CN103938671A - Excavator guiding system and method - Google Patents
Excavator guiding system and method Download PDFInfo
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- CN103938671A CN103938671A CN201310124294.4A CN201310124294A CN103938671A CN 103938671 A CN103938671 A CN 103938671A CN 201310124294 A CN201310124294 A CN 201310124294A CN 103938671 A CN103938671 A CN 103938671A
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Abstract
The invention provides an excavator guiding system which comprises a big arm angle sensor for collecting the relative angle between a big arm and a workshop, a small arm angle sensor for collecting the relative angle between the big arm and a small arm, a bucket angle sensor for collecting the relative angle between the small arm and a bucket, a laser swinger for projecting lasers on a horizontal datum plane, laser sensors arranged at any positions on the big arm, the small arm and the bucket and used for receiving projected lasers emitted by the laser swinger and sending a horizontal position signal, a wireless receiving module for obtaining relative angle position signals and horizontal position signals through wireless communication, a calculating module connected with the wireless receiving module and used for obtaining first angle position signals, second angle position signals, third angle position signals and horizontal position signals and calculating working parameters in the excavation process of the excavator, and a display module connected with the calculating module and used for displaying the working parameters in the excavation process of the excavator for an operator.
Description
Technical field
The present invention relates to a kind of excavator guidance system and bootstrap technique.
Background technology
Excavator redundant pilot system has the reaction, energy conservation, easy to operate of raising, safety and comfort, saving of labor economize this etc. feature, can be widely used in water conservancy and engineering construction engineering.In engineering machinery application, the native system tool advantage of construction precision and labor and material saving that is significantly improved, adapts to the future development of China's engineering machinery towards precision, and intelligent engineering machinery has been classified as by country the field that emphasis is supported.
This system, mainly for the water conservancy taking excavator as main object, construction engineering machinery, is developed the accurate sensing lead system of high accuracy.
In technical research level, American-European countries is on the forefront always, American-European countries is after 20 century 70s, along with the application of hydraulic technique, the electronization of Expansion of Engineering machinery, mechanical-electrical-hydraulic integration, by the time after the eighties in 20th century, be devoted to so far the integrated engineering machinery of microelectronics hydraulic pressure always, microcomputer, microprocessor and sensor technology are adopted, except the aspects such as auto idle speed Throttle Opening Control, power optimization are researched and developed, the control of special attention mode of operation, monitoring system foundation etc., be intended to raise the efficiency, operate light, safety and comfort, and saving of labor economizes this.One of them is that microcomputer control laser guide receives and angular transducer forms operation automation system.
Especially American-European as (moral, method) existing rich Research foundation and achievement abroad, mainly at sensor technology, software engineering, telecontrol engineering aspect, domestic relatively also have with it suitable gap.
The Intellectualized Tendency of modern project machinery makes the application of various sensors and the application of laser detection and control system be extended to the even large-scale construction machine of land leveller, excavator, milling machine, paver, and laser sensor, angular transducer and system product thereof shared status in engineering machinery intelligent control is more and more significant.
Therefore, urgently a kind of structure is more simple, the excavator guidance system that precision is higher.
Summary of the invention
The object of the invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of and can realize the brand-new method and apparatus that excavator is automatically handled and controlled.
Another object of the present invention is by increasing artificial input instruction repertorie function, realizes guiding driver and drives excavator maintenance reference precision all the time consistently on needed a certain numerical value.
One aspect of the present invention is to provide a kind of excavator, and it comprises: be located at the little arm angle sensor on small arm of digger, it is for gathering the relative angle between large arm and forearm, and sends the second angle position signal,
Be located at the scraper bowl angular transducer on power shovel, it is for gathering the relative angle between forearm and scraper bowl, and sends angular position signal,
Geoplane, for projecting laser level reference,
Laser sensor, is located at the optional position on described forearm, the projecting laser sending for receiving described Geoplane, and send a horizontal level signal,
Wireless receiving module, its by with described large arm, forearm, the radio communication of scraper bowl angular transducer, obtain described the first, second and third angle position signal, by with the wireless telecommunications of described laser sensor, obtain horizontal level signal,
Computing module, is connected with described radio receiver, obtain described the first, the second, angular position signal and horizontal level signal, the running parameter when calculating described excavator and excavating,
Display module, is connected with described control device, the running parameter while showing that to operator described excavator excavates.
Preferably, laser sensor is integrated in described little arm sensor.
Preferably, display module is integrated in wireless receiving module.
Preferably, control module is integrated with an input module, and by input module, user can input initialization parameter.
Above-mentioned running parameter is the excavation depth of scraper bowl, one or more in angle and distance.
Preferably, above-mentioned large arm, forearm, scraper bowl sensor and laser sensor use solar cell.
Another aspect of the present invention, is to provide a kind of guidance system to realize the method for guiding, comprising:
By being located at the large arm angle sensor on big arm of digger, gather the relative angle between large arm and vehicle body, and send the first angle position signal,
By being located at the little arm angle sensor on small arm of digger, gather the relative angle between large arm and forearm, and send the second angle position signal,
By being located at the scraper bowl angular transducer on power shovel, gather the relative angle between forearm and scraper bowl, send angular position signal,
By Geoplane, projecting laser level reference,
Operating personnel, by being located at the laser sensor on the optional position on described forearm, manually find the projecting laser that described Geoplane sends, and send a horizontal level signal,
Described wireless receiving module, with described large arm, forearm, scraper bowl angular transducer radio communication, obtains describedly the first, and second and third angle position signal, with the wireless telecommunications of described laser sensor, obtains horizontal level signal,
Computing module, by described radio receiver, obtain described the first, the second, angular position signal and horizontal level signal, the running parameter when calculating described excavator and excavating,
Display module, connects by described control device, the running parameter while showing that to operator described excavator excavates.
In said method, preferably, laser sensor is integrated in described little arm sensor.
Preferably, display module is integrated in described wireless receiving module.Above-mentioned running parameter, preferably can be the excavation depth of scraper bowl, one or more in angle and distance.
The present invention has following technique effect: concrete advantage is as follows:
1. excavating when construction operation, adopt laser to put down system and can promptly carry out one-off construction benchmark automatic precision and determine position, facilitate accurate, time saving and energy saving, operating efficiency is high, and the smooth precision of excavating has had guarantee.
2. excavating in construction operation, adopt angular transducer to collect the angle-data of each gripping arm, and adopt special algorithm automatically to carry out precision control, the progress of construction and quality have had reliable guarantee.
3. adopt detection automatically to determine and manually set instruction repertorie to combine, can meet Mining Quality requirement, can realize again the target of economizing on to greatest extent material.
4. excavator operation is handled in detection automatically, automatic location, guiding, has both saved in a large number manually, has reduced labor intensity, and greatly improves again work efficiency and construction quality precision.
5. the present invention is easy to the multiple functions such as expanded laser light scanner, laser & angular transducer, control system, wireless receiving & display unit, realizes the corresponding several functions of each system.
6. automaticity of the present invention is high, and its device volume is little, solid and reliable, friction simple in structure and noise, practicality safe, easy and simple to handle, manufacture and maintenance cost lower.
7. laser & angular transducer adopts solar cell, saves the energy, is clean energy resource.Sensor adopts wireless communication mode, has reduced the dependence to cable, has greatly improved the applicability of product.
8. accommodation of the present invention is wider, and the excavator of the current existing overwhelming majority is all suitable for.
Brief description of the drawings
Fig. 1 is the structural representation of excavator of the present invention;
Fig. 2 is the schematic diagram of guidance system of the present invention.
Detailed description of the invention
Further set forth advantage of the present invention below in conjunction with accompanying drawing and specific embodiment.
As shown in Figure 1, an aspect of of the present present invention is to provide a kind of excavator, and this excavator comprises:
Be located at the large arm angle sensor on big arm of digger 106, it is for gathering the relative angle between large arm 106 and vehicle body 101, and sends the first angle position signal,
Be located at the little arm angle sensor on small arm of digger 105, it is for gathering the relative angle between large arm 106 and forearm 105, and sends the second angle position signal,
Be located at the scraper bowl angular transducer on power shovel 104, it is for gathering the relative angle between forearm 105 and scraper bowl 104, and sends angular position signal,
Geoplane, for projecting laser level reference 103, preferably, in order to fix this Geoplane, is provided with a telescopic fixed mount,
Laser sensor, is located at the optional position on forearm, the projecting laser sending for receiving described Geoplane, and send a horizontal level signal,
Wireless receiving module, its by with described large arm, forearm, the radio communication of scraper bowl angular transducer, obtain described the first, second and third angle position signal, by with the wireless telecommunications of described laser sensor, obtain horizontal level signal,
Computing module, is connected with radio receiver, obtains the first, the second, angular position signal and horizontal level signal, and the running parameter while calculating excavator excavation,
Display module, is connected with computing module, the running parameter while showing that to operator described excavator excavates.
Preferably, laser sensor is integrated in described little arm sensor.
Preferably, display module is integrated in wireless receiving module.
Preferably, computing module is integrated with an input module, and by input module, user can input initialization parameter.
Above-mentioned running parameter is the excavation depth of scraper bowl, one or more in angle and distance.
Preferably, above-mentioned large arm, forearm, scraper bowl sensor and laser sensor use solar cell, and it is set to the above-mentioned angle information of real-time collecting.
Preferably, above-mentioned display module, wireless receiving module, input module and computing module are placed in the operating room 102 of vehicle body 101.
Those skilled in the art can be gently intelligible, due to above-mentioned large arm, and forearm, scraper bowl sensor can be placed in respectively large arm, on the optional position of forearm and scraper bowl, by follow-up data processing, can obtain angle information accurately.
As shown in Figure 2, another aspect of the present invention, is to provide a kind of guidance system to realize the method for guiding, comprising:
By being located at the angular transducer 1 on big arm of digger, gather the relative angle between large arm and vehicle body, and send the first angle position signal,
By being located at the angular transducer 3 on small arm of digger, gather the relative angle between large arm and forearm, and send the second angle position signal,
By being located at the angular transducer 2 on power shovel, gather the relative angle between forearm and scraper bowl, send angular position signal,
By Geoplane, projecting laser level reference,
Operating personnel are by the laser sensor combining with angular transducer 2, manually find the projecting laser that described Geoplane sends, and send a horizontal level signal, at this, it should be noted that, those skilled in the art can be gently intelligible, and this laser sensor can be incorporated on angular transducer 2, or do not integrate with angular transducer 2, be arranged on separately on excavator.
Wireless receiving module, with angular transducer 1,2,3 radio communications, obtains the first, and second and third angle position signal, with the wireless telecommunications of laser sensor, obtains horizontal level signal,
Computing module, by radio receiver, obtains the first, the second, angular position signal and horizontal level signal, the running parameter while calculating described excavator excavation, preferably, on computing module, be integrated with an input module, for making operator input initialization parameter.
Display module, connects by described control computing module, the running parameter while showing that to operator described excavator excavates.Preferably, display module is integrated in described wireless receiving module.Above-mentioned running parameter, preferably can be the excavation depth of scraper bowl, one or more in angle and distance.
Should be noted that, embodiments of the invention have preferably implementation, and not the present invention is done to any type of restriction, any person skilled in art of being familiar with may utilize the technology contents of above-mentioned announcement to change or be modified to the effective embodiment being equal to, in every case do not depart from the content of technical solution of the present invention, any amendment or equivalent variations and the modification above embodiment done according to technical spirit of the present invention, all still belong in the scope of technical solution of the present invention.
Claims (10)
1. an excavator work guidance system, is characterized in that, comprising:
Be located at the large arm angle sensor on big arm of digger, it is for gathering the relative angle between large arm and vehicle body, and sends the first angle position signal,
Be located at the little arm angle sensor on small arm of digger, it is for gathering the relative angle between large arm and forearm, and sends the second angle position signal,
Be located at the scraper bowl angular transducer on power shovel, it is for gathering the relative angle between forearm and scraper bowl, and sends angular position signal,
Geoplane, for projecting laser level reference,
Laser sensor, is located at the optional position on described forearm, the projecting laser sending for receiving described Geoplane, and send a horizontal level signal,
Receiver module, its by with described large arm, forearm, the communication of scraper bowl angular transducer, obtain described the first, second and third angle position signal, by with the communication of described laser sensor, obtain described horizontal level signal,
Computing module, is connected with described wireless receiving module, obtain described the first, the second, angular position signal and horizontal level signal, the running parameter when calculating described excavator and excavating,
Display module, is connected with described computing module, the running parameter while showing that to operator described excavator excavates.
2. guidance system as claimed in claim 1, is characterized in that, described laser sensor is integrated in described little arm angle sensor.
3. the guidance system as described in claim 1-2 any one, is characterized in that, described display module is integrated in described wireless receiving module.
4. the guidance system as described in claim 1-2 any one, is characterized in that, described computing module is integrated with an input module, and by described input module, operator can input initialization parameter.
5. the guidance system as described in claim 1-2 any one, is characterized in that, the excavation depth that described running parameter is scraper bowl, one or more in angle and distance.
6. the guidance system as described in claim 1-2 any one, is characterized in that, described large arm, and forearm, is radio communication between scraper bowl sensor and laser sensor and described receiver module.
7. guidance system as claimed in claim 1 realizes a method for guiding, it is characterized in that, comprising:
By being located at the large arm angle sensor on big arm of digger, gather the relative angle between large arm and vehicle body, and send the first angle position signal,
By being located at the little arm angle sensor on small arm of digger, gather the relative angle between large arm and forearm, and send the second angle position signal,
By being located at the scraper bowl angular transducer on power shovel, gather the relative angle between forearm and scraper bowl, send angular position signal,
By Geoplane, projecting laser level reference,
Operating personnel, by being located at the laser sensor on the optional position on described forearm, manually find the projecting laser that described Geoplane sends, and send a horizontal level signal,
Described wireless receiving module, with described large arm, forearm, scraper bowl angular transducer radio communication, obtains describedly the first, and second and third angle position signal, with the wireless telecommunications of described laser sensor, obtains horizontal level signal,
Computing module, by described radio receiver, obtain described the first, the second, angular position signal and horizontal level signal, the running parameter when calculating described excavator and excavating,
Display module, connects by described control device, the running parameter while showing that to operator described excavator excavates.
8. method as claimed in claim 7, is characterized in that, described laser sensor is integrated in described little arm sensor.
9. the method as described in claim 7-8 any one, is characterized in that, described display module is integrated in described wireless receiving module.
10. the method as described in claim 7-8 any one, is characterized in that, the excavation depth that described running parameter is scraper bowl, one or more in angle and distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310124294.4A CN103938671A (en) | 2013-04-10 | 2013-04-10 | Excavator guiding system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310124294.4A CN103938671A (en) | 2013-04-10 | 2013-04-10 | Excavator guiding system and method |
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| CN103938671A true CN103938671A (en) | 2014-07-23 |
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| CN201310124294.4A Pending CN103938671A (en) | 2013-04-10 | 2013-04-10 | Excavator guiding system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110081847A (en) * | 2019-05-20 | 2019-08-02 | 南京天辰礼达电子科技有限公司 | A kind of digging machine relative coordinate resolving system angle sensor based |
| CN110644563A (en) * | 2018-06-26 | 2020-01-03 | 卡特彼勒公司 | System and method for constructing a mat |
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| WO1995015420A1 (en) * | 1993-11-30 | 1995-06-08 | Komatsu Ltd. | Linear excavating control device for a hydraulic power shovel |
| US20030137658A1 (en) * | 2002-01-21 | 2003-07-24 | Fumio Ohtomo | Construction machine control system |
| CN2900632Y (en) * | 2006-03-17 | 2007-05-16 | 中南大学 | Electromechanical integrated digging machine |
| CN101070706A (en) * | 2007-05-29 | 2007-11-14 | 三一重机有限公司 | Hydraulic-digger obstruction-avoiding control system and method |
| KR20080099749A (en) * | 2007-05-10 | 2008-11-13 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | Working device control apparatus and control method of excavator |
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2013
- 2013-04-10 CN CN201310124294.4A patent/CN103938671A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995015420A1 (en) * | 1993-11-30 | 1995-06-08 | Komatsu Ltd. | Linear excavating control device for a hydraulic power shovel |
| US20030137658A1 (en) * | 2002-01-21 | 2003-07-24 | Fumio Ohtomo | Construction machine control system |
| CN2900632Y (en) * | 2006-03-17 | 2007-05-16 | 中南大学 | Electromechanical integrated digging machine |
| KR20080099749A (en) * | 2007-05-10 | 2008-11-13 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | Working device control apparatus and control method of excavator |
| CN101070706A (en) * | 2007-05-29 | 2007-11-14 | 三一重机有限公司 | Hydraulic-digger obstruction-avoiding control system and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110644563A (en) * | 2018-06-26 | 2020-01-03 | 卡特彼勒公司 | System and method for constructing a mat |
| US11761173B2 (en) | 2018-06-26 | 2023-09-19 | Caterpillar Inc. | Systems and methods for building a pad |
| CN110081847A (en) * | 2019-05-20 | 2019-08-02 | 南京天辰礼达电子科技有限公司 | A kind of digging machine relative coordinate resolving system angle sensor based |
| WO2020232980A1 (en) * | 2019-05-20 | 2020-11-26 | 南京天辰礼达电子科技有限公司 | Excavator relative coordinate calculation system based on angle sensor |
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Application publication date: 20140723 |
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