CN109403400A - A kind of automatic perching knife control system and control method - Google Patents
A kind of automatic perching knife control system and control method Download PDFInfo
- Publication number
- CN109403400A CN109403400A CN201811510730.0A CN201811510730A CN109403400A CN 109403400 A CN109403400 A CN 109403400A CN 201811510730 A CN201811510730 A CN 201811510730A CN 109403400 A CN109403400 A CN 109403400A
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- China
- Prior art keywords
- module
- perching knife
- data
- control
- algorithm computing
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Classifications
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- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
Abstract
The present invention provides a kind of automatic perching knife control system and control methods, including RTK Double-antenna module, data receiver resolves module, algorithm computing module, display module and perching knife control module, the RTK Double-antenna module includes three-axis sensor and positioning system, the data receiver resolves module and is used to receive the data for resolving the RTK Double-antenna module acquisition, the algorithm computing module is used to analyze the data for receiving resolving, then it is shown by display module, the perching knife control module controls perching knife according to the result that analysis resolves, customer-centric of the present invention, it realizes during bull-dozer work, the height of accurate control bulldozer perching knife, reduce the error artificially judged, promote the construction quality of engineering, it is horizontal to improve construction technology.
Description
Technical field
The present invention relates to digitlization construction monitoring devices, and in particular to arrives a kind of automatic perching knife control system and controlling party
Method.
Background technique
In recent years, the monitoring of national basis facility is like a raging fire in various regions, and more scientific construction technology monitoring means is to apply
Therefore the guarantee of working medium amount, bulldozer perching knife automated control technology are given birth to.
The system is mainly for various bull-dozers at present.
At work, the height of soil-shifting identifies bull-dozer on current market mainly by driver's naked eyes, is difficult to do
It is combined to design data, having very big probability, to generate the ground pushed away excessively high or too low, causes to construction efficiency and quality
Adverse effect.
Summary of the invention
In order to solve above-mentioned insufficient defect, the present invention provides a kind of automatic perching knife control system and control methods, originally
Invention customer-centric realizes that during bull-dozer work, the height of accurate control bulldozer perching knife reduces people
For the error of judgement, the construction quality of engineering is promoted, it is horizontal to improve construction technology.
The present invention provides a kind of automatic perching knife control systems, which is characterized in that connects including RTK Double-antenna module, data
It receives and resolves module, algorithm computing module, display module and perching knife control module, the RTK Double-antenna module is sensed including three axis
Device and positioning system, the data receiver resolves module and is used to receive the data for resolving the RTK Double-antenna module acquisition, described
Algorithm computing module is used to analyze the data for receiving resolving, is then shown by display module, the perching knife control
Molding root tuber controls perching knife according to the result that analysis resolves.
Above-mentioned control system, wherein using three-axis sensor and positioning system is installed on bull-dozer, passed by three axis
The angle-data of sensor output, the position and orientation information of positioning system output calculate current in conjunction with bull-dozer digital model
The position of perching knife and elevation, and current perching knife position, overall monitor perching knife position during operation are shown in software inhouse
It sets, in conjunction with design data, perching knife is controlled.
Above-mentioned control system, wherein the RTK Double-antenna module, data receiver resolve module, algorithm computing module,
It is communicated between display module and perching knife control module by wired.
The present invention also provides a kind of automatic perching knife control methods, comprising the following steps:
Step (1): RTK Double-antenna module is provided, data receiver resolves module, algorithm computing module, display module and shovel
Knife control module；
Step (2): the angle-data exported by three-axis sensor, the position and orientation information of positioning system output；
Step (3): module, algorithm computing module combination bull-dozer digital model are resolved by data receiver, calculating is worked as
The position of preceding perching knife and elevation；
Step (4): perching knife control module controls perching knife according to the result that analysis resolves.
The invention has the following advantages: customer-centric, is realized during bull-dozer work, accurate control
The height of bulldozer perching knife reduces the error artificially judged, promotes the construction quality of engineering, and it is horizontal to improve construction technology；
It solves the problem of to bore perching knife height in bulldozer operating process and is difficult to control, installation is simple and convenient, practical durable；It uses
Wired communication mode, and realize functions of the equipments diagnostic function.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, the present invention and its feature, outer
Shape and advantage will become more apparent upon.Identical label indicates identical part in all the attached drawings.Not deliberately proportionally
Draw attached drawing, it is preferred that emphasis is show the gist of the present invention.
Fig. 1 is a kind of module diagram of automatic perching knife control system of the present invention.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical solution of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiments.
Shown in referring to Fig.1, a kind of automatic perching knife control system provided by the invention, including RTK Double-antenna module, data are connect
It receives and resolves module, algorithm computing module, display module and perching knife control module, the RTK Double-antenna module is sensed including three axis
Device and positioning system, the data receiver resolves module and is used to receive the data for resolving the RTK Double-antenna module acquisition, described
Algorithm computing module is used to analyze the data for receiving resolving, is then shown by display module, the perching knife control
Molding root tuber controls perching knife according to the result that analysis resolves；Working principle are as follows: product of the present invention uses on bull-dozer
Three-axis sensor and positioning system are installed, the angle-data exported by three-axis sensor, the position and court that positioning system exports
Position and the elevation of current perching knife are calculated in conjunction with bull-dozer digital model to information, and works as front shovel in software inhouse displaying
Cutter position, overall monitor perching knife position during operation accurately control perching knife, make it most in conjunction with design data
It can be consistent eventually with design height.
In the present invention, RTK Double-antenna module, data receiver resolve module, algorithm computing module, display module and perching knife
It is communicated between control module by wired, using wired communication mode, and realizes functions of the equipments diagnostic function.
A kind of automatic perching knife control method is additionally provided in the present invention, comprising the following steps:
Step (1): RTK Double-antenna module is provided, data receiver resolves module, algorithm computing module, display module and shovel
Knife control module；
Step (2): the angle-data exported by three-axis sensor, the position and orientation information of positioning system output；
Step (3): module, algorithm computing module combination bull-dozer digital model are resolved by data receiver, calculating is worked as
The position of preceding perching knife and elevation；
Step (4): perching knife control module controls perching knife according to the result that analysis resolves.Method of the invention solves
Perching knife position accuracy problem when live bulldozer operation, and automated control technology is used, reduce manipulator's operating pressure；
And it is easy for installation, it is durable, cope with complicated construction environment.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, devices and structures not described in detail herein should be understood as gives reality with the common mode in this field
It applies；Anyone skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, anything that does not depart from the technical scheme of the invention, foundation
Technical spirit of the invention any simple modifications, equivalents, and modifications made to the above embodiment, still fall within the present invention
In the range of technical solution protection.
Claims (4)
1. a kind of automatic perching knife control system and control method, which is characterized in that including RTK Double-antenna module, data receiver solution
Calculate module, algorithm computing module, display module and perching knife control module, the RTK Double-antenna module include three-axis sensor and
Positioning system, the data receiver resolve module and are used to receive the data for resolving the RTK Double-antenna module acquisition, the algorithm
Computing module is used to analyze the data for receiving resolving, is then shown by display module, the perching knife controls mould
Root tuber controls perching knife according to the result that analysis resolves.
2. a kind of automatic perching knife control system as described in claim 1 and control method, which is characterized in that using in bull-dozer
Upper installation three-axis sensor and positioning system, by three-axis sensor export angle-data, positioning system output position and
Orientation information calculates position and the elevation of current perching knife in conjunction with bull-dozer digital model, and shows currently in software inhouse
Perching knife position, overall monitor perching knife position controls perching knife in conjunction with design data during operation.
3. a kind of automatic perching knife control system as claimed in claim 2 and control method, which is characterized in that the bis- days RTK
Wire module, data receiver, which resolve, to be led between module, algorithm computing module, display module and perching knife control module by wired
Letter.
4. a kind of automatic perching knife control method, which comprises the following steps:
Step (1): RTK Double-antenna module is provided, data receiver resolves module, algorithm computing module, display module and perching knife control
Molding block；
Step (2): the angle-data exported by three-axis sensor, the position and orientation information of positioning system output；
Step (3): module, algorithm computing module combination bull-dozer digital model are resolved by data receiver, front shovel is worked as in calculating
The position of knife and elevation；
Step (4): perching knife control module controls perching knife according to the result that analysis resolves.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811510730.0A CN109403400A (en) | 2018-12-11 | 2018-12-11 | A kind of automatic perching knife control system and control method |
| PCT/CN2019/115793 WO2020119334A1 (en) | 2018-12-11 | 2019-11-05 | Automatic bulldozer blade control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811510730.0A CN109403400A (en) | 2018-12-11 | 2018-12-11 | A kind of automatic perching knife control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109403400A true CN109403400A (en) | 2019-03-01 |
Family
ID=65458423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811510730.0A Pending CN109403400A (en) | 2018-12-11 | 2018-12-11 | A kind of automatic perching knife control system and control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109403400A (en) |
| WO (1) | WO2020119334A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020119334A1 (en) * | 2018-12-11 | 2020-06-18 | 南京天辰礼达电子科技有限公司 | Automatic bulldozer blade control system and control method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6129156A (en) * | 1998-12-18 | 2000-10-10 | Caterpillar Inc. | Method for automatically moving the blade of a motor grader from a present blade position to a mirror image position |
| JP2016160741A (en) * | 2015-03-05 | 2016-09-05 | 株式会社小松製作所 | Image display system for work machine, remote operation system for work machine, and work machine |
| CN106592664A (en) * | 2016-12-07 | 2017-04-26 | 烟台职业学院 | Automatic control system and method for inclination of bulldozer blade |
| CN107514022A (en) * | 2017-07-07 | 2017-12-26 | 南京天辰礼达电子科技有限公司 | A kind of bull-dozer guides system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6718246B2 (en) * | 2002-04-24 | 2004-04-06 | Caterpillar Inc | Automatic implement control for spreading material with a work machine |
| US8083004B2 (en) * | 2007-03-29 | 2011-12-27 | Caterpillar Inc. | Ripper autodig system implementing machine acceleration control |
| CN101819414A (en) * | 2008-12-21 | 2010-09-01 | 卡特彼勒公司 | Have the machine of automatic execution control system and the method that is used to operate this machine |
| CN105002943A (en) * | 2015-07-17 | 2015-10-28 | 山推工程机械股份有限公司 | Control system and method of working device of remote control bulldozer |
| CN109403400A (en) * | 2018-12-11 | 2019-03-01 | 南京天辰礼达电子科技有限公司 | A kind of automatic perching knife control system and control method |
-
2018
- 2018-12-11 CN CN201811510730.0A patent/CN109403400A/en active Pending
-
2019
- 2019-11-05 WO PCT/CN2019/115793 patent/WO2020119334A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6129156A (en) * | 1998-12-18 | 2000-10-10 | Caterpillar Inc. | Method for automatically moving the blade of a motor grader from a present blade position to a mirror image position |
| JP2016160741A (en) * | 2015-03-05 | 2016-09-05 | 株式会社小松製作所 | Image display system for work machine, remote operation system for work machine, and work machine |
| CN106592664A (en) * | 2016-12-07 | 2017-04-26 | 烟台职业学院 | Automatic control system and method for inclination of bulldozer blade |
| CN107514022A (en) * | 2017-07-07 | 2017-12-26 | 南京天辰礼达电子科技有限公司 | A kind of bull-dozer guides system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020119334A1 (en) * | 2018-12-11 | 2020-06-18 | 南京天辰礼达电子科技有限公司 | Automatic bulldozer blade control system and control method |
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| Publication number | Publication date |
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| WO2020119334A1 (en) | 2020-06-18 |
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Application publication date: 20190301 |
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