CN103122644B - Determine scraper bowl geometry - Google Patents

Abstract

The present invention relates to determine scraper bowl geometry.A kind of method determining scraper bowl geometry, including: obtain be associated first group of data of the first orientation for industrial machine with industrial machine；And obtain be associated second group of data of the second orientation for industrial machine with industrial machine.First group of data includes at least one in the first length being associated with ropes and the first angle being associated with ropes, and second group of data includes at least one in the second length being associated with ropes and the second angle being associated with ropes.Then, the value of the physical characteristic of scraper bowl is determined based on first group of data and second group of data.

Description

Determine scraper bowl geometry

Technical field

The present invention relates to determine the geometric form of the scraper bowl on the industrial machine being arranged on such as rope shovel Shape (geometry).

Background technology

Such as cord rope or power shovel, drag-line, etc. industrial machine include for perform excavate behaviour The mounted scraper bowl made.In order to determine position (location) (such as, the dipper teeth of scraper bowl Position), when determining its position, it is necessary to consider that the geometry pair of scraper bowl with industry The control system that machine is associated is programmed or is pre-configured with.Such programming is generally by taking Business representative manually performs, and service represents the tram institute of the determination scraper bowl being associated with scraper bowl The size needed and other calibration parameters are manually entered in system.Such process is tedium , and may change because industrial machine is different.Such as, specific industrial machine can be joined Put for being used together from various different scraper bowls (such as, different size of scraper bowl).It addition, The scraper bowl being arranged on industrial machine can change according to excavation condition, material behavior etc.. In this case, it has to the control system of manual recalibration industrial machine, to adapt to In new scraper bowl and the position correctly determining it.Several without for mounted scraper bowl What shape correctly calibrates the control system of industrial machine, then industrial machine may such as can not be kept away Exempt from the collision between scraper bowl and the miscellaneous part (such as, suspension rod) of industrial machine.

Summary of the invention

Therefore, the present invention provides a kind of geometry determining scraper bowl and the control of calibration industrial machine System processed, in order to determine the exact position of scraper bowl, collision free, measurement essence among other things True payload, etc. automated process.

In one embodiment, the present invention provides a kind of scraper bowl determined with industrial machine to be associated The method of value of physical characteristic.The method include obtain for industrial machine first orientation, The first group of data being associated with industrial machine.First group of data includes being associated with ropes The first length and the first angle of being associated with ropes at least one.The method is also Including be associated with industrial machine the second group of number obtaining the second orientation for industrial machine According to.Second group of data include the second length of being associated to ropes and relevant with ropes At least one in second angle of connection.Then, come based on first group of data and second group of data Determine the value of the physical characteristic of scraper bowl.

In another embodiment, the present invention provide one include scraper bowl, controller, suspension rod and The industrial machine of pulley.Suspension rod and pulley support ropes, and ropes be connected to shovel Bucket.Controller is configured to control the length of ropes；Determine the primary importance phase with scraper bowl First length of corresponding ropes；Determine the hoisting rope corresponding with the second position of scraper bowl Second length of rope；Determine ropes relative to pulley and primary importance with scraper bowl The first corresponding angle；And determine ropes relative to pulley and with scraper bowl The second angle that the second position is corresponding.Controller is further configured to determine the displacement of ropes And displacement of based on ropes determines the value of physical attribute of scraper bowl.

In another embodiment, the present invention provides a kind of for determining the scraper bowl phase with industrial machine The method of the value of the length of association.The method includes determining what the primary importance with scraper bowl was associated First length of ropes；Determine ropes relative to pulley and with the of scraper bowl The first angle that one position is associated；Determine the ropes that the second position with scraper bowl is associated The second length；And determine ropes relative to pulley and second with scraper bowl Put the second angle being associated.The method also includes the first length based on ropes, lifting Second length of rope, ropes are relative with ropes relative to the first angle of pulley The second angle in pulley determines the value of the length being associated with scraper bowl.

By considering detailed description of the invention and accompanying drawing, other aspects of the present invention will be apparent from.

Accompanying drawing explanation

Fig. 1 illustrates industrial machine according to an embodiment of the invention.

Fig. 2 diagram is according to an embodiment of the invention for the controller of industrial machine.

Fig. 3 diagram is according to an embodiment of the invention for the control system of industrial machine.

Fig. 4-8 illustrates the geometry line chart being associated with a part for industrial machine.

Fig. 9-11 diagram is according to an embodiment of the invention for determining the mistake of scraper bowl geometry Journey.

Detailed description of the invention

Before any embodiments of the invention are explained in detail, it should be appreciated that the present invention is not by it Quote the structure being confined to its assembly illustrating in following description or illustrating in the following figures The details made and arrange.The present invention can be other embodiments, and also is able to use various ways It is practiced or carried out.Also, it is to be understood that term as used herein and proper noun are for describing Purpose, and should not regard restriction as." including ", " comprising " or " tool is used at this Have " and its variant mean to contain items listed thereafter and its equivalent and addition item. Be widely used term " install ", " connection " and " connection ", and contain directly or indirectly Both installation, connect and couple.It addition, " connection " and " connection " is not limited to thing Reason or be mechanically connected or couple, and electrical connection can be included or couple, it is no matter the most also It is indirect.Furthermore, it is possible to use include being directly connected to, wireless connections etc. any of Device performs electronic communication and notice.

It should be noted that, it is possible to use multiple devices based on hardware and software and multiple different Construction package realizes the present invention.Additionally, as described in paragraph subsequently, spy illustrated in accompanying drawing Fixed configuration is intended to illustrate embodiments of the invention, and other configurations substituted also are possible. Term " processor ", " CPU " and " CPU " is interchangeable, unless otherwise mentioned. Specific merit is performed with making a check mark at term " processor " or " CPU " or " CPU " Can unit in the case of, it should be appreciated that unless otherwise mentioned, can by single processor or That arranges in any form includes at parallel processor, serial processor, series connection processor or cloud Multiple processors of reason/cloud computing configuration perform those functions.

The present invention relates to determine the several of the scraper bowl that is associated with industrial machine (such as, rope shovel) What shape.The geometry of scraper bowl or physical characteristic include length (such as, the shovel of such as scraper bowl Struggle against from dipper teeth to shackle pin joint, dipper arm (handle) joint, etc. length) or shovel Struggle against relative to the angle of dipper arm.In order to avoid collision, determine payload, detection position, Etc. purpose, the various control systems of industrial machine use such attribute of scraper bowl or characteristic. Configure the controller of industrial machine by such mode, be automatically calculated or determined scraper bowl characteristic or Attribute, and do not require characteristic or the attribute that manual calibration inputs.Controller uses such as datum Determine according to the combination with known variables or calculate the length of scraper bowl and scraper bowl relative to dipper arm or The angle of another assembly of industrial machine.Can first orientation based on industrial machine (such as, Corresponding with the first position of bucket) and the second orientation of industrial machine (such as, with the second scraper bowl Position is corresponding) length of scraper bowl and the angle of scraper bowl are calculated or determined.

Although invention described here can apply to various industrial machine, by various industrial machines Perform or be used together (such as, rope shovel, drag-line, exchange (AC) together with various industrial machines Motor, direct current (DC) motor, hydraulic test, etc.), but invention described herein Embodiment is to be described relative to cord rope or the power shovel of all power shovels 10 as shown in Figure 1. Shovel 10 include mobile foundation 15, drive crawler belt 20, turntable 25, machine deck 30, suspension rod 35, Lower end 40, pulley 45, tension cable 50, rear pole 55, pole structure 60, scraper bowl 70, One or more ropes 75, winch drum 80, shovel arm or handle 85, saddle block 90, pivot Axle point 95, transmission unit 100, shackle pin 105, inclinometer 110 and pulley pin 115.? In some embodiments, present invention could apply to include such as single lower limb handle, stick (such as, Tubulose stick) or activate the industrial machine pushing the hydraulic jack that (crowd) moves.

Mobile foundation 15 is supported by driving crawler belt 20.Mobile foundation 15 supports turntable 25 and machine Device deck 30.Turntable 25 can be around machine deck 30 relative to mobile foundation 15 rotating 360 degrees. Suspension rod 35 is pivotally connected to machine deck 30 in lower end 40.By anchoring to pole structure 60 Rear pole 55 on tension cable 50 relative to deck upward and outward extend support suspension rod 35. Pole structure 60 is rigidly attached on machine deck 30, and pulley 45 is rotatably installed in The upper end of suspension rod 35.

Scraper bowl 70 is suspended on suspension rod 35 by ropes 75.Ropes 75 is wrapped in On pulley 45, and it is attached at shackle pin 105 on scraper bowl 70.Ropes 75 anchors Winch drum 80 to machine deck 30.When winch drum 80 rotates, ropes 75 is put Pine is to put down scraper bowl 70 or tension to lift scraper bowl 70.Dipper arm 85 is also rigidly attached to shovel On bucket 70.Dipper arm 85 is slidably supported in saddle block 90, and saddle block 90 exists Suspension rod 35 it is pivotally mounted at pivoting point 95.Dipper arm 85 includes rack tooth structure, at it Upper engagement is arranged on the driving pinion in saddle block 90.Driving pinion is by motor and transmission Unit 100 drives, to stretch out or to retract shovel arm 85 relative to saddle block 90.

Power supply is arranged on machine deck 30, with to for drive one of winch drum 80 or Multiple lifting motors, for drive saddle block transmission unit 100 one or more pushing electricity Motivation and the one or more slewing motors for rotating table 25 provide power.Following institute State, push, promote and in slewing motor each can be by the motor control of its own Device processed drives or drives in response to the control signal from controller.

Fig. 2 illustrates the controller 200 that the power shovel 10 with Fig. 1 is associated.Controller 200 electricity Son and/or be communicably connected to shovel the various modules of 10 or assembly.Such as, illustrated controller 200 it is connected to one or more indicator 205, Subscriber Interface Module SIM 210, one or more carries Rise motor and lifting motor drives 215, one or more pushing motor and pushing motor Drive 220, one or more slewing motor and slewing motor drive 225, data storage or Data base 230, power module 235, one or more sensor 240 and network communication module 245.Controller 200 includes that the combination of hardware and software, described combination can be used to except it The operation of his outer control power shovel 10；Control suspension rod 35, shovel arm 85, the position of scraper bowl 70, The length of ropes 75, etc.；Activate one or more indicator 205 (such as, liquid crystal Display [" LCD "])；Monitor the operation of shovel 10；Etc..One or more sensors 240 Include among other things stress pin (loadpin) deformeter, inclinometer 110, portal frame pin, One or more motor excitations (field) module, etc..Stress pin deformeter includes such as being positioned at X Row's deformeter on direction (such as, level) and being positioned in Y-direction (such as, vertical) Row's deformeter so that may determine that on stress pin make a concerted effort.In certain embodiments, may be used To use the pushing in addition to pushing motor-driven to drive (such as, for single lower limb handle, behaviour The pushing of vertical pole, hydraulic jack etc. drives).

In certain embodiments, controller 200 includes multiple Electrical and Electronic assembly, they to Assembly in controller 200 and/or shovel 10 and modules with power, the control of operation and protection. Such as controller 200 includes processing unit 250 (such as, microprocessor, micro-among other things Controller or another suitable programmable device), memorizer 255, input block 260 and Output unit 265.Processing unit 250 includes that control unit 270, arithmetic are patrolled among other things Collect unit (" ALU ") 275 and multiple depositor 280 (Parasites Fauna shown in Fig. 2), And use Harvard framework, the known computer rack of von Neumann framework etc. such as revised Structure realizes.It is connected to the processing unit 250 of controller 200, memorizer 255, input block 260 and output unit 265 and various module by one or more control buses and/or data Bus (such as, common bus 285) connects.For illustrative purposes, show the most greatly Go out to control bus and/or data/address bus.In view of invention described here, those skilled in the art are Know the one or more control buses for interconnecting between various modules and assembly and communicate and/or The use of data/address bus.In certain embodiments, controller 200 part or whole such as leading to The quasiconductor crossing the chip of register transfer level (" RTL ") design process exploitation is (such as, existing Field programmable gate array [" FPGA "] quasiconductor) realize on chip.

Memorizer 255 includes such as program storage area and data storage area.Program storage area sum Such as read only memory (" ROM "), random access memory can be included according to memory block (" RAM ") (such as, dynamic ram [" DRAM "], synchronous dram [" SDRAM "], Etc.), EEPROM (" EEPROM "), flash memory, Hard disk, SD card or other suitable magnetic, light, physics or the difference of electronic memory device The combination of the memorizer of type.Processing unit 250 is connected to memorizer 255, and execution can It is stored in RAM (such as, the term of execution), the ROM of memorizer 255 of memorizer 255 Another nonvolatile meter of (such as, on usual permanent basis) or such as another memorizer or dish Software instruction in calculation machine computer-readable recording medium.The software that the realization of shovel 10 includes can be stored in control In the memorizer 255 of device 200 processed.Software includes such as firmware, one or more application, journey Ordinal number evidence, filter, rule, one or more program module and other executable instructions. Controller 200 be configured to be retrieved and executed from memorizer among other things be described herein The instruction relevant with method of control process.In other construct, controller 200 includes additionally, Less or different assemblies.

Network communication module 245 is configured to connect to network 290 and communicates with by network 290. In certain embodiments, network is that such as wide area network (" WAN ") is (such as, based on TCP/IP Network, cellular network, such as, such as, global system for mobile communications [" GSM "] network, General Packet Radio Service [" GPRS "] network, CDMA [" CDMA "] network, excellent Evolution data [" the EV-DO "] network of change, enhanced data rates for gsm evolution [" EDGE "] Network, 3GSM network, 4GSM network, Digital Enhanced Cordless telecommunications [" DECT "] network, Numeral AMPS [" IS-136/TDMA "] network, or integrated digital enhanced network [" iDEN "] Network, etc.).

In other embodiments, network 290 is for example with such as Wi-Fi, bluetooth, purple honeybee etc. Deng the LAN (" LAN ") of any one of various communication protocols, neighborhood net (" NAN "), Home area network (" HAN ") or individual territory net (" PAN ").Use such as at IEEE 802.1 standards provide for internet security based on port, wildcard, expansible Authentication protocol (" EAP "), Wired Equivalent Privacy (" WEP "), temporary key are complete Agreement (" TKIP "), Wi-Fi protection accesses those technology of (" WPA ") etc. One or more encryption technologies, can protect and be led to by network communication module 245 or controller 200 Cross the communication that network 290 is carried out.Connection between network communication module 245 and network 290 is Such as wired connection, wireless connections or wireless connections and the combination of wired connection.Similarly, Connection between controller 200 and network 290 or network communication module 245 be wired connection, Wireless connections or wireless connections and the combination of wired connection.In certain embodiments, controller 200 or network communication module 245 include for transmit, receive or store with shovel 10 or shovel 10 One or more COM1s of the data that are associated of operation (such as, Ethernet, serial are high Level Technical Appendix [" SATA "], USB (universal serial bus) [" USB "], integrated drive electronics electricity Road [" IDE "] etc.).

Specified AC or D/C voltage are fed to controller 200 or shovel 10 by power module 235 Other assemblies or module.Power module 235 is by such as having between 100V and 240V AC The power supply of rated line voltage and about 50-60Hz frequency is powered.Power module 235 is also configured Become supply low voltage with the circuit in operation controller 200 or shovel 10 and assembly.At other structures In making, controller 200 or shovel 10 in other assemblies and module by one or more batteries or electricity Pond group or other grid independent current source (such as, generator, solar panel, etc.) Power supply.

Subscriber Interface Module SIM 210 is used for controlling or monitor power shovel 10.Such as, Subscriber Interface Module SIM 210 are operably coupled to controller 200, with control the position of scraper bowl 70, the position of suspension rod 35, The position of dipper arm 85, transmission unit 100 etc..Subscriber Interface Module SIM 210 includes realizing the phase Numeral needed for the control level hoped and supervision shovel 10 and simulation input or the combination of output device. Such as, Subscriber Interface Module SIM 210 includes display (such as, basic display unit, secondary display etc. Deng) and input equipment, such as touch-screen display, multiple knob, driver plate, switch, button Etc..Display is such as liquid crystal display (" LCD "), light emitting diode (" LED ") Display, organic LED (" OLED ") display, electroluminescent display (" ELD "), Surface-conduction electron emission pole display (" SED "), field-emitter display (" FED "), Thin film transistor (TFT) (" TFT ") LCD, etc..Subscriber Interface Module SIM 210 can also be configured Become condition or data that real-time or substantially real-time display is associated with power shovel 10.Such as, user Interface module 210 be display configured to the electrical characteristics of the measurement of power shovel 10, the state of power shovel 10, The position of scraper bowl 70, the position of dipper arm 85, the geometry etc. of scraper bowl 70.At some In embodiment, in conjunction with one or more indicators 205 (such as, LED, speaker etc.) Control Subscriber Interface Module SIM 210, with vision or the audition of the state or condition that provide power shovel 10 Instruction.

Fig. 3 illustrates the more detailed control system 300 for power shovel 10.Such as, power shovel 10 Including master controller 305, network switching 310, switch board 315, assist control cabinet 320, behaviour Oblongum 325, first promotes and drives module the 330, second lifting to drive module 335, pushing to drive Module 340, revolution drive module 345, promote excitation (field) module 350, pushing excitation module 355 and revolution excitation module 360.The various assemblies of control system 300 are by such as fiber optic communication System is connected and is communicated by such as optical fiber telecommunications system, and this optical fiber telecommunications system utilizes to be used In one or more procotols of industrial automation, such as Process FieldbusROFIBUS (" PROFIBUS "), Ethernet, Controling network (ControlNet), fund fieldbus (Foundation Fieldbus), industrial-controlled general line (INTERBUS), controller area net (" CAN ") bus etc..Control system 400 can include the said modules relative to Fig. 2 And module.Such as, one or more lifting motors and/or driver 215 promote with first and drive Dynamic model block 330 and the second lifting drive module 335 corresponding, one or more pushing motor And/or drive 220 to drive module 340 corresponding with pushing, and one or more revolution is electronic Machine and/or driving 225 drive module 345 corresponding with revolution.Control cabinl pulpit 325 can wrap Include user interface 210 and indicator 205 etc..Stress pin deformeter, inclinometer 110 and dragon The signal of telecommunication can be supplied to master controller 305, controller cabinet 315, auxiliary tank 320 etc. by door bolt Deng.

First promotes the 330, second lifting of driving module drives module 335, pushing to drive module 340 and revolution drive module 345 be configured to receive control signal from such as master controller 305, To control the lifting of shovel 10, push and turn round operation.Control signal with for shovel 10 lifting, Push and the driving signal correction connection of slewing motor 215,220 and 225.When driving letter When number being applied to motor 215,220 and 225, the output of monitoring motor (such as, electricity and Machinery output) and output is fed back to master controller 305 (such as, via excitation module 350-360).The output of motor includes such as electromotor velocity, motor torque, motor Power, motor current, etc..Based on these and other the signal (examples being associated with shovel 10 As, from the signal of inclinometer 110), master controller 305 is configured to determine or calculates shovel 10 or its one or more characteristics, mode of operation or the position of assembly (such as, scraper bowl). In certain embodiments, master controller 305 determine position of bucket, dipper arm angle or position, Ropes winding angle, lifting motor revolutions per minute (" RPM "), push electronic Machine RPM, scraper bowl speed, scraper bowl acceleration, scraper bowl geometry, etc..

Used master controller 305 by the collision free or other control system such as shoveling 10 or controlled The characteristic of the shovel 10 that device 200 determines, accurately to determine the position of scraper bowl 70, accurate Characterization shovels Mode of operation of 10 etc..But, in order to controller 200 is accurately determined such information, The characteristic of the geometry of necessary known scraper bowl.Such as, in order to determine that dipper teeth is relative to suspension rod The position (such as, preventing collision) of 35, it is necessary to the length of known scraper bowl 70 and scraper bowl 70 phase Angle for dipper arm 85.As it has been described above, such information is often manually entered or is programmed into In the control system of shovel 10, and information based on input calibrates shovel 10.Change shovel every time During scraper bowl 70 on 10, need be manually entered or update this information.Because adapting to scraper bowl 70 Geometry is correctly installed the control system of scraper bowl 70 and calibration shovel and is required time for, so reducing The productivity ratio of shovel 10.In order to be limited to mounted scraper bowl 70 calibration shovel 10 required for time Between, controller 200 is configured to automatically determine the geometry of scraper bowl 70.

Specifically, controller 200 be configured to use shovel 10 known features and with first and The measurement numerical value that second position of bucket is associated is to determine scraper bowl geometry.Such as, Fig. 4 figure Line chart and and the industrial machine of the first orientation 400 of the shovel 10 corresponding with the first position of bucket are shown First group of data that device 10 is associated.Every illustrated line all represents a part for shovel 10. In the diagram, it is known that the length including suspension rod 35 with the values that are associated of shovel 10 maybe can measured Degree L_B, the radius R of dipper arm 85_C, dipper arm 85 (such as, is parallel to relative to level Ground) angle, θ_C, the radius R of lifting tackle 45_H, length L of dipper arm 85_C1, and For the length of ropes 75 of the first position of bucket (that is, from lifting tackle 45 to shackle Pin 105) L_H1.Length L when ropes 75_H1Represent that ropes is at lifting tackle 45 And during length between shackle pin 105, length L of ropes 75_H1Do not consider scraper bowl 70 Length L_DOr scraper bowl 70 is relative to the angle, θ of dipper arm 85_D.Controller 200 can not be reliable Avoid the collision between other assemblies of scraper bowl 70 and shovel 10, unless controller 200 or single Only collision free system knows the exact length L of scraper bowl 70_DAngle, θ with scraper bowl 70_D.Shovel Length L of bucket 70_DAngle, θ with scraper bowl 70_DCan be based partially on from lifting tackle 45 to shovel Length L of the end of bucket 70_PH1With from lifting tackle 45 to length L of shackle pin 105_H1And Determine.

Fig. 5 illustrates the line chart of the second orientation 500 of the shovel 10 corresponding with the second position of bucket And the second group of data being associated with industrial machine 10.In the second position of bucket, suspension rod 35 Length L_B, the radius R of dipper arm 85_C, and the radius R of lifting tackle 45_HHave and the The value that one position of bucket is identical.It addition, by length L of dipper arm 85_C2It is chosen as and first Length L of the dipper arm 85 of position of bucket_C1Identical.This is done to simplify scraper bowl geometry The determination of shape.But, in certain embodiments, the first position of bucket and the second position of bucket Between the length of dipper arm 85 can change.Can be based on promoting solver counting H_RCWith carry Rise solver gain H_RGNumber determine primary importance ropes length (that is, from Lifting tackle 45 is to shackle pin 105) L_H1Length with the ropes of the second position of bucket L_H2.Lifting solver counting H can also be used_RC, promote solver gain H_RG, and carry Rise the radius R of pulley 45_HDetermine the angle, θ of lifting coiling around lifting tackle 45_H。

Pushing solver counting C can also be used_RCWith pushing solver gain C_RGDetermine first Length L with the dipper arm 85 of the second position of bucket_CWith dipper arm 85 relative to level (such as, Parallel with ground surface) angle, θ_C.As above relative to described in the first position of bucket, can be based on From lifting tackle 45 to length L of scraper bowl 70 end_PH2With from lifting tackle 45 to shackle pin Length L of 105_H2Determine length L of scraper bowl 70_DAngle, θ with scraper bowl 70_D。

In order to determine length L of scraper bowl 70_DAnd angle, θ_D, analyze and the first scraper bowl position further Put orientation and the orientation of the shovel 10 corresponding with the second position of bucket of corresponding shovel 10.Example As, Fig. 6 illustrates in the first position of bucket by lifting tackle 45, shackle pin 105 and scraper bowl The triangle 600 that the limit of 70 is formed.The limit of this triangle with from lifting tackle 45 to shackle pin 105 Length L of ropes 75_H1, length L of scraper bowl 70_D, and from lifting tackle 45 to Length L of scraper bowl 70 end_PH1Corresponding.Use triangle 600, three angles can be limited. Scraper bowl 70 is relative to the angle, θ of dipper arm 85_D, level and restriction length L_PH1Line between Angle, θ_PH1, and relative to pulley 45 and level and limit length L_H1Line between Angle, θ_H1。

Similarly, Fig. 7 illustrate the second position of bucket by lifting tackle 45, shackle pin 105, The triangle 700 formed with the limit of scraper bowl 70.The limit of this triangle and ropes are sliding from promoting Wheel 45 is to length L of shackle pin 105_H2, length L of scraper bowl 70_D, with from lifting tackle 45 Length L to scraper bowl 70 end_PH2Corresponding.Use triangle 700, it is also possible to limit three Angle.Scraper bowl is relative to the angle, θ of dipper arm 85_D, level and restriction length L_PH2Line it Between angle, θ_PH2, and relative to pulley 45 and in level and restriction length L_H2Line between Angle, θ_H2。

Triangle 700 by the triangle 600 and Fig. 7 of constitutional diagram 6, it is possible to use limit shovel Bucket is converted to the 3rd triangle 800 of the second position of bucket to describe shovel 10 from the first position of bucket Orientation.3rd triangle 800 illustrates in fig. 8, its midpoint P₁With shackle pin 105 The position of one position of bucket is corresponding, and puts P₂With shackle pin 105 in the position of the second position of bucket Put corresponding.Point P₁And P₂It is further defined by a P₁With P₂Between length L of line_T, its relative to Level is at an angle of θ_T.By length L_TAnd angle, θ_TThe vector formed and shackle pin 105 are from first Position of bucket is corresponding to the displacement of the second position of bucket.Can be based on L_H1、θ_H1、L_H2、 And θ_H2Value determine length L_TValue.Triangle 800 limits and in primary importance further Length L between the limit of scraper bowl 70 in the limit of scraper bowl 70 and the second position_PTCorresponding line, Line L_PTAnd the angle, θ between level_PT, and limit angle, θ_PH2With θ_PH1The angle of difference Δθ_PH.Length L of line_PTDisplacement with scraper bowl 70 is corresponding.

Use above-mentioned variable, it may be determined that or calculate length L of scraper bowl 70_DAnd angle, θ_D's Value.It addition, length L_XWith corresponding angle, θ_XFormation vector L can be combined_Xθ_X.To make This symbol is used throughout whole application by the suitable subscript identifying each vector.Refer again to figure 6, about known variables L_H1、θ_H1、θ_C1With known variables L_DAnd θ_D, can be as following Vector L is defined shown in equation 1_PH1θ_PH1。

L_H1θ_H1+L_D(θ_C1+θ_D)=L_PH1θ_PH1Equation 1

Then the vector of equation 1 can be respectively classified into the correspondence as shown in equation 2 below and 3 Horizontal and vertical component.

L_H1cos(θ_H1)+L_Dcos(θ_C1+θ_D)=L_PH1cos(θ_PH1) equation 2

L_H1sin(θ_H1)+L_Dsin(θ_C1+θ_D)=L_PH1sin(θ_PH1) equation 3

Similarly, and refer again to Fig. 7, about known variables L_H2、θ_H2、θ_C2Not Know variables L_DAnd θ_D, vector L can be defined as shown in equation 4 below_PH2θ_PH2。

L_H2θ_H2+L_D(θ_C2+θ_D)=L_PH2θ_PH2Equation 4

Then the vector of equation 4 can be respectively classified into the correspondence as shown in equation 5 below and 6 Horizontal and vertical component.

L_H2cos(θ_H2)+L_Dcos(θ_C2+θ_D)=L_PH2cos(θ_PH2) equation 5

L_H2sin(θ_H2)+L_Dsin(θ_C2+θ_D)=L_PH2sin(θ_PH2) equation 6

With reference to Fig. 8, at the some P of shackle pin 105₁Position, at the scraper bowl of the first position of bucket The limit of 70, at the some P of shackle pin 105₂Position and at the scraper bowl 70 of the second position of bucket Limit between formed irregular quadrilateral.Use and be converted to second by scraper bowl from the first position of bucket The vector that position of bucket is formed, can obtain known variables θ as shown in equation 7 below_C1、 θ_C2、L_T, and θ_TWith known variables L_D、θ_D、L_PT, and θ_PTBetween relation.

L_D(θ_C2+θ_D)+L_PTθ_PT=L_Tθ_T+L_D(θ_C1+θ_D) equation 7

Then can solve equation 7 and obtain vector L_PTθ_PT, as depicted in equation 8 below.

L_PTθ_PT=L_Tθ_T+L_D(θ_C1+θ_D)-L_D(θ_C2+θ_D) equation 8

In the way of being similar to above with respect to equation 1 and 4 execution, equation 8 can be divided respectively Become the corresponding horizontal and vertical component as shown in equation 9 below and 10.

L_PTcos(θ_PT)=L_Tcos(θ_T)+L_Dcos(θ_C1+θ_D)-L_Dcos(θ_c2+θ_D) equation 9

L_PTsin(θ_PT)=L_Tsin(θ_T)+L_Dsin(θ_C1+θ_D)-L_Dsin((θ_C2+θ_D) equation 10

With continued reference to Fig. 8, can be according to known variables L_H1、L_H2, and R_HAnd the unknown becomes Amount L_PH1、θ_PH1, and θ_PH2Obtain known variables L_PH2。

L_PH2=L_PH1+(L_H2-L_H1)-R_H(θ_PH2-θ_PH1) equation 11

Wherein, (L_H2-L_H1)=Δ L_H(that is, promoting displacement) and (θ_PH2-θ_PH1)=Δ θ_PH Relation may be used for abbreviation equation 11, and obtain equation 12.

L_PH2=L_PH1+ΔL_H-R_H(Δθ_PH) equation 12

It addition, be because scraper bowl 70 is rigidly attached to dipper arm 85 and ropes 75, so can With suppose from the first position of bucket to the second position of bucket time promote angle delta θ_HChange with from the Angle delta θ during one position of bucket to the second position of bucket_PHChange identical, such as equation 13 below Shown in.

θ_H2-θ_H1=Δ θ_H=Δ θ_PH=θ_PH2-θ_PH1Equation 13

Equally, equation 12 can be to be rewritten into as shown in equation 14 below.

L_PH2=L_PH1+ΔL_H-R_HΔθ_HEquation 14

Then equation 14 can be substituted into equation 5 and 6 to obtain equation 15 below and 16.

L_H2cos(θ_H2)+L_Dcos(θ_C2+θ_D)=[L_PH1+ΔL_H-R_HΔθ_H]cos(θ_PH2) equation 15

L_H2sin(θ_H2)+L_Dsin(θ_C2+θ_D)=[L_PH1+ΔL_H-R_HΔθ_H]sin(θ_PH2) equation 16

As the result of the substitution in equation 15 and 16, controller 200 can use equation 2, 3,9,10,13,15 and 16 determine or calculate length L of scraper bowl_DAnd angle, θ_DSolution, For purposes of clarity, it is rendered in equation 17 below-23.

L_H1cos(θ_H1)+L_Dcos(θ_C1+θ_D)=L_PH1cos(θ_PH1) equation 17

L_H1sin(θ_H1)+L_Dsin(θ_C1+θ_D)=L_PH1sin(θ_PH1) equation 18

L_H2cos(θ_H2)+L_Dcos(θ_C2+θ_D)=[L_PH1+ΔL_H-R_HΔθ_H]cos(θ_PH2) equation 19

L_H2sin(θ_H2)+L_Dsin(θ_C2+θ_D)=[L_PH1+ΔL_H-R_HΔθ_H]sin(θ_PH2) equation 20

L_PTcos(θ_PT)=L_Tcos(θ_T)+L_Dcos(θ_C1+θ_D)-L_Dcos(θ_C2+θ_D) equation 21

L_PTsin(θ_PT)=L_Tsin(θ_T)+L_Dsin(θ_C1+θ_D)-L_Dsin(θ_C2+θ_D) equation 22

Δθ_H=θ_H2-θ_H1=θ_PH2-θ_PH1=Δ θ_PHEquation 23

Similarly, in equation 17-23, only known variables is L_D、θ_D、L_PH1、θ_PH1、 θ_PH2、L_PT, and θ_PT, it is left 7 equatioies and 7 known variables.Can ask simultaneously Solve above equation, to calculate length L of scraper bowl 70_DAnd angle, θ_DValue.In some embodiments In, it is possible to use substitute into abbreviation equation 17-23 further.But, such substitution is not Required, become because controller 200 can calculate the unknown in the case of not simplifying further Amount.

There is provided above equation as the illustrated examples how determining scraper bowl geometry.At other In embodiment, it is possible to use different equatioies or the equation of change.Additionally or alternatively, may be used To use Iterative device to determine length L of scraper bowl 70_DAnd angle, θ_D.Such as, Fig. 9-11 Illustrate the process 900 of geometry for determining scraper bowl 70 based on above equation 17-23. In step 905, it is determined about whether the geometry that should determine scraper bowl 70.Such as, User can provide the instruction that should determine scraper bowl geometry, or industrial machine to industrial machine 10 Device 10 can automatically determine whether to determine scraper bowl geometry.Can be based on except other it Load in the current state of outer shovel 10, scraper bowl 70, the motion of scraper bowl 70 etc. make this The determination of sample.In certain embodiments, regularly determine that scraper bowl geometry (such as, exists During the dredge operation of industrial machine 10 or during controlled, the no-load of scraper bowl 70 move). If in step 905 scraper bowl to be determined geometry, then from such as memorizer 255 retrieval with One group of variable (step 910) that is known or that calculate that industrial machine 10 is associated.Known Or the variable calculated includes such as length of boom L_B, suspension rod angle, θ_B, dipper arm length L_C、 Dipper arm angle, θ_C, pulley radius R_H, promote solver gain H_RG, per inch hoisting rope Rope etc..In certain embodiments, use one or more sensor (such as, inclinometer, Solver, proximity switch etc.) determine these variablees.These variablees can be used for determining Other characteristics being associated with industrial machine 10 or value.Such as, length of boom and suspension rod angle can For the position determining pulley 45.If in step 905 by uncertain scraper bowl geometry, Then process 900 returns to step 905, until during scraper bowl geometry to be determined.In step After 905 and 910, determine that the lifting solver for the first position of bucket counts (step 915) With dipper arm angle (step 920).It is then determined that for the lifting solver of the second position of bucket Counting (step 925) and dipper arm angle (step 930).Shovel based on the first position of bucket The dipper arm angle of the handle of the Dipper 85 and length determine the primary importance (step 935) of dipper arm 85. The primary importance of dipper arm 85 can be determined that the vector including vertically and horizontally both components, Or the primary importance of dipper arm 85 can be determined that the most vertically and horizontally component is (such as, right Dipper arm angle uses sinusoidal and cosine).

It is then based on the dipper arm angle of the dipper arm 85 of the second position of bucket and length to determine shovel The second position (step 940) of the handle of the Dipper 85.The second position of dipper arm 85 can be determined that Including the vector of vertically and horizontally both components, or the second position of dipper arm 85 can be determined (such as, dipper arm angle is used sinusoidal and cosine triangle letter for the most vertically and horizontally component Number).Process 900 then proceeds to part A described shown in Figure 10 and according to Figure 10.

After the second position of the primary importance and dipper arm that have determined that dipper arm, iteration Ground determines scraper bowl displacement L_PTWith lifting displacement L_H.In step 945, the first variable X is set It is set to equal to starting angle SA.Start angle SA and scraper bowl 70 angle relative to dipper arm 85 Degree θ_DCorresponding, as the starting point of Iterative device.Start angle SA and can have about 0 ° And the value between about 60 °.In certain embodiments, start angle SA and be about 45 °.So Rear bucket angle variables DA is set equal to the first variable X (step 950).Second becomes Amount Y is set equal to beginning length SL (step 955) of scraper bowl 70, and scraper bowl length Variables D L is set equal to the second variable Y (step 960).Start length SL and scraper bowl Length L of 70_DCorresponding, as the starting point of Iterative device.Starting length SL can be right The shortest scraper bowl 70 that Ying Yuyu industrial machine 10 is used together.For example, it is possible to be arranged on specific work The shortest scraper bowl 70 on industry machine can be known, and is programmed in memorizer 255.? In some embodiments, start length SL and there is the value between zero and 100 inches.Shoveled by selection Bucket length L_DWith scraper bowl angle, θ_DValue, it is not necessary to simultaneously resolve above equation 17-23.On the contrary, Among other things, it is possible to use scraper bowl displacement L_PT, promote displacement L_HEtc. value come straight Connect the value calculating other known variables.

Be then based on the primary importance of dipper arm 85, scraper bowl angle DA, scraper bowl length DL, The first position of bucket (step 965) is determined with the first dipper arm angle.In certain embodiments, Calculate vertically and horizontally both components of the first position of bucket.It is then based on the second of dipper arm 85 Position, scraper bowl angle DA, scraper bowl length DL and the second dipper arm angle determine the second shovel Bucket position (step 970).In certain embodiments, the vertical of the second position of bucket and water are calculated Both amounts of dividing equally.Then the first position of bucket and the second position of bucket are used for calculating scraper bowl 70 from The displacement L of one position of bucket to the second position of bucket_PT(step 975).In certain embodiments, May determine that scraper bowl displacement is as shown in equation 2 below 4.

Equation 24

Wherein DPos₁₁It is the scraper bowl 70 horizontal level in the first position of bucket, DPos₂₁It it is scraper bowl 70 at the horizontal level of the second position of bucket, DPos₁₂It is scraper bowl 70 hanging down in the first position of bucket Straight position, and DPos₂₂It it is the scraper bowl 70 upright position in the second position of bucket.

After having calculated scraper bowl displacement, position based on the first position of bucket and pulley 45 is come Determine the first lifting length (step 980), and based on the second position of bucket and pulley 45 Position determines the second lifting length (step 985).

Use the nomenclature identical with above scraper bowl displacement, can be respectively such as equation 2 below 5 and 26 Shown in determine the first lifting length L_H1Length L is promoted with second_H2。

Equation 25

Equation 26

Wherein SPos₁It it is the level of the pulley 45 of the angle of length based on suspension rod 35 and suspension rod 35 Position, and SPos₂It is pulley 45 vertical of the angle of length based on suspension rod 35 and suspension rod 35 Position.Then process 900 proceeds to part B described shown in Figure 11 and relative to Figure 11.

Radius based on pulley 45, lifting the first length calculated in step 980 and in step Rapid 985 the second lifting length calculated determine lifting coiling angle (step 990).Such as, Based on relative in the characteristic geometry of the first position of bucket and the second position of bucket with industrial machine The one group of other angle answered is to calculate lifting coiling angle.Radius based on pulley 45 and equation The first lifting length in 25 is calculated or determined the first angle, as shown in equation 2 below 7.

First angle=acos ((pulley radius)/(first promotes length)) equation 27

Wherein acos is anti-or inverse cosine trigonometric function.Radius based on pulley 45 and equation 26 In second lifting length second angle is calculated or determined, as shown in equation 2 below 8.

Second angle=acos ((pulley radius)/(second promotes length)) equation 28

Based on the DPos shown in equation 2 below 9₁₁、DPos₁₂, SPos₁, and SPos₂Calculate or Determine third angle.

Third angle=atan2 (DPos₁₂-SPos₂, DPos₁₁-SPos₁) equation 29

Wherein atan2 is that four-quadrant is anti-or inverse tangent trigonometric function.Based on shown in equation 3 below 0 DPos₂₁、DPos₂₂, SPos₁, and SPos₂Fourth angle is calculated or determined.

Fourth angle=atan2 (DPos₂₂-SPos₂, DPos₂₁-SPos₁) equation 30

It is then lifted out the change Δ θ of angle or lifting coiling angle_HIt is confirmed as such as equation 3 below 1 Shown in.

Lifting coiling angle=(first angle the+the second angle)-(third angle+fourth angle) equation 31

Radius based on lifting coiling angle and pulley 45 determines when scraper bowl 70 is from the first scraper bowl Position moves to amount or length (the plus or minus) (step of the lifting coiling of generation during the second position of bucket Rapid 995), as shown in equation 3 below 2.

Lifting coiling length=(lifting coiling angle) × (pulley radius) equation 32

Equally, occur when scraper bowl 70 moves to the second position of bucket from the first position of bucket carries Rise the amount Δ L of displacement_HGiven value H promoting solver gain can be used_RG, the first position of bucket Lifting solver counting H_RC, the second position of bucket lifting solver counting H_RC, with from The length of the lifting coiling that one position of bucket occurs to the second position of bucket carries out calculating (step 1000).In certain embodiments, promote displacement to be calculated as shown in equation 3 below 3.

Promote displacement=abs (H_RG×(H_RCP1-H_RCP2))-lifting coiling length equation 33

Then displacement and the scraper bowl displacement calculated in step 975 are promoted in step 1000 calculating It is compared to each other, in order to determine and scraper bowl length L about selected dipper arm 85_DAnd shovel Bucket angle, θ_DThe error (step 1005) that is associated of value.Can calculate as shown in equation 34 by mistake Difference.

Error=abs ((lifting displacement)-(scraper bowl displacement)) equation 34

If scraper bowl angle and scraper bowl length are the most correct, then promote displacement and scraper bowl position Shifting is equal or approximately equal, and error is approximately zero.The error determined in step 1005 is permissible It is stored in such as memorizer 255 or data base 230, is used for and other scraper bowl angle and scraper bowl The error amount of length combination compares.

In step 1010, the second variable Y is compared with final scraper bowl length variable FL. Final scraper bowl length variable FL represents the maximal possible length of scraper bowl 70.In certain embodiments, Final scraper bowl length scraper bowl based on the commercial distribution that may be mounted on industrial machine 10 70.? In other embodiments, final scraper bowl length FL is configured to considerably beyond maximum possible scraper bowl length Value (such as, 500 inches or bigger), in order to ensure that test is to each possible scraper bowl length. If in step 1010, the second variable Y is not equal to final scraper bowl length, then process 900 is advanced Step 1015 to part C shown in Figure 10 with relative to Figure 10 description.In step 1015, Second variable Y is incremented by the value corresponding with the currency of the second variable Y, and it is long with final scraper bowl The difference of degree FL and beginning scraper bowl length SL (such as, determines divided by resolution RL of scraper bowl length The precision of scraper bowl length) it is added, as shown in equation 3 below 5.

$Y=Y+\frac{(\mathrm{FL}-\mathrm{SL})}{\mathrm{RL}}$ Equation 35

Then, scraper bowl length DL is configured to the new value (step 960) of the second variable Y. If in step 1,010 second variable Y equal to final scraper bowl length, then process 900 proceeds to step Rapid 1020, wherein the first variable X is compared with final scraper bowl angle FA.Final scraper bowl Angle FA is corresponding relative to the maximum possible angle of dipper arm 85 with scraper bowl 70.Final scraper bowl Angle FA can have the value between about 60 ° and about 90 °.In certain embodiments, phase For dipper arm 85, start angle SA and be permanently set to 0 ° of value, and final scraper bowl angle is always Value in 90 ° is set.If in step 1020, the first variable X is not equal to final scraper bowl angle, Then process 900 proceeds to shown in Figure 10 and relative to the step in part D of Figure 10 description 1025.In step 1025, the first variable X is incremented by corresponding with the currency of the first variable X Value, the difference of itself and final scraper bowl angle FA and beginning angle SA is divided by the resolution of scraper bowl angle RA (such as, the precision that scraper bowl angle will determine for it) is added, as shown in equation 3 below 6.

$X=X+\frac{(\mathrm{FA}-\mathrm{SA})}{\mathrm{RA}}$ Equation 36

Then, scraper bowl angle DA is configured to the new value (step 950) of the first variable X. If in step 1020, the first variable X is equal to final scraper bowl angle, it is determined that scraper bowl geometric form Shape (step 1030).

Such as, by comparing each mistake being determined for scraper bowl angle and the scraper bowl length arranged Difference, determines scraper bowl geometry.Process 900 is configured so that possible with each by such mode Scraper bowl angle (that is, depending on scraper bowl angular resolution) is calculated or determined with each combinedly The error amount (that is, depending on scraper bowl length resolution) that possible scraper bowl length is associated.Choosing Select scraper bowl length L producing minimum error (that is, error close to zero)_DWith scraper bowl angle, θ_DGroup Cooperation is scraper bowl geometry.In certain embodiments, due to the resolution of scraper bowl angle step With the resolution of scraper bowl length increment and may realize being entirely the error amount of zero never.Process The alternative manner of 900 is a technology and the mistake for solving scraper bowl geometry according to the present invention The illustrated examples of journey.In other embodiments, process 900 may be adapted to use for solving Another or different technology of scraper bowl 70 geometry and method.It is, for example possible to use error amount Gradient, maybe can use Newton-Raphson approximation method, and for based on above-mentioned etc. Formula and relation solve the other technologies of the geometry of scraper bowl 70.As it has been described above, then by institute The scraper bowl geometry determined is supplied to the collision free system being such as associated with industrial machine 10 System, payload determine system, position detecting system.

Therefore, among other things, the present invention is provided to determine scraper bowl geometry system, Method, device, industrial machine and computer-readable medium.The various features of the present invention and excellent Point illustrates in following claims.

Claims (20)

1. the method determining the value of the physical characteristic that the scraper bowl with industrial machine is associated, institute The method of stating includes:

Obtain being associated with described industrial machine of the first orientation for described industrial machine First group of data, described first group of data include the first length of being associated with ropes and with The first angle that described ropes is associated；

Obtain being associated with described industrial machine of the second orientation for described industrial machine Second group of data, described second group of data include the second length being associated with described ropes And the second angle being associated with described ropes；And

The described thing of described scraper bowl is determined based on described first group of data and described second group of data The described value of reason characteristic.

Method the most according to claim 1, the described characteristic of wherein said scraper bowl is described The length of scraper bowl.

Method the most according to claim 1, the described characteristic of wherein said scraper bowl is described Scraper bowl is relative to the angle of dipper arm.

Method the most according to claim 1, farther includes: scraper bowl described in Iterative The described value of described physical characteristic.

Method the most according to claim 1, wherein determines that the described physics of described scraper bowl is special The described value of property includes: resolve one group of simultaneous equations to obtain the described value of described physical characteristic.

Method the most according to claim 1, farther includes: determine the position of described scraper bowl Move and the displacement of described ropes.

Method the most according to claim 6, farther includes: institute based on described scraper bowl Rheme is moved and the described displacement of described ropes calculates error amount.

8. an industrial machine, including:

Scraper bowl；

Supporting suspension rod and the pulley of ropes, described ropes is connected to described scraper bowl；With And

Controller, described controller is configured to:

Control the length of described ropes,

Determine the first length of described ropes, described first length and the first of described scraper bowl Position is corresponding,

Determine the second length of described ropes, described second length and the second of described scraper bowl Position is corresponding,

Determine the described ropes the first angle relative to described pulley, described first angle with The described primary importance of described scraper bowl is corresponding,

Determine the described ropes the second angle relative to described pulley, described second angle with The described second position of described scraper bowl is corresponding,

Determine the displacement of described ropes, and

Described displacement based on described ropes determines the value of the physical attribute of described scraper bowl.

Industrial machine the most according to claim 8, the described physics of wherein said scraper bowl belongs to Property is the length of described scraper bowl.

Industrial machine the most according to claim 8, the described physics of wherein said scraper bowl Attribute is the described scraper bowl angle relative to dipper arm.

11. industrial machines according to claim 8, wherein said controller further by It is configured to resolve iteratively the described value of the described physical attribute of described scraper bowl.

12. industrial machines according to claim 8, wherein determine the described of described scraper bowl The described value of physical attribute includes: resolve one group of simultaneous equations to obtain the institute of described physical attribute State value.

13. industrial machines according to claim 8, wherein said controller further by It is configured to determine the displacement of described scraper bowl and the displacement of described ropes.

14. industrial machines according to claim 13, wherein said controller further by The described displacement being configured to described displacement based on described scraper bowl and described ropes calculates by mistake Difference.

The method of the value of the length that 15. 1 kinds of scraper bowls determined with industrial machine are associated, described Method includes:

Determine the first length of the ropes that the primary importance with described scraper bowl is associated；

Determine described ropes relative to pulley and primary importance phase with described scraper bowl First angle of association；

Determine the second length that described ropes is associated with the second position of described scraper bowl；

Determine described ropes relative to described pulley and second with described scraper bowl Put the second angle being associated；And

Described first length based on described ropes, described second length of described ropes Degree, described ropes are relative to described first angle of described pulley and described ropes Described in the described length that described second angle of described pulley determines described scraper bowl Value.

16. methods according to claim 15, wherein determine the described length of described scraper bowl Described value include: resolve one group of simultaneous equations to obtain described value.

17. methods according to claim 15, farther include: select described scraper bowl The test value of described length；And in the range of the value of the described length of described scraper bowl iteratively Change described test value.

18. methods according to claim 17, farther include: for described test value Each iteration, determine displacement and the displacement of described ropes of described scraper bowl.

19. methods according to claim 18, farther include: for described test value Each iteration, the described displacement of described displacement based on described scraper bowl and described ropes come Calculate error amount.

20. methods according to claim 19, farther include: determine generation minimum by mistake The described test value of the described length of the described scraper bowl of difference.