CN107179108A - Loading machine meter side and weight calculation method and device based on laser scanning and ranging technology - Google Patents
Loading machine meter side and weight calculation method and device based on laser scanning and ranging technology Download PDFInfo
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- CN107179108A CN107179108A CN201610132609.3A CN201610132609A CN107179108A CN 107179108 A CN107179108 A CN 107179108A CN 201610132609 A CN201610132609 A CN 201610132609A CN 107179108 A CN107179108 A CN 107179108A
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- 238000004364 calculation method Methods 0.000 title claims abstract description 16
- 238000005516 engineering process Methods 0.000 title claims abstract description 11
- 239000000463 material Substances 0.000 claims abstract description 42
- 230000005484 gravity Effects 0.000 claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 claims abstract description 15
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- 239000011344 liquid material Substances 0.000 claims abstract description 7
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- 238000006243 chemical reaction Methods 0.000 claims description 3
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- 230000002146 bilateral effect Effects 0.000 claims description 2
- 239000004568 cement Substances 0.000 claims description 2
- 125000004122 cyclic group Chemical group 0.000 claims description 2
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F22/00—Methods or apparatus for measuring volume of fluids or fluent solid material, not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
- G01G17/04—Apparatus for or methods of weighing material of special form or property for weighing fluids, e.g. gases, pastes
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Abstract
The present invention relates to a kind of loading machine based on laser scanning and ranging technology, the side of counting includes four steps with method and device, described meter side and weight calculation method is counted weight automatically：1. laser range finder based on synchronized scanner often turns over an inswept material area of scanning stepping angle α on metering scraper bowl cross section；2. the cross-sectional area of material on scraper bowl cross section is measured；3. the volume of material in scraper bowl is measured；4. measure or calculate the weight of material in scraper bowl.Described meter side and gravity measure device utilize the advantage of laser scanning and ranging technology, by means of the mode of operation of driver's paperback scraper bowl, it can be travelled in loading machine or during in lateral attitude or in jounce condition, the volume and weight of loose in its scraper bowl or liquid material is carried out it is quick measure accurately, be separately mounted to eliminate the influence loaded partially to measurement accuracy generation along the laser revolving scanning distance measuring sensor of left and right ends after scraper bowl using two.
Description
Technical field
The invention belongs to struggle against, railway carriage or compartment, loose or liquid material volume measurement techniques field in storehouse (cabin) or tank body, more particularly to
A kind of loading machine based on laser scanning and ranging technology automatically the side of counting and weight calculation method and device.
Background technology
It is disclosed to be used to fill there is presently no the introduction on meter side's method and device of material in loading shovel
The method and device of carrier aircraft weight calculation uses the structure being made up of oil pressure sensor, processor, control panel and display screen etc. mostly,
Its principle is：The oil pressure sensor output oil pressure data on loading machine movable arm cylinder are installed at, processor passes through the oil pressure data
The weight information of material in scraper bowl is exported after analog-to-digital conversion and computing.When such weighing device (or electronic scale) is in operating condition
When poor such as broken (gravel) stone field, sandpit, sand processed or simple rickyard is weighed, it is difficult to eliminate due to shutting down face
Tilt, loading machine traveling when jolt, the change and boom pivot lubrication state of the acceleration in boom arm lift, oil temperature with temperature
The influence that is produced to weight calculation precision of the factor such as change, thus it haves the shortcomings that bad adaptability and application surface are narrow.
The content of the invention
The technical problems to be solved by the invention are：A kind of loading machine based on laser scanning and ranging technology is provided to count automatically
Square and weight calculation method and device, this method and device are simple using laser scanning and ranging system architecture, and integrated easy and ranging is fast
Fast accurately advantage, in the condition that need not be modified to subsystems such as hydraulic system of working device of loader etc.
Under, by means of the mode of operation of driver's paperback scraper bowl, realize to loose or liquid material volume and weight in loading shovel
Accurately measure.
Loading machine of this kind based on laser scanning and ranging the technology side of counting and weight calculation method automatically, comprise the following steps：
The first step：Often to turn over a scanning stepping angle α institute inswept for laser range finder based on synchronized scanner on metering scraper bowl cross section
Material area.Laser range finder based on synchronized scanner is to empty and fill the scraper bowl of material and carry out two frame scans respectively and by two groups of data
Centering, if the datum mark of laser range finder based on synchronized scanner is O points, often turns over a scanning stepping angle α and just carries out a Laser Measuring
Away from, it is OCD that angle encloses figure by α two laser ranging lines with scraper bowl inner surface, and figure is enclosed for OEF with surface of material,
Drawing a straight line for dividing α angles equally by surface of material and scraper bowl inner surface etc. from datum mark O has OBiAnd OAi, then draw two B excessivelyi
Point and AiPoint is perpendicular to OBiAnd OAiStraight line, form isosceles triangle OC ' D ' and CE ' F ', as shown in Figure 1.Make OCD and OEF institutes
The area for enclosing figure is equal to isosceles triangle OC ' D ' and OE ' F ' area, and OC ' D ' face is obtained by isosceles triangle area formula
Product SOC′D′：
In formula：
Similarly obtain OE ' F ' area
In formula：
Then laser range finder based on synchronized scanner each scans the area S of material in the inswept scraper bowl of stepping angleiFor：
∵SEFCD=SE’F’C’D’=SOC’D’-SOE’F’
∴
∴
Second step：Measure the cross-sectional area S of material on scraper bowl cross section.It is made to be equal to scanning laser sensor each time
The inswept corresponding trapezoidal area S of all scanning stepping angles from initial angle to end angleiSum：
3rd step：Measure the volume V of material in scraper bowl.Left and right side scanning laser sensor is scanned simultaneously or synchronously
Ranging, volume calculating is carried out using average cross method, is loaded the influence produced to measurement accuracy partially to eliminate, is used SIt is left、SIt is rightRepresent
Material cross sectional area in the scraper bowl of scraper bowl left and right side laser range finder based on synchronized scanner scanning, advance manual measurement scraper bowl is horizontal
Length simultaneously represents have with L：
4th step：Metering or the weight W for calculating material in scraper bowl.Advance manual measurement or the proportion for choosing material in scraper bowl
And represent have with γ：
W=V γ are 6.
Loading machine of this kind based on laser scanning and ranging the technology side of counting and gravity measure device automatically, are made up of following six part,
It is left side scraper bowl laser revolving scanning distance measuring sensor 1 respectively, left side scraper bowl laser revolving scanning distance measuring sensor support 2 is right
Side scraper bowl laser revolving scanning distance measuring sensor 3, right side scraper bowl laser revolving scanning distance measuring sensor support 4, control box 5 and control
Panel 6 processed, referring to Fig. 2；Electronic device each several part therein include thereon or between internal each parts, by all kinds of interfaces with
Joint, socket and plug etc., connect in a wired or wireless manner；The device needs to do two preparations before enabling, and one is
Enter the calibration demarcation of line sensor setting base, need to be on scraper bowl according to scanning pattern determination scanning initial angle and end angle position
Put, the two location points can be substituted for each other as datum mark, to carry out bilateral scanning, after they confirm through system, carry out
The locking of stopping means；Two be to generate the relevant data for calculating volume of material in scraper bowl, first by control panel 6
Keyboard by the scraper bowl lateral length data inputting of hand dipping into control box 5, then start laser range finder based on synchronized scanner
One frame scan is carried out from initial angle to end angle to empty scraper bowl, the distance values on its each scanning element are used as one group of base value
In internal memory according to deposit control box 5, the volume and weight for loaded material is calculated, and the reference data that this frame scan is formed should be with
Scraper bowl is filled position of the real-time scan data on each scanning element after material and corresponded, two groups of data via controller processing
After can generate material cross sectional area numerical value in scraper bowl；In addition, should also store conventional bulk cargo in internal memory in different humidity state
Under specific gravity data and liquid material (such as cement concrete) specific gravity data, together side and weight calculation based on system；Specific thing
The specific gravity data of material can also be obtained by means of conventional bulk cargo or liquid material specific weight measurer through measurement, and pass through chain of command
Corresponding measurement data is input in control box 5 by plate 6.
Composition, function and the operation principle of present apparatus each several part are described below.
Described left side scraper bowl laser revolving scanning distance measuring sensor 1 and right side scraper bowl laser revolving scanning distance measuring sensor
3, it is characterised in that：Their structure, composition, function is identical with principle, works synchronously or simultaneously, passes through left and right side senser
Support 2 and 4 is separately mounted to after scraper bowl along the top (referring to Fig. 3) at 1/4 away from two ends about lateral length, its revolving scanning
Ranging face should be vertical or parallel with scraper bowl cross section with the rear plane along composition with ground or scraper bowl forward position, is not forming scanning
In the case of blind spot, to simplify structure design, the positioning of revolving scanning distance measuring sensor should be made to calibrate after basic point and scraper bowl along it
Between distance be positioned as close to, if selection or coordinating the flat bucket charging operation of scraper bowl, i.e., pass through manipulation turn in fully charged moment
Bucket oil cylinder handle shake into scraper bowl material or to outside scraper bowl the mode of discharging make to expect and planar state in bucket, the size can contract
It is small to arrive minimum；Left side or right side scraper bowl laser the revolving scanning distance measuring sensor 1 or 3, by laser range sensor 7 and revolution
Drive device 8 is constituted, therebetween using the kinds of drive, distance measuring sensor 7, Ke Yiyou therein such as straight drive, gear or cingulums
Ranging control module 9, laser emitting module 10, laser pick-off module 11 and range finder module 12 etc. are constituted, revolution driving therein
Device 8 can be made up of positioning control module 13, stepper drive module 14 and stepping or servomotor 15 etc.；The ranging controls mould
Block 9 and positioning control module 13, may be selected to be substituted by same PLC or single-chip microcomputer, also can using partial installation form directly by
PLC in control box 5 or single-chip microcomputer are substituted, and its purpose is to set up described laser emitting module 10 and stepper drive module
14 synchronization or interaction relation therebetween, the control cyclic process of its each frame scan can be：Driver presses chain of command
PLC or single-chip microcomputer in an electric signal → control box 5 electric signal accordingly are produced after meter side on plate 6, weight calculation or cumulative button
The laser that the instruction → laser emitting module 10 for sending one laser ranging pulse of triggering to laser emitting module 10 is sent
Ranging burst receives through laser pick-off module 11, is calculated by laser ranging module 12, exports a benchmark from distance measuring sensor 7
Point material into scraper bowl is scanning the PLC during measuring point scans initial angle or the distance values → control box 5 for terminating Angle Position
Single-chip microcomputer to stepper drive module 14 send one driving stepping or servomotor 15 turn over one with motor stepping angle at double
Instruction → the stepping at the fixed test angle (or scanning stepping angle, referring to Fig. 1) of number relation or the driving Laser Measuring of servomotor 15
Turn over a fixed scanning stepping angle away from sensor 7 and do one it is of short duration rest → PLC or single-chip microcomputer resting the moment to swashing
Instruction → laser range sensor 7 that light emission module 10 sends one laser ranging pulse of triggering repeats foregoing ranging process,
Export the distance values of the measuring point, when stepping or servomotor 15 it is controlled driving laser range sensor 7 often turn over a scanning
Stepping angle do one it is of short duration rest when, laser emitting module 10 just it is controlled triggering one laser ranging pulse command, so as to produce
The distance values of a raw measuring point, when stepping or servomotor 15 are from initial angle to end angle or from end angle to starting Angle Position
Carried out by angularly-batch (-type)-continuous rotate after a frame scan, it is relatively solid that laser range sensor 7 just can export one group of position
The range data of the fixed scanning point distance measurement equal with angle of revolution, is completed after a frame scan works, and PLC or single-chip microcomputer are again accordingly
Data and one group of reference data to the scanning of empty scraper bowl being stored in internal memory calculate the cross section face of material in scraper bowl successively
Product, volume and weight；To eliminate left or right side laser revolving scanning distance measuring sensor 1 or 3 before work because scraper bowl is shaken or row
Car such as jolts at the change for causing it to scan initial angle or end angle initial position, should be in its revolving scanning initial angle or end angle position
Put place and stopping means be set, position of the stopping means on base is adjustable and can locking, or in stepping or servomotor 15
Shaft end install additional encoder and code-disc etc. carry out SERVO CONTROL, scanner driver design in can add scanning before return and
Retrosequence.
Described left side scraper bowl laser revolving scanning distance measuring sensor support 2 or right side scraper bowl laser revolving scanning ranging are passed
Sensor bracket 4, it is characterised in that：Its lower end and scraper bowl detachable connection, its upper end is turned round with corresponding left side scraper bowl laser
Scanning distance measuring sensor 1 or right side scraper bowl laser revolving scanning distance measuring sensor 3 are connected, its specific constructive form and type of attachment
Foundation can be adjusted in space with the positioning calibration base position for guaranteeing to complete laser range finder based on synchronized scanner, left or right can be completed
Side scraper bowl laser revolving scanning distance measuring sensor positioning calibration basic point and the initial alignment operation of scraper bowl mount point.
Described control box 5, it is characterised in that：It is mounted or fixed to be easy to what driver operated and observed in driver's cabin
Near position such as boom cylinder operation handle, it is by box body, controller (by PLC, single-chip microcomputer, positioning control module and Laser Measuring
Monomer away from control module etc. or assembly are constituted), it is memory, stepper drive module, data conversion module, display module, defeated
Enter the composition such as output interface, bus, passed by interface, connector and bus etc. with the scraper bowl laser revolving scanning ranging of left and right side
The wired or wireless connection such as sensor 1 or 3, control panel 6.
Described control panel 6, it is characterised in that：It is by display screen, button or button, indicator lamp, alarm buzzer, language
Sound prompting device etc. is constituted, and can be become one with control box 5, and the configurable handset become one, is easy to personnel under machine to look into
See, its basic configuration button there are three groups：First group is that system sets button：Confirm including scanning initial angle, scan end angle
Confirm, scraper bowl lateral length and measured specific gravity confirm button；Second group is function selection key：Including meter side, count weight and cumulative
Button etc., wherein, when pressing weight calculation button, system energy display material specific gravity data input mode option, its data source has
Two：One is conventional specific gravity data of the bulk cargo under different humidity state in Installed System Memory, and two are manually entered by means of conventional
Bulk cargo specific weight measurer measurement specific gravity data；3rd group is to include 0-9 numerical key；In addition, should also on control panel 6
Power key etc. is set.
Brief description of the drawings
Fig. 1 is to calculate laser range finder based on synchronized scanner often to turn over material face in an inswept scraper bowl of scanning stepping angle α
Long-pending principle schematic.
Fig. 2 is the principle schematic diagram of the present invention.
Fig. 3 is scanning laser sensor schematic view of the mounting position, wherein, scraper bowl laser revolving scanning ranging sensing on the left of 1-
Scraper bowl laser revolving scanning distance measuring sensor on the right side of scraper bowl laser revolving scanning distance measuring sensor support on the left of device, 2-, 3-, 4- is right
Side scraper bowl laser revolving scanning distance measuring sensor support.
Embodiment
Below by taking CLG856 (ZL50) loading machine as an example, illustrate the implementation process of structural principle of the present invention.
As the CLG856 loading machines of mainstream configuration type, the basic parameter of its scraper bowl is：Rated capacity 3m3, [grow crosswise ×
Vertical width] (m) size is 2.86 × 1.38, high 0.27 (m) of baffle plate；Driver's operation is using the flat bucket charging operation of scraper bowl.The present invention
Basic structure size and running parameter can be：1. the height of left and right side laser revolving scanning distance measuring sensor support 2 and 4
0.3m is taken, the scan angle of a frame scan is about 70 °, its Installation posture should be slightly tilted to eliminate scanning blind spot to scraper bowl, its
Along upper installation site respectively away from two ends about 0.6m (the 1/4 of lateral length) place after scraper bowl；2. left and right side laser is calibrated
During the revolving scanning ranging face of revolving scanning distance measuring sensor 1 and 3, sensor stand 2 and 4 should after scraper bowl edge, can be with
A leveling ruler is put on front and rear edge far from two ends equidistant, point light laser makes edge of the hot spot along leveling ruler be close to irradiation along scraper bowl longitudinal direction
On scraper bowl inwall, do several frame scans and check its track, should ensure that the distance phase of the track and leveling ruler edge to bucket sidewalls
Deng；3. scanning distance measuring sensor 1 or 3 in left or right side uses pivoting support structure, and inner ring and the left or right side of pivoting support are scanned
Firm banking connection on distance measuring sensor support 2 or 4, the outer ring of pivoting support is with being mounted with laser range sensor 7 and step
Enter or servomotor 15 rotary table connection, be machined with ring gear on the inner ring of pivoting support, it and stepping or servomotor
The drive gear engagement of 15 shaft ends, speed reducing ratio takes 10, and the stepping angle of stepping or servomotor takes 1.8 °, stepping or servomotor 15
2 × 1.8 ° are often turned over, laser range sensor 7 exports the distance values of a measuring point, and the ranging points of a frame scan are 194.
Claims (6)
1. a kind of loading machine based on laser scanning and ranging the technology side of counting and weight calculation method automatically, comprise the following steps：
The first step：Laser range finder based on synchronized scanner often turns over an inswept thing of scanning stepping angle α on metering scraper bowl cross section
Charge level is accumulated.Laser range finder based on synchronized scanner is to empty and fill the scraper bowl of material and carry out two frame scans respectively and by two groups of data pair
In, if the datum mark of laser range finder based on synchronized scanner is O points, often turns over a scanning stepping angle α and just carry out a laser ranging,
It is OCD that angle encloses figure by α two laser ranging lines with scraper bowl inner surface, figure is enclosed with surface of material for OEF, from base
O, which draws a straight line for dividing α angles equally by surface of material and scraper bowl inner surface etc., on schedule OBiAnd OAi, then draw two B excessivelyiPoint and
AiPoint is perpendicular to OBiAnd OAiStraight line, form isosceles triangle OC ' D ' and OE ' F ', as shown in Figure 2.OCD and OEF is made to enclose figure
The area of shape is equal to isosceles triangle OC ' D ' and OE ' F ' area, and OC ' D ' area is obtained by isosceles triangle area formula
SOC’D’：
In formula：
Similarly obtain OE ' F ' area
In formula：
Then laser range finder based on synchronized scanner each scans the area S of material in the inswept scraper bowl of stepping angleiFor：
Second step：Measure the cross-sectional area S of material on scraper bowl cross section.It is made to be equal to scanning laser sensor each time from
Beginning, angle was to the inswept corresponding trapezoidal area S of all scanning stepping angles of end angleiSum：
3rd step：Measure the volume V of material in scraper bowl.Left and right side scanning laser sensor is scanned survey simultaneously or synchronously
Away from, using average cross method carry out volume calculating, with eliminate partially load to measurement accuracy produce influence, use SIt is left、SIt is rightRepresent shovel
Material cross sectional area in the scraper bowl that the left and right side laser range finder based on synchronized scanner that struggles against is scanned, advance manual measurement scraper bowl is laterally long
Spend and represent have with L：
4th step：Metering or the weight W for calculating material in scraper bowl.The proportion of material is used in combination in advance manual measurement or selection scraper bowl
γ represents have：
W=V γ are 6..
2. a kind of loading machine based on laser scanning and ranging the technology side of counting and gravity measure device automatically, are made up of following six part, point
Scraper bowl laser revolving scanning distance measuring sensor (1) on the left of not being, left side scraper bowl laser revolving scanning distance measuring sensor support (2),
Right side scraper bowl laser revolving scanning distance measuring sensor (3), right side scraper bowl laser revolving scanning distance measuring sensor support (4), control
Box (5) and control panel (6)；Electronic device each several part therein is included thereon or between internal each parts, is connect by all kinds of
Mouth and joint, socket and plug etc., connect in a wired or wireless manner；The device needs to do two preparations before enabling,
One is the calibration demarcation of line sensor setting base to be entered, need to be on scraper bowl according to scanning pattern determination scanning initial angle and termination
Angle Position, the two location points can be substituted for each other as datum mark, to carry out bilateral scanning, after they confirm through system,
Carry out the locking of stopping means；Two be to generate the relevant data for calculating volume of material in scraper bowl, passes through chain of command first
The scraper bowl lateral length data inputting of hand dipping into control box (5), is then started laser scanning by the keyboard on plate (6)
Distance measuring sensor carries out a frame scan to empty scraper bowl from initial angle to end angle, the distance values conduct on its each scanning element
In the internal memory of one group of reference data deposit control box (5), the volume and weight for loaded material is calculated, what this frame scan was formed
Reference data should fill position of the real-time scan data on each scanning element after material with scraper bowl and correspond, two groups of data
Material cross sectional area numerical value in scraper bowl can be generated after via controller processing；Exist in addition, should also store conventional bulk cargo in internal memory
The specific gravity data of specific gravity data and liquid material (such as cement concrete) under different humidity state, together based on system side and
Weight calculation；The specific gravity data of specific material can also be obtained by means of conventional bulk cargo or liquid material specific weight measurer through measurement,
And corresponding measurement data is input in control box (5) by control panel (6).
3. left side scraper bowl laser revolving scanning distance measuring sensor (1) as claimed in claim 2 and the revolution of right side scraper bowl laser are swept
Retouch distance measuring sensor (3), it is characterised in that：Their structure, composition, function is identical with principle, works synchronously or simultaneously, passes through
Left and right side senser support (2) and (4) is separately mounted to along the top at 1/4 away from two ends about lateral length after scraper bowl,
Its revolving scanning ranging face should be vertical or parallel with scraper bowl cross section with the rear plane along composition with ground or scraper bowl forward position,
Do not formed scanning blind spot in the case of, for simplify structure design, should make revolving scanning distance measuring sensor positioning calibrate basic point with
The distance between edge is positioned as close to after scraper bowl, the operation if selection or the flat bucket of cooperation scraper bowl feed, i.e., in fully charged moment
Material is shaken into scraper bowl manipulating rotary ink tank handle or to outside scraper bowl makes the planar state of charge level in bucket by way of discharging, should
Size can narrow down to minimum；Left side or right side scraper bowl the laser revolving scanning distance measuring sensor (1) or (3), by Laser Measuring
Constituted away from sensor (7) and device for revolving and driving (8), it is therein therebetween using kinds of drive such as straight drive, gear or cingulums
Distance measuring sensor (7), can be by ranging control module (9), laser emitting module (10), laser pick-off module (11) and ranging mould
Block (12) etc. is constituted, and device for revolving and driving (8) therein can be by positioning control module (13), stepper drive module (14) and stepping
Or the composition such as servomotor (15)；The ranging control module (9) and positioning control module (13), may be selected by same PLC
Or single-chip microcomputer is substituted, also it can directly be substituted using partial installation form by the PLC in control box (5) or single-chip microcomputer, the purpose is to
The synchronization therebetween of described laser emitting module (10) and stepper drive module (14) or interaction relation are set up, its is every
The control cyclic process of one frame scan can be：Driver presses and produced after meter side, weight calculation or cumulative button on control panel (6)
Electric signal sends triggering one to laser emitting module (10) accordingly by PLC or single-chip microcomputer in a raw electric signal → control box (5)
The laser ranging pulse that instruction → laser emitting module (10) of individual laser ranging pulse is sent is through laser pick-off module
(11) receive, calculated by laser ranging module (12), output one datum mark from distance measuring sensor (7) material into scraper bowl exists
Scan measuring point and scan initial angle or PLC or single-chip microcomputer in the distance values → control box (5) for terminating Angle Position to stepping
Drive module (14) send one driving stepping or servomotor (15) turn over one with motor stepping angle consolidating into multiple proportion
Instruction → stepping of regular inspection angle measurement (or scanning stepping angle) or servomotor (15) driving laser range sensor (7) turn over one
The scanning stepping angle of individual fixation and do one it is of short duration rest → PLC or single-chip microcomputer sent out to laser emitting module (10) resting the moment
Instruction → the laser range sensor (7) for going out one laser ranging pulse of triggering repeats foregoing ranging process, exports the measuring point
Distance values, when stepping or servomotor (15) it is controlled driving laser range sensor (7) often turn over one scanning stepping angle exist
Do of short duration when resting, laser emitting module (10) just one laser ranging pulse command of controlled triggering, so as to produce one
The distance values of measuring point, when stepping or servomotor (15) from initial angle to end angle or from end angle to starting Angle Position by etc.
Angle-batch (-type)-continuous rotate is carried out after a frame scan, and laser range sensor (7) just can export one group of position and be relatively fixed
The range data of equal with angle of revolution scanning point distance measurement, is completed after frame scan work, PLC or single-chip microcomputer data accordingly again
The reference data scanned with one group be stored in internal memory to empty scraper bowl calculates the cross sectional area of material, body in scraper bowl successively
Product and weight；To eliminate left or right side laser revolving scanning distance measuring sensor (1) or (3) before work because scraper bowl is shaken or drives a vehicle
The change for causing it to scan initial angle or end angle initial position such as jolt, in its revolving scanning initial angle or Angle Position should be terminated
Place sets stopping means, position of the stopping means on base is adjustable and can locking, or in stepping or the axle of servomotor 15
End installs encoder and code-disc etc. additional and carries out SERVO CONTROL, the return and system that can be added in scanner driver design before scanning
Dynamic program.
4. left side scraper bowl laser revolving scanning distance measuring sensor support (2) as claimed in claim 2 or right side scraper bowl laser are returned
Turn scanning distance measuring sensor support (4), it is characterised in that：Its lower end and scraper bowl detachable connection, its upper end and a corresponding left side
Side scraper bowl laser revolving scanning distance measuring sensor (1) or right side scraper bowl laser revolving scanning distance measuring sensor (3) connection, its is specific
Structure type and type of attachment are adjustable in space with the positioning calibration base position for guaranteeing to complete laser range finder based on synchronized scanner
For foundation, the initial of left or right side scraper bowl laser revolving scanning distance measuring sensor positioning calibration basic point and scraper bowl mount point can be completed
Demarcate operation.
5. control box (5) as claimed in claim 2, it is characterised in that：It is mounted or fixed in driver's cabin be easy to driver
Near the position such as boom cylinder operation handle of operation and observation, it is by box body, controller (by PLC, single-chip microcomputer, location control
The monomer or assembly of module and laser ranging control module etc. are constituted), memory, stepper drive module, data conversion module,
Display module, input/output interface, bus etc. are constituted, and are returned by interface, connector and bus etc. with left and right side scraper bowl laser
Turn the wired or wireless connections such as scanning distance measuring sensor (1) or (3), control panel (6).
6. control panel (6) as claimed in claim 2, it is characterised in that：It is by display screen, button or button, indicator lamp, report
The compositions such as alert buzzer, voice prompting device, can become one with control box (5), and the configurable handset become one, just
Checked in personnel under machine, its basic configuration button there are three groups：First group is that system sets button：It is true including scanning initial angle
Recognize, scan end angle confirmation, scraper bowl lateral length and measured specific gravity confirmation button；Second group is function selection key：Including meter
Side, weight calculation and cumulative button etc., wherein, when pressing weight calculation button, system energy display material specific gravity data input mode option,
Its data source has two：One is conventional specific gravity data of the bulk cargo under different humidity state in Installed System Memory, and two be defeated by hand
Enter the specific gravity data by means of conventional bulk cargo specific weight measurer measurement；3rd group is to include 0-9 numerical key；In addition, control
Power key etc. should be also set on panel (6) processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108168442A (en) * | 2018-03-28 | 2018-06-15 | 河北省同创交通工程配套产品产业技术研究院 | A kind of waterstop tongue and groove dynamic measurement device and its measuring method |
| CN108414064A (en) * | 2018-06-01 | 2018-08-17 | 成都睿畜电子科技有限公司 | Remote sensing type material tower weighing-appliance and weighing method |
| CN110887440A (en) * | 2019-12-03 | 2020-03-17 | 西安科技大学 | Real-time measuring method and device for volume of earth of excavator bucket based on structured light |
| CN114459581A (en) * | 2022-02-08 | 2022-05-10 | 中国矿业大学 | Device and method for quickly measuring weight of materials of bucket elevator |
| DE102022202397A1 (en) | 2022-03-10 | 2023-09-14 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for determining the degree of filling of a blade of a work machine |
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