CN107916684A - High-precision coordinate measures excavator - Google Patents
High-precision coordinate measures excavator Download PDFInfo
- Publication number
- CN107916684A CN107916684A CN201711427243.3A CN201711427243A CN107916684A CN 107916684 A CN107916684 A CN 107916684A CN 201711427243 A CN201711427243 A CN 201711427243A CN 107916684 A CN107916684 A CN 107916684A
- Authority
- CN
- China
- Prior art keywords
- sensor
- excavator
- dipper
- swing arm
- scraper bowl
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005259 measurement Methods 0.000 claims abstract description 40
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 17
- 238000013461 design Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
Abstract
The present invention proposes a kind of high-precision coordinate measurement excavator, and high-precision coordinate measurement excavator includes body, swing arm, dipper and scraper bowl, and body is hinged swing arm, and swing arm is hinged dipper, and dipper is hinged scraper bowl；High-precision coordinate measurement excavator further includes the coordinate calculator being arranged on body, display, global positioning satellite navigation elements and Inertial Measurement Unit；High-precision coordinate measurement excavator further include for monitor swing arm pose first sensor, the second sensor for monitoring dipper pose, the 3rd sensor for monitoring scraper bowl pose；Coordinate calculator difference signal connection display, global positioning satellite navigation elements, Inertial Measurement Unit block, first sensor, second sensor and 3rd sensor.Beneficial effects of the present invention：In the work progress of high-precision requirement, it is no longer necessary to which survey crew carries out accurate coordinate position measurement, and excavator driving person can complete accurate coordinate position measurement work alone.
Description
Technical field
The present invention relates to excavator technical field, and excavator is measured more particularly to a kind of high-precision coordinate.
Background technology
At present, some Large Construction projects require construction precision very high, for example highway is for the flatness on road surface
It is required that the hydraulic engineering of requirement in to(for) the gradient etc..The design drawing of these projects under construction be usually according to geodetic coordinates come into
Row design.Construction personnel is just needed to construct in strict accordance with coordinate as defined in drawing after the completion of layout design, so this
During just used geodetic coordinates measuring apparatus, and method, the precision measured determines the quality, cost and work of whole project
Phase.
In order to reach construction drawing permissible accuracy, survey crew, one would generally be equipped with during practice of construction
Name guiding personnel and an excavator.Survey crew requires according to construction drawing, at the scene using measuring apparatus (such as total powerstation
Deng) accurate coordinate position is found, mark is carried out, then it is complete to manipulate excavator according to the instruction of guiding personnel for excavating-machine operator
Into relevant work.But above-mentioned work progress human cost is higher, and the labor intensity of staff is big.In construction landform
When more complicated, survey crew is difficult to complete accurate coordinate position measurement.At night, survey crew can not also measure work
Make, have impact on the construction period.In addition, in construction, because job site personnel is more, excavator often occurs and hurts measurement people
The accident of member.
The content of the invention
It is an object of the invention to provide a kind of high-precision coordinate to measure excavator, solves current excavator and in high precision
Survey crew is needed to carry out the problem of coordinate accurately measures in the construction asked.
The present invention provides a kind of high-precision coordinate measurement excavator, high-precision coordinate measurement excavator include body, swing arm,
Dipper and scraper bowl, body are hinged swing arm, and swing arm is hinged dipper, and dipper is hinged scraper bowl；High-precision coordinate measurement excavator further includes
Coordinate calculator, display, global positioning satellite navigation elements and the Inertial Measurement Unit being arranged on body；High-precision coordinate
Measurement excavator further include for monitor swing arm pose first sensor, the second sensor for monitoring dipper pose, use
In the 3rd sensor of monitoring scraper bowl pose；Coordinate calculator difference signal connection display, global positioning satellite navigation elements,
Inertial Measurement Unit block, first sensor, second sensor and 3rd sensor.
Further, first sensor is the swing arm stroke sensing oil cylinder being arranged between body and swing arm, or first
Sensor is the first obliquity sensor being arranged on swing arm, or first sensor is the hinge position for being arranged at body and swing arm
The first angle sensor put.
Further, second sensor is the dipper stroke sensing oil cylinder being arranged between swing arm and dipper, or second
Sensor is the second obliquity sensor being arranged on dipper, or second sensor is to be arranged at the hinge position of swing arm and dipper
The second angle sensor put.
Further, 3rd sensor is the scraper bowl stroke sensing oil cylinder being arranged between dipper and scraper bowl, or the 3rd
Sensor is the 3rd obliquity sensor being arranged on scraper bowl, or 3rd sensor is to be arranged at the hinge position of dipper and scraper bowl
The third angle sensor put.
Further, the voice generators being connected with coordinate calculator signal is provided with body.
Further, display is set in the driver's cabin on body.
Compared with prior art, high-precision coordinate measurement excavator of the invention has the characteristics that and advantage：
The high-precision coordinate measurement excavator of the present invention, in the work progress of high-precision requirement, it is no longer necessary to measure people
Member carries out accurate coordinate position measurement, and excavator driving person can complete accurate coordinate position measurement work alone, save
Cost of labor, reduces the labor intensity of staff；When landform of constructing is more complicated, the measurement of excavator driving person's progress
Efficiency far is higher than the manual measurement of survey crew；The measurement that excavator driving person carries out influences from light, even in night
Measurement work can also be completed, shortens the construction period；After job site personnel is reduced, the security of construction also increases,
Avoid that the accident that excavator hurts survey crew occurs.
After the embodiment of the present invention is read in conjunction with the figure, the features and advantages of the invention will become clearer.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are the present invention
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structure diagram that high-precision coordinate measures excavator in the embodiment of the present invention 1；
Fig. 2 is the scheme topological diagram that high-precision coordinate measures excavator in the embodiment of the present invention 1；
Wherein, 1, body, 2, swing arm, 3, dipper, 4, scraper bowl, 41, crown, 51, swing arm stroke sensing oil cylinder, 52, dipper
Stroke sensing oil cylinder, 53, scraper bowl stroke sensing oil cylinder, 6, global positioning satellite navigation elements, 7, Inertial Measurement Unit, 8, display
Device, 9, centre of gyration point.
Embodiment
Embodiment 1
As shown in Figure 1 and Figure 2, the present embodiment provides a kind of high-precision coordinate to measure excavator, including body 1, swing arm 2, bucket
Bar 3 and the grade component of scraper bowl 4.Body 1 is hinged swing arm 2 through shaft, and swing arm 2 is hinged dipper 3 through shaft, and dipper 3 is hingedly shoveled through shaft
Bucket 4.Coordinate calculator and display 8 are provided with body 1, wherein, display 8 be arranged on body 1 drive it is indoor left front
Side, to facilitate driver to check.Voice generators is additionally provided with body 1, voice generators synchronously prompts construction personnel's scraper bowl 4
The accurate coordinate position of upper crown 41.Global positioning satellite navigation elements 6 and Inertial Measurement Unit 7, body are provided with body 1
Swing arm stroke sensing oil cylinder 51 is provided between 1 and swing arm 2, dipper stroke sensing oil cylinder is provided between swing arm 2 and dipper 3
52, scraper bowl stroke sensing oil cylinder 53 is provided between dipper 3 and scraper bowl 4.Coordinate calculator is connected through signal cable signal respectively
Display 8, voice generators, global positioning satellite navigation elements 6, Inertial Measurement Unit block 7, swing arm stroke sensing oil cylinder 51,
Dipper stroke sensing oil cylinder 52 and scraper bowl stroke sensing oil cylinder 53.
The high-precision coordinate measurement excavator of the present embodiment, Inertial Measurement Unit 7, can measure the horizontal stroke of excavator body 1
The poses such as rolling, pitch angle change and 3-axis acceleration, angular speed, to obtain the angle of inclination of body 1.Swing arm stroke sensing
Oil cylinder 51, dipper stroke sensing oil cylinder 52 and scraper bowl stroke sensing oil cylinder 53, are to add displacement on common hydraulic cylinder
Sensor, can monitor the displacement of oil cylinder in real time.Global positioning satellite navigation elements 6, can be accurately obtained the accurate of anchor point
Coordinate position.
The hinge joint position of excavator and physical dimension are changeless, according to swing arm stroke sensing oil cylinder 51, dipper
The displacement of 53 three's oil cylinder of stroke sensing oil cylinder 52 and scraper bowl stroke sensing oil cylinder and the angle of inclination of body 1, according to mechanism
Kinematical theory can calculate distance L, the height H of crown 41 and centre of gyration point 9 on scraper bowl 4.Global positioning satellite is led
The relative position of the anchor point and centre of gyration point 9 of boat unit 6 is changeless, as long as having obtained global positioning satellite navigation
The coordinate information of the anchor point of unit 6, the accurate coordinates of centre of gyration point 9 are can be obtained by by simple conversion, are then passed through
L computed above, H data information, it is possible to calculate the accurate coordinates of crown 41 on scraper bowl 4.On coordinate calculator is read
State data message and handle, the accurate coordinate position through 8 real-time display crown 41 of display, synchronously prompting is applied through voice generators
The accurate coordinate position of crown 41 on worker person's scraper bowl 4.As long as excavator driving person operates excavator and moves crown 41 on scraper bowl 4
Move the position of desired measuring coordinate, it is possible to see accurate coordinate position in real time on the display 8, construction personnel passes through voice
Acoustical generator can also know the accurate coordinate position at this.
The high-precision coordinate measurement excavator of the present embodiment, in the work progress of high-precision requirement, it is no longer necessary to measure
Personnel carry out accurate coordinate position measurement, and excavator driving person can complete accurate coordinate position measurement work, section alone
Cost of labor has been saved, has reduced the labor intensity of staff；When landform of constructing is more complicated, the survey of excavator driving person's progress
Amount efficiency is significantly larger than the manual measurement of survey crew；The measurement that excavator driving person carries out influences from light, even in night
Between can also complete measurement work, shorten the construction period；After job site personnel is reduced, the security of construction has also carried
Height, avoids that the accident that excavator hurts survey crew occurs.
Embodiment 2
The present embodiment is provided with the first obliquity sensor, is set on dipper 3 with being in place of the difference of embodiment 1 on swing arm 2
The second obliquity sensor is equipped with, the 3rd obliquity sensor is provided with scraper bowl 4, coordinate calculator connects through signal cable signal respectively
Connect the first obliquity sensor, the second obliquity sensor and the 3rd obliquity sensor.First obliquity sensor monitors swing arm 2 in real time
Inclination angle, the second obliquity sensor monitor the inclination angle of dipper 3 in real time, and the 3rd obliquity sensor monitors the inclination angle of scraper bowl 4 in real time.According to
The angle of inclination of first obliquity sensor, the inclination angle of the second obliquity sensor and the 3rd obliquity sensor and body 1, according to machine
Structure kinematical theory can calculate distance L, the height H of crown 41 and centre of gyration point 9 on scraper bowl 4.
Embodiment 3
For the present embodiment with being in place of the difference of embodiment 1, body 1 and the articulated position of swing arm 2 are provided with first angle
The articulated position of sensor, swing arm 2 and dipper 3 is provided with second angle sensor, and dipper 3 and the articulated position of scraper bowl 4 are set
There is third angle sensor, coordinate calculator is sensed through signal cable signal connection first angle sensor, second angle respectively
Device and third angle sensor.First angle sensor monitors rotation angle of the swing arm 2 relative to body 1, second angle in real time
Sensor monitors rotation angle of the dipper 3 relative to swing arm 2 in real time, and third angle sensor monitors scraper bowl 4 relative to bucket in real time
The rotation angle of bar 3.According to first angle sensor, second angle sensor and third angle sensor rotation angle and
The angle of inclination of body 1, according to mechanism kinematic theory can calculate crown 41 and centre of gyration point 9 on scraper bowl 4 away from
From L, height H.
Certainly, described above is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made in the essential scope of the present invention, should also belong to the present invention's
Protection domain.
Claims (6)
1. a kind of high-precision coordinate measures excavator, it is characterised in that：High-precision coordinate measurement excavator include body, swing arm,
Dipper and scraper bowl, body are hinged swing arm, and swing arm is hinged dipper, and dipper is hinged scraper bowl；High-precision coordinate measurement excavator further includes
Coordinate calculator, display, global positioning satellite navigation elements and the Inertial Measurement Unit being arranged on body；High-precision coordinate
Measurement excavator further include for monitor swing arm pose first sensor, the second sensor for monitoring dipper pose, use
In the 3rd sensor of monitoring scraper bowl pose；Coordinate calculator difference signal connection display, global positioning satellite navigation elements,
Inertial Measurement Unit block, first sensor, second sensor and 3rd sensor.
2. high-precision coordinate according to claim 1 measures excavator, it is characterised in that：First sensor is to be arranged at machine
Swing arm stroke sensing oil cylinder between body and swing arm, or first sensor are the first obliquity sensor being arranged on swing arm,
Or the first angle sensor that first sensor is the articulated position for being arranged at body and swing arm.
3. high-precision coordinate according to claim 1 measures excavator, it is characterised in that：Second sensor is dynamic to be arranged at
Dipper stroke sensing oil cylinder between arm and dipper, or second sensor are the second obliquity sensor being arranged on dipper,
Or the second angle sensor that second sensor is the articulated position for being arranged at swing arm and dipper.
4. high-precision coordinate according to claim 1 measures excavator, it is characterised in that：3rd sensor is to be arranged at bucket
Scraper bowl stroke sensing oil cylinder between bar and scraper bowl, or 3rd sensor are the 3rd obliquity sensor being arranged on scraper bowl,
Or the third angle sensor that 3rd sensor is the articulated position for being arranged at dipper and scraper bowl.
5. high-precision coordinate according to claim 1 measures excavator, it is characterised in that：It is provided with body and coordinate meter
Calculate the voice generators of device signal connection.
6. high-precision coordinate according to claim 1 measures excavator, it is characterised in that：Set in driver's cabin on body
Display.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711427243.3A CN107916684A (en) | 2017-12-26 | 2017-12-26 | High-precision coordinate measures excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711427243.3A CN107916684A (en) | 2017-12-26 | 2017-12-26 | High-precision coordinate measures excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107916684A true CN107916684A (en) | 2018-04-17 |
Family
ID=61894350
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711427243.3A Pending CN107916684A (en) | 2017-12-26 | 2017-12-26 | High-precision coordinate measures excavator |
Country Status (1)
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| CN (1) | CN107916684A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109440854A (en) * | 2018-10-18 | 2019-03-08 | 南京天辰礼达电子科技有限公司 | A method of calculating bucket point and large arm shaft core position relationship |
| CN109614743A (en) * | 2018-12-26 | 2019-04-12 | 广州海达安控智能科技有限公司 | Excavator and its scraper bowl localization method, electronic equipment, storage medium |
| 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 |
| CN113107044A (en) * | 2021-04-21 | 2021-07-13 | 立澈(上海)自动化有限公司 | Method and device for determining position of bucket of excavator and electronic equipment |
| CN113237507A (en) * | 2021-04-20 | 2021-08-10 | 煤炭科学技术研究院有限公司 | Mobile coal flow sampling and sample preparation full-process material sensing system |
| CN113266047A (en) * | 2021-06-23 | 2021-08-17 | 山东交通学院 | Excavator construction quality real-time monitoring system and method |
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| CN207760903U (en) * | 2017-12-26 | 2018-08-24 | 青岛雷沃工程机械有限公司 | High-precision coordinate measures excavator |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109440854A (en) * | 2018-10-18 | 2019-03-08 | 南京天辰礼达电子科技有限公司 | A method of calculating bucket point and large arm shaft core position relationship |
| CN109614743A (en) * | 2018-12-26 | 2019-04-12 | 广州海达安控智能科技有限公司 | Excavator and its scraper bowl localization method, electronic equipment, storage medium |
| CN109614743B (en) * | 2018-12-26 | 2023-11-21 | 广州市中海达测绘仪器有限公司 | Excavator, bucket positioning method thereof, electronic equipment and storage medium |
| 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 |
| CN113237507A (en) * | 2021-04-20 | 2021-08-10 | 煤炭科学技术研究院有限公司 | Mobile coal flow sampling and sample preparation full-process material sensing system |
| CN113107044A (en) * | 2021-04-21 | 2021-07-13 | 立澈(上海)自动化有限公司 | Method and device for determining position of bucket of excavator and electronic equipment |
| CN113266047A (en) * | 2021-06-23 | 2021-08-17 | 山东交通学院 | Excavator construction quality real-time monitoring system and method |
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Application publication date: 20180417 |