and the inclination angle theta of the bucket rod at the limit position is recorded respectively 1 、θ 2 (ii) a At theta 1 、θ 2 Averaging ten Angle values in the range interval 1 …Angle 10 Sequentially extending and retracting the bucket rod to Angle 1 ……Angle 10 And lifting the movable arm record data at a constant speed at each angle value, and then dynamically calibrating two unknown parameters C related to the gravity center position of the movable arm in different states by a recursive least square method 1 、C 2 。
2. A method for the on-line weighing of material in a hydraulic excavator bucket as defined in claim 1 wherein said pressure value P is 1 Measured by a pressure sensor arranged on the bucket rod.
3. A method for the on-line weighing of material in a hydraulic excavator bucket as defined in claim 1 wherein said pressure value P is 2 Measured by a pressure sensor arranged on the bucket.
4. A method for the on-line weighing of material in a hydraulic excavator bucket according to claim 1 wherein the angle of inclination θ is measured by an angle sensor provided on the stick.
5. A method of on-line weighing of material in a hydraulic excavator bucket of claim 1 where the length l of the stick cylinder AB Measured by a laser displacement sensor arranged on the hydraulic cylinder of the bucket rod.
6. A method for the on-line weighing of material in a hydraulic excavator bucket according to claim 1 where the bucket cylinder has a length/ DE Measured by a laser displacement sensor arranged on the bucket hydraulic cylinder.
7. A method for on-line weighing of material in a hydraulic excavator bucket as defined in claim 1 further comprising a coordinate conversion unit mounted on the excavator body.
8. The method for on-line weighing of material in a bucket of a hydraulic excavator according to claim 7, wherein when the working surface on which the excavator is located is an inclined surface, the inclination angle γ of the working surface of the excavator with respect to the horizontal plane is measured by means of the coordinate conversion unit, and the coordinate system X 'OY' when the excavator is located on the inclined working surface is established, and the included angle between the coordinate system X 'OY' and the coordinate system XOY is γ, then the coordinate conversion formula of the corresponding point on the two coordinate systems is:
wherein (X, y) is the coordinate of a certain point m on the excavator in the coordinate system XOY, and (X ', y') is the coordinate of the point in the coordinate system X 'OY'; according to a coordinate conversion formula, mapping each point on the machine body when the excavator is positioned on an inclined working surface into a horizontal plane coordinate system, thereby carrying out online measurement on the weight of the material according to an excavator material measurement method on the horizontal plane coordinate system.
9. A method for on-line weighing of material in a hydraulic excavator bucket as defined in claim 1 further comprising a history function based on a data storage module.
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| JPH11230821A (en) * | 1998-02-17 | 1999-08-27 | Shin Caterpillar Mitsubishi Ltd | Suspension load detection device of shovel crane |
| CN110553793A (en) * | 2019-07-26 | 2019-12-10 | 中国航空工业集团公司济南特种结构研究所 | Method for measuring gravity center of large composite material component |
| CN112267516A (en) * | 2020-11-11 | 2021-01-26 | 广州三维可视化测绘科技有限公司 | Excavator construction guide system and construction method |
| CN113010979A (en) * | 2021-03-01 | 2021-06-22 | 潍柴动力股份有限公司 | Excavator weighing method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NZ555187A (en) * | 2007-05-15 | 2010-01-29 | Actronic Ltd | Weight estimation for excavator payloads |
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|---|---|---|---|---|
| US5682312A (en) * | 1994-03-23 | 1997-10-28 | Caterpillar Inc. | Self-adapting excavation control system and method |
| JPH11230821A (en) * | 1998-02-17 | 1999-08-27 | Shin Caterpillar Mitsubishi Ltd | Suspension load detection device of shovel crane |
| CN110553793A (en) * | 2019-07-26 | 2019-12-10 | 中国航空工业集团公司济南特种结构研究所 | Method for measuring gravity center of large composite material component |
| CN112267516A (en) * | 2020-11-11 | 2021-01-26 | 广州三维可视化测绘科技有限公司 | Excavator construction guide system and construction method |
| CN113010979A (en) * | 2021-03-01 | 2021-06-22 | 潍柴动力股份有限公司 | Excavator weighing method and system |
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