CN105043315A - Detection system for detecting bucket-arm angle and bucket-arm relative position of non-mechanical bucket wheel machine - Google Patents
Detection system for detecting bucket-arm angle and bucket-arm relative position of non-mechanical bucket wheel machine Download PDFInfo
- Publication number
- CN105043315A CN105043315A CN201510218256.4A CN201510218256A CN105043315A CN 105043315 A CN105043315 A CN 105043315A CN 201510218256 A CN201510218256 A CN 201510218256A CN 105043315 A CN105043315 A CN 105043315A
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- Prior art keywords
- bucket wheel
- angle
- arm
- bucket
- wheel machine
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Abstract
The invention discloses a detection system for detecting the bucket-arm angle and the bucket-arm relative position of a non-mechanical bucket wheel machine. The system comprises a track, a bucket wheel machine, a bucket wheel of the bucket wheel machine, a bucket arm of the bucket wheel machine, an angle direction sensor and a bucket wheel position detection host. The angle direction sensor is arranged on the bucket arm. The bucket wheel position detection host is arranged in the cab of the bucket wheel machine. The revolution angle of the bucket arm and the pitch angle of the bucket arm are measured by the angle direction sensor, so that the three-dimensional coordinates of the bucket wheel can be calculated. The three-dimensional coordinates of the bucket wheel are composed of the horizontal coordinates of the position of the bucket wheel and the vertical height of the bucket wheel. Compared with the prior art, the system has the advantages of fully radio-frequency measurement, no mechanical transmission and high stability; 2) no mechanical wear and long service life; 3) very small hysteresis error measurement; 4) data real-time and automatic calibration, and real zero-accumulative error; 5) small installation difficulty, short period and almost no altercation of an original mechanical structure; 6) angle measurement accuracy controlled at 0.1 degree, and high overall measurement accuracy; 7) dust prevention, vibration prevention and no maintenance.
Description
Technical field
The present invention relates to wireless location technology, particularly relate to a kind of bucket wheel machine arm angle and bucket wheel relative position detection system.
Background technology
The coal unit such as fuel-burning power plant, large type coal field extensively adopts bucket wheel machine to carry out coal piling and get coal operating to coal.In order to realize the coal piling of coal yard and get coal precise management, need the three-dimensional coordinate detecting bucket wheel machine arm bucket wheel foremost in real time, realize being undertaken piling the real-time statistics of getting coal by coal yard diverse location.In order to calculate the three-dimensional coordinate of bucket wheel machine arm bucket wheel foremost, need to detect the angle of revolution of arm and the angle of pitch, thus calculate bucket wheel and fuselage relative to position.
The current scrambler that mostly adopts detects, and angle of revolution is detected scrambler and slewing mechanisms of bucket wheel loaders gears meshing, the angle of pitch is detected the axis of swing gears meshing of scrambler and arm.The method feature outlines as follows:
1) technology is simple, advantage of lower cost;
2) due to severe outdoor and dust atmosphere, cause gear train inevitably to occur trackslipping, the problem such as malfunctioning, stall, and then occur measuring inaccurate;
3) due to comparatively thick physical construction transmission repeatedly, measured value precision is caused to be had a greatly reduced quality;
4) due to physical construction transmission repeatedly, inevitable hysterisis error is caused;
5) cannot self-correction, exist may be increasing cumulative errors;
6) need to increase change gear train, installation difficulty is large, and installation period is long, installs improvement cost higher;
7) field failure probability is large, and poor stability, maintenance is larger.Existing a large amount of real case proves, is no matter repacking, or the attached coder mode stroke of joining of bucket wheel machine producer in early stage and Angle Measuring Equipment, substantially in 0.5 ~ 2 year, there will be problem, over halfly must just can use by integral replacing;
Summary of the invention
In order to overcome the drawback that traditional bucket wheel machine or turbine arm angle and bucket wheel relative position detect, the present invention proposes a kind of non-mechanical bucket wheel machine arm angle and bucket wheel relative position detection system, based on magnetoresistive transducer, double-shaft tilt angle sensor, achieve the high precision test of bucket wheel machine arm angle and bucket wheel relative position.
The present invention proposes a kind of non-mechanical bucket wheel machine arm angle detection system, comprise track, bucket wheel machine and bucket wheel thereof, arm, this system also comprises angle direction sensor and main frame is detected in bucket wheel position, described angle direction sensor comprises magnetoresistive transducer, double-shaft tilt angle sensor and be arranged in arm, the pilothouse that main frame is arranged at bucket wheel machine is detected in described bucket wheel position, and described bucket wheel position is detected main frame and measured arm angle of revolution and the arm angle of pitch according to angle direction sensor.
The invention allows for a kind of non-mechanical bucket wheel relative position detection system, comprise track, bucket wheel machine and bucket wheel thereof, arm, this system also comprises angle direction sensor and main frame is detected in bucket wheel position, described angle direction sensor comprises magnetoresistive transducer, double-shaft tilt angle sensor and be arranged in arm, the pilothouse that main frame is arranged at bucket wheel machine is detected in described bucket wheel position, described bucket wheel position is detected main frame and is measured arm angle of revolution and the arm angle of pitch according to angle direction sensor, calculate the three-dimensional coordinate of bucket wheel, described three-dimensional coordinate comprises the horizontal coordinate of the bucket wheel position obtained according to arm angle of revolution, and according to the vertical height of bucket wheel position that the arm angle of pitch obtains:
The horizontal coordinate of bucket wheel position is:
x＝L×cos(a+p)；
y＝L×sin(a+p)+Y
0
Wherein, a is the angle of revolution detected, p is angle of revolution offset, and arm length is known is designated as L, (0, Y
0) be known bucket wheel machine fuselage positions coordinate;
The vertical height h of bucket wheel position is
h＝L×sin(b+m)
Wherein, b is the angle of inclination detected, m is angle of inclination offset, and arm length is known is designated as L.
Compared with prior art, the present invention has following features:
1) complete radio frequency telemetry method, mechanical (gear or belt) transmission, stability is very high;
2) mechanical wearing and tearing, long service life;
3) achieve minimum hysterisis error to measure;
4) the real-time self-calibrating of data, achieves zero real cumulative errors;
5) installation difficulty is little, and the cycle is short, to original physical construction almost without change;
6) angle-measurement accuracy is at 0.1 degree, and overall measurement accuracy is higher;
7) dust-proof antivibration, non-maintaining.
Accompanying drawing explanation
Fig. 1 is angle of revolution and the horizontal coordinate measurement scheme schematic diagram of non-mechanical bucket wheel machine arm angle of the present invention and bucket wheel relative position detection system;
Fig. 2 is the angle of pitch and the elevation carrection scheme schematic diagram of non-mechanical bucket wheel machine arm angle of the present invention and bucket wheel relative position detection system;
Reference numeral is: 1, bucket wheel machine; 2, arm; 3, track; 4, bucket wheel; 5, angle direction sensor.
Embodiment
Below in conjunction with the drawings and the specific embodiments, be described in further detail technical scheme of the present invention.
The present invention is based on magnetoresistive transducer, the angle direction sensor of double-shaft tilt angle sensor carries out bucket wheel arm angle and detect, according to the arm angle detected and then calculate the relative position of arm front end bucket wheel; Adopt the mode of non-mechanical to carry out angle detection, machine rebuilding need not be carried out to bucket wheel machine.
Of the present invention based on non-mechanical bucket wheel machine arm angle and bucket wheel relative position detection system, comprise angle direction sensor 4, main frame is detected in bucket wheel position, angle direction sensor 5 is arranged on arm 2, bucket wheel position is detected main frame and is installed on bucket wheel machine 1 pilothouse, and the three-dimensional coordinate that arm 2 angle of revolution that main frame measures according to angle direction sensor 5 and the angle of pitch (measure arm 2 angle of revolution by magnetoresistive transducer, double-shaft tilt angle sensor measure arm 2 angle of pitch) calculate bucket wheel 4 is detected in bucket wheel position.Comprise and detect the horizontal coordinate of bucket wheel according to angle of revolution, and according to the height of angle of pitch bucket wheel.
As shown in Figure 1, a is the angle of revolution detected, p is angle of revolution offset, and arm length is known is designated as L, if bucket wheel machine fuselage positions coordinate is known be designated as (0, Y
0), then the horizontal coordinate of bucket wheel position is:
x＝L×cos(a+p)；
y＝L×sin(a+p)+Y
0
The span 0-360 degree of a.
As shown in Figure 2, b is the angle of inclination detected, m is angle of inclination offset, and arm length is known is designated as L, then the vertical height h of bucket wheel is
h＝L×sin(b+m)
The impact that above-mentioned offset detects horizontal coordinate or vertical height according to angle direction sensor mounting location is known in advance.
Described angle direction sensor adopts the double-shaft tilt angle sensor of magneto-resistive transducing type.
Claims (2)
1. a non-mechanical bucket wheel machine arm angle detection system, comprise track, bucket wheel machine and bucket wheel thereof, arm, it is characterized in that, this system also comprises angle direction sensor and main frame is detected in bucket wheel position, described angle direction sensor comprises magnetoresistive transducer, double-shaft tilt angle sensor and be arranged in arm, the pilothouse that main frame is arranged at bucket wheel machine is detected in described bucket wheel position, and described bucket wheel position is detected main frame and measured arm angle of revolution and the arm angle of pitch according to angle direction sensor.
2. a non-mechanical bucket wheel relative position detection system, comprise track, bucket wheel machine and bucket wheel thereof, arm, it is characterized in that, this system also comprises angle direction sensor and main frame is detected in bucket wheel position, described angle direction sensor comprises magnetoresistive transducer, double-shaft tilt angle sensor and be arranged in arm, the pilothouse that main frame is arranged at bucket wheel machine is detected in described bucket wheel position, described bucket wheel position is detected main frame and is measured arm angle of revolution and the arm angle of pitch according to angle direction sensor, calculate the three-dimensional coordinate of bucket wheel, described three-dimensional coordinate comprises the horizontal coordinate of the bucket wheel position obtained according to arm angle of revolution, and according to the vertical height of bucket wheel position that the arm angle of pitch obtains:
The horizontal coordinate of bucket wheel position is:
x＝L×cos(a+p)；
y＝L×sin(a+p)+Y
0
Wherein, a is the angle of revolution detected, p is angle of revolution offset, and arm length is known is designated as L, (0, Y
0) be known bucket wheel machine fuselage positions coordinate;
The vertical height h of bucket wheel position is
h＝L×sin(b+m)
Wherein, b is the angle of inclination detected, m is angle of inclination offset, and arm length is known is designated as L.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510218256.4A CN105043315A (en) | 2015-04-30 | 2015-04-30 | Detection system for detecting bucket-arm angle and bucket-arm relative position of non-mechanical bucket wheel machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510218256.4A CN105043315A (en) | 2015-04-30 | 2015-04-30 | Detection system for detecting bucket-arm angle and bucket-arm relative position of non-mechanical bucket wheel machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105043315A true CN105043315A (en) | 2015-11-11 |
Family
ID=54450054
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510218256.4A Pending CN105043315A (en) | 2015-04-30 | 2015-04-30 | Detection system for detecting bucket-arm angle and bucket-arm relative position of non-mechanical bucket wheel machine |
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| CN (1) | CN105043315A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215250A1 (en) * | 2016-06-13 | 2017-12-21 | 歌尔科技有限公司 | Indoor distance measurement method |
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| JPH11142139A (en) * | 1997-11-11 | 1999-05-28 | Kawasaki Heavy Ind Ltd | Measurement error correction method for automatic three-dimensional measurement device |
| CA2315508A1 (en) * | 1999-08-12 | 2001-02-12 | Perceptron, Inc. | A robot-based gauging system for determining three-dimensional measurement data |
| CN101070706A (en) * | 2007-05-29 | 2007-11-14 | 三一重机有限公司 | Hydraulic-digger obstruction-avoiding control system and method |
| CN201040850Y (en) * | 2007-04-19 | 2008-03-26 | 三一重机有限公司 | Anti-tipping device for hydraulic excavator |
| CN101993008A (en) * | 2009-08-12 | 2011-03-30 | 中国船舶重工集团公司第七一三研究所 | Measurement method and system for determining position of crane hook |
| CN102818557A (en) * | 2012-08-07 | 2012-12-12 | 三一重型装备有限公司 | Automatic pose measuring device and engineering machine |
| CN205120065U (en) * | 2015-04-30 | 2016-03-30 | 天津菲利科电子技术有限公司 | On -mechanical formula bucket wheel machine fill arm angle and nucket -wheel relative position detecting system |
-
2015
- 2015-04-30 CN CN201510218256.4A patent/CN105043315A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11142139A (en) * | 1997-11-11 | 1999-05-28 | Kawasaki Heavy Ind Ltd | Measurement error correction method for automatic three-dimensional measurement device |
| CA2315508A1 (en) * | 1999-08-12 | 2001-02-12 | Perceptron, Inc. | A robot-based gauging system for determining three-dimensional measurement data |
| CN201040850Y (en) * | 2007-04-19 | 2008-03-26 | 三一重机有限公司 | Anti-tipping device for hydraulic 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 |
| CN101993008A (en) * | 2009-08-12 | 2011-03-30 | 中国船舶重工集团公司第七一三研究所 | Measurement method and system for determining position of crane hook |
| CN102818557A (en) * | 2012-08-07 | 2012-12-12 | 三一重型装备有限公司 | Automatic pose measuring device and engineering machine |
| CN205120065U (en) * | 2015-04-30 | 2016-03-30 | 天津菲利科电子技术有限公司 | On -mechanical formula bucket wheel machine fill arm angle and nucket -wheel relative position detecting system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017215250A1 (en) * | 2016-06-13 | 2017-12-21 | 歌尔科技有限公司 | Indoor distance measurement method |
| US10769802B2 (en) | 2016-06-13 | 2020-09-08 | Goertek Technology Co., Ltd. | Indoor distance measurement method |
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