CN110965443A - Milling machine and control method of milling machine - Google Patents
Milling machine and control method of milling machine Download PDFInfo
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- CN110965443A CN110965443A CN201911400309.9A CN201911400309A CN110965443A CN 110965443 A CN110965443 A CN 110965443A CN 201911400309 A CN201911400309 A CN 201911400309A CN 110965443 A CN110965443 A CN 110965443A
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- milling machine
- hopper
- milling
- speed
- skip
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- 238000003801 milling Methods 0.000 title claims abstract description 409
- 238000000034 method Methods 0.000 title claims abstract description 65
- 239000000463 material Substances 0.000 claims abstract description 219
- 230000008859 change Effects 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 description 23
- 238000010276 construction Methods 0.000 description 15
- 238000007599 discharging Methods 0.000 description 9
- 239000002699 waste material Substances 0.000 description 5
- 238000009825 accumulation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000010977 unit operation Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/004—Devices for guiding or controlling the machines along a predetermined path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention provides a milling machine and a control method of the milling machine, wherein the milling machine comprises: a body; the material conveying device is movably arranged on the machine body; the image processing device is arranged on the machine body and is configured to acquire the position of the skip car, the section size of a hopper of the skip car and the relative travelling speed of the skip car and the milling machine; the main controller is configured to control a conveying angle of the conveying device according to the position of the skip and the section size of the hopper, so that materials discharged from a discharge port of the conveying device fall at the middle position of the hopper in the width direction, and the travelling speed of the milling machine is controlled according to the relative travelling speed of the skip and the milling machine, the section size of the hopper and the conveying speed of the conveying device, so that the conveying device charges the hopper from front to back.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a milling machine and a control method of the milling machine.
Background
The main function of the milling machine is to mill a damaged road surface and to transport the waste material produced by milling to the skip. In the construction process, most of the operations of constructors are to adjust the conveying, such as controlling the distribution of waste materials in the skip car, controlling the distance between the milling machine and the skip car, avoiding collision and the like. Therefore, constructors have high construction strength and even misoperation, so that waste materials are scattered and hit surrounding personnel and vehicles. Especially for the small-sized milling machine for material conveying, the material car is arranged behind an operator, and the operator is required to frequently observe the position of the material car and the distribution condition of waste materials in the hopper backwards during operation, which is very inconvenient.
In the related art, a milling machine has the capability of measuring milling depth, milling width, material conveying speed and driving speed, and has the capability of calculating the material conveying amount, but the position and the speed of a skip car and the distribution condition of materials in a hopper are not detected, so that automatic material conveying cannot be realized.
Disclosure of Invention
The present invention is directed to overcoming at least one of the problems set forth in the prior art.
To this end, the invention provides, in a first aspect, a milling machine.
In a second aspect, the present disclosure provides a method of controlling a milling machine.
A first aspect of the present invention provides a milling machine comprising: a body; the material conveying device is movably arranged on the machine body; the image processing device is arranged on the machine body and is configured to acquire the position of the skip car, the section size of a hopper of the skip car and the relative travelling speed of the skip car and the milling machine; the main controller is configured to control the conveying angle of the conveying device according to the position of the skip and the section size of the hopper, so that materials discharged from a discharge port of the conveying device fall at the middle position of the hopper in the width direction, and the travelling speed of the milling machine is controlled according to the relative travelling speed of the skip and the milling machine, the section size of the hopper and the conveying speed of the conveying device, so that the conveying device charges the hopper after going to the hopper.
The milling machine provided by the invention comprises a machine body, a material conveying device, an image processing device and a main controller. The milling machine is used in cooperation with the material truck, the milling machine is used for milling the ground, materials generated by milling are conveyed to the material truck through the material conveying device, and the material truck is used for conveying the materials. The image processing device can acquire the position of the skip car and judge the relative advancing speed of the skip car and the milling machine according to the position change of the skip car, and the image processing device can also acquire the section size of a hopper of the skip car; the main controller is electrically connected with the image processing device, and after the main controller obtains the section size of the hopper, the main controller can control the conveying angle of the conveying device according to the position of the skip car and the section size of the hopper, so that the discharge hole of the conveying device is kept at the middle position in the left-right direction of the hopper, and the material output from the discharging device falls at the central position in the width direction of the hopper; after the main controller obtains the relative advancing speed of the skip car and the milling machine, the sectional dimension of the hopper and the conveying speed of the conveying device, the advancing speed of the milling machine is controlled, the relative position of the discharge hole of the conveying device and the hopper is ensured, and materials output by the discharging device drop inside the hopper from the front of the hopper to the rear of the hopper.
That is, the milling machine provided by the invention ensures that the material output by the material conveying device falls at the designated position of the hopper in consideration of the length direction and the width direction of the hopper, and the whole milling and conveying process can be operated by the main controller, so that the automation degree is high.
The milling machine provided by the invention can realize automatic control, and the working intensity of operators can be greatly reduced; the material conveying angle is controlled according to the position of the skip car, the situation that materials fall down to hit people and vehicles due to manual operation is avoided, and construction safety is guaranteed.
The milling machine according to the above technical solution of the present invention may further have the following additional technical features:
in the above technical solution, further, an image processing apparatus includes: the camera is arranged on the machine body and is configured to acquire image information of the skip car; the image processor is electrically connected with the camera and is configured to acquire the position of the skip, the length, the height and the width of the hopper according to the image information of the skip and acquire the relative travelling speed of the skip and the milling machine according to the position change of the skip; the angle sensor is arranged at the joint of the machine body and the material conveying device and is electrically connected with the main controller, and the angle sensor is configured to detect the left and right included angles between the machine body and the material conveying device; the main controller is configured to control the material conveying angle of the material conveying device according to the left-right included angle between the machine body and the material conveying device, the position of the skip car, the length, the height and the width of the hopper.
In the technical scheme, the image processing device comprises a camera, an image processor and an angle sensor. The camera can acquire image information of the skip car in real time or at intervals and send the acquired image information to the image processor; the image processor processes the received image information to obtain the position of the skip car and the length, height and width of the hopper, and can determine the relative advancing speed of the skip car and the milling machine according to the position change of the skip car and determine the section size of the hopper according to the length, height and width of the hopper; the angle sensor can detect the left and right included angles of the machine body and the material conveying device so as to obtain the relative position of a discharge hole of the material conveying device and the machine body.
Under the condition that the length, the height and the width of the hopper are known and the left and right included angles of the machine body and the conveying device are obtained, the main controller can adjust the position of the discharge port of the material conveying loader, the discharge port is guaranteed to be kept at the middle position of the left and right sides of the hopper, the material output from the discharge port is guaranteed to fall at the middle position of the width direction of the hopper, the position deviation of the material in the width direction of the hopper is avoided, and automatic material conveying is guaranteed.
In any of the above technical solutions, further, the camera is disposed in front of the feeding device and located at a side of the body, and the camera is further configured to obtain image information of the ground; the image processor is further configured to determine a relative position of the milling machine to the road edge based on the image information of the ground, and the main controller is further configured to control a travel angle of the milling machine based on the relative position of the milling machine to the road edge.
In the technical scheme, the number of the material conveying of the camera is one, and the camera can simultaneously acquire the image information of the skip car and the image information of the ground; after the image information of the ground is obtained, the image processor analyzes and processes the image information of the ground to obtain the relative position of the milling machine and the road edge, controls the advancing direction of the milling machine according to the relative position of the milling machine and the road edge, adjusts the advancing angle of the milling machine and avoids the milling machine from deviating the route.
In any one of the above technical solutions, the camera further includes a first camera and a second camera, the first camera is disposed in front of the skip car and configured to acquire image information of the skip car, and the second camera is located on a side of the body and configured to acquire image information of the ground; the image processor is further configured to determine a relative position of the milling machine to the road edge based on the image information of the ground, and the main controller is further configured to control a travel angle of the milling machine based on the relative position of the milling machine to the road edge.
In the technical scheme, the number of the material conveying of the cameras is two, namely a first camera and a second camera. The first camera is arranged in front of the skip car and can acquire image information of the skip car so as to ensure that the image processor can analyze and process the image information of the skip car subsequently; the second camera is positioned at the side of the body and can acquire image information of the ground; after the image information of the ground is obtained, the image processor analyzes and processes the image information of the ground to obtain the relative position of the milling machine and the road edge, controls the advancing direction of the milling machine according to the relative position of the milling machine and the road edge, adjusts the advancing angle of the milling machine and avoids the milling machine from deviating the route.
In any of the above technical solutions, further, the method further includes: the detection device is arranged on the machine body and is electrically connected with the main controller, and the detection device is configured to acquire the volume of the materials generated by the milling machine in a period of time; the main controller is also configured to control the travel speed of the milling machine based on the volume of material produced by the milling machine over a period of time, the relative travel speeds of the skip and the milling machine.
In this technical scheme, milling machine still includes detection device. The detection device is arranged on the machine body and is electrically connected with the main controller; the detection device can detect the milling condition of the milling machine in the milling process, and specifically, the volume of materials generated by the milling machine within a period of time is detected, namely the volume of the materials generated by the milling machine in unit time, and after the main controller obtains the volume of the materials generated by the milling machine within a period of time, the main controller can adjust the advancing speed of the milling machine according to the relative advancing speed of the skip car and the milling machine, so that the materials are uniformly distributed from the front of the hopper to the rear of the hopper, and the local materials are prevented from being accumulated and overflowing.
In any of the above technical solutions, further, the detection device includes: the distance sensor is arranged on the side sliding plate of the machine body or the milling machine and is electrically connected with the main controller, and the distance sensor is configured to detect the distance between the machine body and the side sliding plate; a speed sensor disposed on a travel motor of the milling machine and electrically connected with the main controller, the speed sensor configured to detect a milling speed of the milling machine; the main controller is configured to determine a milling depth of the milling machine based on a distance between the body and the side skids, and to calculate a volume of material produced by the milling machine over a period of time based on the milling depth, the milling speed, and a width of the body.
In this technical solution, the detection device includes a distance sensor and a speed sensor. Wherein, the distance sensor is arranged on the side slide plate of the machine body or the milling machine. In the working process of the milling machine, the distance between the machine body and the side sliding plate can be changed due to the change of the milling depth, and the milling depth of the milling machine can be obtained by detecting the distance between the machine body and the side sliding plate; the speed sensor is arranged on a traveling motor of the milling machine, and the milling speed of the milling machine can be acquired by detecting the traveling motor. The main controller stores the length of a material conveying device of the milling machine.
The main controller can calculate the volume of the material generated by the milling machine in a period of time according to the milling depth, the milling speed and the width of the machine body, namely the milling condition of the milling machine is obtained. After the milling condition of the milling machine is obtained, the main controller can adjust the advancing speed of the milling machine according to the milling condition and the relative advancing speed of the skip car, so that the matching of the distribution condition of materials generated by milling and the distribution condition of the materials in the skip car is ensured, and the condition that the materials are too much or too little is avoided.
In any of the above technical solutions, further, the prompting device is disposed on the body and electrically connected to the main controller; and the milling drum is arranged on the machine body and is electrically connected with the main controller.
In the technical scheme, the milling machine further comprises a prompting device and a milling drum. The prompting device is electrically connected with the main controller and can prompt an operator in the working process of the milling machine, so that the operator can know the construction condition in real time; the milling drum is positioned at the bottom of the machine body, is electrically connected with the main controller and is used for milling the construction road surface under the control of the main controller.
Specifically, when the main controller obtains the position of the skip, the relative traveling speed of the vehicle and the milling machine, and the distribution condition of the materials in the skip hopper, the main controller can prompt an operator through the prompting device.
A second aspect of the present invention provides a control method for a milling machine according to any one of the above technical solutions, wherein the control method for the milling machine includes: controlling the material conveying angle of a material conveying device of the milling machine according to the position of the skip car and the section size of a hopper of the skip car so as to enable a discharge port of the material conveying device to be kept at the middle position of the hopper in the left-right direction; and controlling the advancing speed of the milling machine according to the relative advancing speed of the skip car and the milling machine, the section size of the hopper and the conveying speed of the conveying device, so that the conveying device can feed the hopper after going forward.
The control method of the milling machine provided by the invention comprises the steps of firstly obtaining the position of a skip car and the section size of a hopper of the skip car, and then controlling the material conveying angle of a material conveying device of the milling machine, so that a discharge hole of the material conveying device is kept at the middle position of the hopper in the left-right direction, the material output from the material conveying device falls at the center position of the hopper in the width direction, and the accuracy of the material output position is further ensured in the width direction of the hopper; then the speed of marcing of control milling machine guarantees the relative position of feeding device's discharge gate and hopper for the material of following discharging device output drops inside the hopper by the place ahead of hopper to the rear of hopper, and then guarantees the accuracy of material output position in the hopper fore-and-aft direction, and whole milling and plane and defeated material process can realize automatic control, and degree of automation is high.
The control method of the milling machine provided by the invention can realize automatic control of a material conveying link, and can greatly reduce the working strength of operators; the material conveying angle is controlled according to the position of the skip car, the situation that materials fall down to hit people and vehicles due to manual operation is avoided, and construction safety is guaranteed.
The control method of the milling machine according to the above technical solution of the present invention may further have the following additional technical features:
in the above technical scheme, further, before the step of controlling the defeated material angle of the defeated material device of milling machine, still include: acquiring and identifying image information of the skip car so as to determine the position of the skip car and the length, height and width of the hopper; determining the section size of the hopper according to the length, the height and the width of the hopper; acquiring a left-right included angle between a material conveying device and a milling machine body; the method comprises the following steps of controlling the material conveying angle of a material conveying device of the milling machine, and specifically comprises the following steps: and controlling the material conveying angle of the material conveying device of the milling machine according to the position of the skip car, the section size of the hopper and the left-right included angle between the material conveying device and the milling machine body.
In the technical scheme, before the conveying angle of a conveying device of the milling machine is controlled, image information of a skip car is acquired in real time or at intervals, and the acquired image information is processed to acquire the position of the skip car and the length, height and width of a hopper; determining the relative advancing speed of the skip car and the milling machine according to the position change of the skip car; determining the section size of the hopper according to the length, the height and the width of the hopper; in addition, the left-right included angle between the machine body and the material conveying device is detected so as to obtain the relative position of a discharge hole of the material conveying device and the machine body.
Under the condition that the length, the height and the width of the hopper are known and the left and right included angles of the machine body and the conveying device are obtained, the position of a discharge port of the material conveying loader can be adjusted, the discharge port is guaranteed to be kept at the middle position of the left and right sides of the hopper, the material output from the discharge port is guaranteed to fall at the middle position of the width direction of the hopper, the position deviation of the material in the width direction of the hopper is avoided, and automatic material conveying is guaranteed.
In any of the above technical solutions, further, before the step of controlling the traveling speed of the milling machine, the method further includes: acquiring the distance between the machine body and a side sliding plate of the milling machine to determine the milling depth of the milling machine; acquiring a rotation speed of a travel motor of the milling machine to determine a milling speed of the milling machine; determining the volume of material produced by the milling machine over a period of time based on the milling depth, milling speed and the width of the fuselage; determining the relative advancing speed of the skip car and the milling machine according to the position change of the skip car; the method comprises the following steps of controlling the advancing speed of the milling machine: the travel speed of the milling machine is controlled according to the volume of material produced by the milling machine over a period of time and the relative travel speed of the skip and the milling machine.
In the technical scheme, before the advancing speed of the milling machine is controlled, the distance between the machine body and the side sliding plate is detected to obtain the milling depth of the milling machine; detecting the rotating speed of the traveling motor to obtain the milling speed of the milling machine; according to the milling depth, the milling speed and the width of the machine body, the volume of the materials generated by the milling machine in a period of time can be calculated, namely the milling condition of the milling machine is obtained. In addition, the relative travel speed of the skip car and the milling machine is determined according to the position change of the skip car.
After the milling condition of the milling machine is obtained, the advancing speed of the milling machine can be adjusted according to the milling condition and the relative advancing speed of the skip car, so that the matching of the distribution condition of materials generated by milling and the distribution condition of the materials in the skip car is ensured, and the condition that the materials are too much or too little is avoided.
In any of the above technical solutions, further, the method further includes: acquiring and identifying image information of the ground to determine the relative position of the skip car and the road edge; and controlling the advancing direction of the milling machine according to the relative position of the skip car and the road edge.
In the technical scheme, in the working process of the milling machine, the image information of the ground is acquired, the acquired image information of the ground is identified to obtain the relative position of the milling machine and the road edge, the advancing direction of the milling machine is controlled according to the relative position of the milling machine and the road edge, the advancing angle of the milling machine is adjusted, and the milling machine is prevented from deviating the route.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural view of a milling machine according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a control method of a milling machine according to an embodiment of the present disclosure;
fig. 3 is a flowchart illustrating the operation 202 of the control method of the milling machine according to the embodiment of fig. 2;
fig. 4 is a flowchart illustrating the operation 204 of the control method of the milling machine according to the embodiment of fig. 2;
fig. 5 is a schematic flow chart of a control method of a milling machine according to yet another embodiment of the present invention.
Wherein, the corresponding relation between the reference numbers and the part names in fig. 1 is:
102, 104 cameras, 106 image processors, 108 main controllers, 110 distance sensors, 112 speed sensors, 114 milling drums, 116 side skids and 118 angle sensors.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
A milling machine and a control method of the milling machine provided according to some embodiments of the present invention are described below with reference to fig. 1 to 5.
The first embodiment is as follows:
as shown in fig. 1, a first embodiment of the present invention provides a milling machine, including: a main body 102, a feeding device, an image processing device, and a main controller 108.
The milling machine is used in cooperation with the material truck, the milling machine is used for milling the ground, materials generated by milling are conveyed to the material truck through the material conveying device, and the material truck is used for conveying the materials.
The image processing device can acquire the position of the skip car and judge the relative advancing speed of the skip car and the milling machine according to the position change of the skip car, and the image processing device can also acquire the section size of a hopper of the skip car.
The main controller 108 is electrically connected with the image processing device, and after the main controller 108 obtains the cross-sectional dimension of the hopper, the main controller can control the conveying angle of the conveying device according to the position of the skip car and the cross-sectional dimension of the hopper, so that the discharge hole of the conveying device is kept at the middle position in the left-right direction of the hopper, and the material output from the discharging device falls at the central position in the width direction of the hopper; after the relative traveling speed of the skip car and the milling machine, the sectional dimension of the hopper and the conveying speed of the conveying device are obtained, the main controller 108 controls the traveling speed of the milling machine, and ensures the relative position of the discharge port of the conveying device and the hopper, so that the material output from the discharging device falls into the hopper from the front of the hopper to the rear of the hopper.
That is, the milling machine provided by this embodiment, from the two aspects of the length direction and the width direction of hopper consideration, guarantees that the material that the feeding device exported drops at the assigned position of hopper, and whole milling and defeated material process accessible main control unit 108 operation, and degree of automation is high.
The milling machine provided by the embodiment can realize automatic control, and the working strength of operators can be greatly reduced; the material conveying angle is controlled according to the position of the skip car, the situation that materials fall down to hit people and vehicles due to manual operation is avoided, and construction safety is guaranteed.
In this embodiment, further, as shown in fig. 1, the image processing apparatus includes: a camera 104, an image processor 106, and an angle sensor 118.
The camera 104 may acquire image information of the skip car in real time or at intervals, and send the acquired image information to the image processor 106; the image processor 106 processes the received image information to obtain the position of the skip car and the length, height and width of the hopper, and can determine the relative travelling speed of the skip car and the milling machine according to the position change of the skip car and determine the section size of the hopper according to the length, height and width of the hopper; the angle sensor 118 can detect the left-right included angle between the body 102 and the feeding device, so as to obtain the relative position between the discharge port of the feeding device and the body 102.
Under the condition that the length, the height and the width of the hopper and the left and right included angles between the machine body 102 and the conveying device are known, the main controller 108 can adjust the position of the discharge port of the conveying loader, so that the discharge port is kept at the middle position in the left and right directions of the hopper, the material output from the discharge port is ensured to fall at the middle position in the width direction of the hopper, the position deviation of the material in the width direction of the hopper is avoided, and the automatic conveying is ensured.
In a specific embodiment, as shown in fig. 1, the number of the material conveying of the camera 104 is one, and the camera 104 can simultaneously acquire image information of the skip car and image information of the ground; after the image information of the ground is obtained, the image processor 106 analyzes and processes the image information of the ground to obtain the relative position between the milling machine and the road edge, controls the advancing direction of the milling machine according to the relative position between the milling machine and the road edge, adjusts the advancing angle of the milling machine, and avoids the milling machine from deviating the route.
In a specific embodiment, the number of the material feeds of the camera 104 is two, and the two material feeds are respectively a first camera and a second camera. The first camera is arranged in front of the skip car and can acquire image information of the skip car so as to ensure that the image processor 106 can analyze and process the image information of the skip car subsequently; the second camera is positioned at the side of the body 102 and can acquire image information of the ground; after obtaining the image information of the ground, the image processor 106 analyzes and processes the image information of the ground to obtain the relative position between the milling machine and the road edge, controls the traveling direction of the milling machine according to the relative position between the milling machine and the road edge, and adjusts the traveling angle of the milling machine to avoid the milling machine from deviating from the route (not shown in the figure).
Example two:
as shown in fig. 1, a second embodiment of the present invention provides a milling machine, including: a main body 102, a feeding device, an image processing device, a detection device and a main controller 108.
The milling machine is used in cooperation with the material truck, the milling machine is used for milling the ground, materials generated by milling are conveyed to the material truck through the material conveying device, and the material truck is used for conveying the materials.
The image processing device can acquire the position of the skip car and judge the relative advancing speed of the skip car and the milling machine according to the position change of the skip car, and the image processing device can also acquire the section size of a hopper of the skip car.
The main controller 108 is electrically connected with the image processing device, and after the main controller 108 obtains the cross-sectional dimension of the hopper, the main controller can control the conveying angle of the conveying device according to the position of the skip car and the cross-sectional dimension of the hopper, so that the discharge hole of the conveying device is kept at the middle position in the left-right direction of the hopper, and the material output from the discharging device falls at the central position in the width direction of the hopper; after the relative traveling speed of the skip car and the milling machine, the sectional dimension of the hopper and the conveying speed of the conveying device are obtained, the main controller 108 controls the traveling speed of the milling machine, and ensures the relative position of the discharge port of the conveying device and the hopper, so that the material output from the discharging device falls into the hopper from the front of the hopper to the rear of the hopper.
In addition, the detection device is disposed on the body 102 and electrically connected to the main controller 108; the detection device can detect the milling condition of the milling machine during the milling process. Specifically, the volume of the material generated by the milling machine in a period of time, that is, the volume of the material generated by the milling machine in a unit time, is detected, and after the main controller 108 obtains the volume of the material generated by the milling machine in a period of time, the traveling speed of the milling machine can be adjusted according to the relative traveling speed of the skip car and the milling machine, so that the material is uniformly distributed from the front of the hopper to the rear of the hopper, and the local material accumulation and overflow are avoided.
In this embodiment, further, as shown in fig. 1, the detection device includes: a distance sensor 110 and a speed sensor 112.
Wherein the distance sensor 110 is arranged on the fuselage 102 or on a side skid 116 of the milling machine. During the operation of the milling machine, the distance between the machine body 102 and the side sliding plate 116 changes due to the change of the milling depth, and the milling depth of the milling machine can be obtained by detecting the distance between the machine body 102 and the side sliding plate 116; the speed sensor 112 may be provided on a travel motor of the milling machine, and the milling speed of the milling machine may be obtained by detecting the travel motor. The main controller 108 stores the length of the feeding device of the milling machine.
The main controller 108 can calculate the volume of the material generated by the milling machine in a period of time according to the milling depth, the milling speed, and the width of the machine body 102, that is, obtain the milling condition of the milling machine. After the milling condition of the milling machine is obtained, the main controller 108 can adjust the travelling speed of the milling machine according to the milling condition and the relative travelling speed of the skip car, so that the distribution condition of the materials generated by milling is matched with the distribution condition of the materials in the skip car, and the condition that the materials are too much or too little is avoided.
In any of the above embodiments, further, as shown in fig. 1, the milling machine further includes a prompting device and a milling drum 114. The prompting device is electrically connected with the main controller 108, and can prompt an operator in the working process of the milling machine, so that the operator can know the construction condition in real time; the milling drum 114 is located at the bottom of the body 102 and is electrically connected to the main controller 108, and mills the construction road surface under the control of the main controller 108.
Specifically, the main controller 108 can prompt the operator through the prompting device when acquiring the position of the skip, the relative traveling speed of the skip and the milling machine, and the distribution of the materials in the skip hopper.
Example three:
fig. 2 is a schematic flowchart of a control method of a milling machine according to an embodiment of the present invention, and as shown in fig. 2, the control method of the milling machine includes:
step 202, controlling a material conveying angle of a material conveying device of the milling machine according to the position of the skip car and the section size of a hopper of the skip car so that a discharge port of the material conveying device is kept at the middle position of the hopper in the left-right direction;
and 204, controlling the traveling speed of the milling machine according to the relative traveling speed of the skip car and the milling machine, the section size of the hopper and the conveying speed of the conveying device, so that the conveying device can charge the hopper from front to back.
The control method of the milling machine provided by the embodiment includes the steps of firstly obtaining the position of a skip car and the sectional dimension of a hopper of the skip car, and then controlling the material conveying angle of a material conveying device of the milling machine, so that a discharge port of the material conveying device is kept at the middle position of the hopper in the left-right direction, the material output from the material conveying device falls at the center position of the hopper in the width direction, and the accuracy of the material output position is further ensured in the width direction of the hopper; then the speed of marcing of control milling machine guarantees the relative position of feeding device's discharge gate and hopper for the material of following discharging device output drops inside the hopper by the place ahead of hopper to the rear of hopper, and then guarantees the accuracy of material output position in the hopper fore-and-aft direction, and whole milling and plane and defeated material process can realize automatic control, and degree of automation is high.
That is, the control method of the milling machine provided by the embodiment can realize the automatic control of the material conveying link, and can greatly reduce the working strength of operators; the material conveying angle is controlled according to the position of the skip car, the situation that materials fall down to hit people and vehicles due to manual operation is avoided, and construction safety is guaranteed.
In this embodiment, further, fig. 3 is a specific flowchart of step 202 in the control method of the milling machine in the embodiment shown in fig. 2. As shown in fig. 3, step 202 specifically includes:
step 2022, acquiring and identifying image information of the skip car to determine the position of the skip car, the length, the height and the width of the hopper;
2024, determining the section size of the hopper according to the length, the height and the width of the hopper;
step 2026, acquiring a left-right included angle between the material conveying device and a milling machine body;
2028, controlling the material conveying angle of the material conveying device of the milling machine according to the position of the skip car, the section size of the hopper and the left-right included angle between the material conveying device and the milling machine body.
That is, before the conveying angle of the conveying device of the milling machine is controlled, image information of the skip car is acquired in real time or at intervals, and the acquired image information is processed to acquire the position of the skip car and the length, height and width of the hopper; the relative travelling speed of the skip car and the milling machine can be determined according to the position change of the skip car; determining the section size of the hopper according to the length, the height and the width of the hopper; in addition, the left-right included angle between the machine body and the material conveying device is detected so as to obtain the relative position of a discharge hole of the material conveying device and the machine body.
Under the condition that the length, the height and the width of the hopper are known and the left and right included angles of the machine body and the conveying device are obtained, the position of a discharge port of the material conveying loader can be adjusted, the discharge port is guaranteed to be kept at the middle position of the left and right sides of the hopper, the material output from the discharge port is guaranteed to fall at the middle position of the width direction of the hopper, the position deviation of the material in the width direction of the hopper is avoided, and automatic material conveying is guaranteed.
In this embodiment, further, fig. 4 is a specific flowchart of step 204 in the control method of the milling machine in the embodiment shown in fig. 2. As shown in fig. 4, step 204 specifically includes:
2042, acquiring the distance between the machine body and a side sliding plate of the milling machine to determine the milling depth of the milling machine;
2044, acquiring the rotation speed of a traveling motor of the milling machine to determine the milling speed of the milling machine;
2046, determining the volume of material produced by the milling machine over a period of time based on the milling depth, milling speed and the width of the machine body;
2048, determining the relative traveling speed of the skip car and the milling machine according to the position change of the skip car;
step 2050, controlling the travel speed of the milling machine based on the volume of material produced by the milling machine over a period of time and the relative travel speeds of the skip and the milling machine.
That is, before controlling the traveling speed of the milling machine, the distance between the body and the side slide is detected to obtain the milling depth of the milling machine; detecting the rotating speed of the traveling motor to obtain the milling speed of the milling machine; according to the planing depth, the planing speed and the width of the machine body, the volume of the materials generated by the milling and planing machine within a period of time can be calculated, namely the planing condition of the milling and planing machine is obtained. In addition, the relative travel speed of the skip car and the milling machine is determined according to the position change of the skip car.
After the milling condition of the milling machine is obtained, the advancing speed of the milling machine can be adjusted according to the milling condition and the relative advancing speed of the skip car, so that the matching of the distribution condition of materials generated by milling and the distribution condition of the materials in the skip car is ensured, and the condition that the materials are too much or too little is avoided.
Example four:
fig. 5 is a schematic flowchart of a control method of a milling machine according to still another embodiment of the present invention, as shown in fig. 5, the control method of the milling machine including:
step 302, controlling the material conveying angle of a material conveying device of the milling machine according to the position of the skip car and the section size of a hopper of the skip car so that a discharge hole of the material conveying device is kept at the middle position of the hopper in the left-right direction;
step 304, controlling the traveling speed of the milling machine according to the relative traveling speed of the skip car and the milling machine, the section size of the hopper and the conveying speed of the conveying device, so that the conveying device can charge the hopper from front to back;
step 306, acquiring and identifying image information of the ground to determine the relative position of the skip car and the road edge;
and 308, controlling the advancing direction of the milling machine according to the relative position of the skip car and the road edge.
The control method of the milling machine provided by the embodiment includes the steps of firstly obtaining the position of a skip car and the sectional dimension of a hopper of the skip car, and then controlling the material conveying angle of a material conveying device of the milling machine, so that a discharge port of the material conveying device is kept at the middle position of the hopper in the left-right direction, the material output from the material conveying device falls at the center position of the hopper in the width direction, and the accuracy of the material output position is further ensured in the width direction of the hopper; then the speed of marcing of control milling machine guarantees the relative position of feeding device's discharge gate and hopper for the material of following discharging device output drops inside the hopper by the place ahead of hopper to the rear of hopper, and then guarantees the accuracy of material output position in the hopper fore-and-aft direction, and whole milling and plane and defeated material process accessible main control unit operation, degree of automation is high.
In addition, in the working process of the milling machine, the image information of the ground is acquired, the acquired image information of the ground is identified to obtain the relative position of the milling machine and the road edge, the advancing direction of the milling machine is controlled according to the relative position of the milling machine and the road edge, the advancing angle of the milling machine is adjusted, and the milling machine is prevented from deviating from the route.
The first embodiment is as follows:
the milling machine that this embodiment provided includes: a body 102; the material conveying device is movably arranged on the machine body 102; an image processing device disposed on the body 102, the image processing device being configured to obtain a position of the skip, a cross-sectional dimension of a hopper of the skip, and a relative travel speed of the skip and the milling machine; the main controller 108 is arranged on the machine body 102 and electrically connected with the image processing device, the main controller 108 is configured to control a conveying angle of the conveying device according to the position of the skip and the sectional dimension of the hopper, so that the material discharged from a discharge port of the conveying device falls on the middle position of the hopper in the width direction, and control the traveling speed of the milling machine according to the relative traveling speed of the skip and the milling machine, the sectional dimension of the hopper and the conveying speed of the conveying device, so that the conveying device charges the hopper from front to back.
The milling machine provided by the invention ensures that the material output by the material conveying device falls at the designated position of the hopper in consideration of the length direction and the width direction of the hopper, and the whole milling and conveying process can be operated by the main controller 108, so that the automation degree is high.
Further in this embodiment, the image processing means includes a camera 104, an image processor 106 and an angle sensor 118. The camera 104 can acquire image information of the skip car in real time or at intervals; the image processor 106 processes the received image information, obtains the position of the skip car and the length, height and width of the hopper, and determines the relative travelling speed of the skip car and the milling machine; the angle sensor 118 can obtain the relative position of the delivery device outlet and the body 102.
In this embodiment, further, the milling machine further includes a detection device. The detection device is configured to acquire a volume of material produced by the milling machine over a period of time; the main controller 108 is also configured to control the travel speed of the milling machine such that material is evenly distributed from the front of the hopper to the rear of the hopper, avoiding local material accumulation overflow, depending on the volume of material produced by the milling machine over a period of time, the relative travel speeds of the skip and the milling machine.
Further in this embodiment, the detection means includes a distance sensor 110 and a speed sensor 112. The distance sensor 110 detects the distance between the body 102 and the side skid 116, and can obtain the milling depth of the milling machine; the speed sensor 112 detects the travel motor, and can acquire the milling speed of the milling machine; the main controller 108 can calculate the volume of the material generated by the milling machine in a period of time according to the milling depth, the milling speed and the width of the machine body 102, adjust the advancing speed of the milling machine, ensure that the material generated by milling is matched with the distribution of the material in the skip car, and avoid the occurrence of too much or too little material.
In this embodiment, further, the milling machine further includes a prompting device and a milling drum 114. The prompting device is electrically connected with the main controller 108, and can prompt an operator in the working process of the milling machine, so that the operator can know the construction condition in real time; the milling drum 114 is located at the bottom of the body 102 and is electrically connected to the main controller 108, and mills the construction road surface under the control of the main controller 108.
The second embodiment is as follows:
according to the control method of the milling machine, firstly, the material conveying angle of a material conveying device of the milling machine is controlled according to the position of a skip car and the section size of a hopper of the skip car, so that a discharge hole of the material conveying device is kept at the middle position of the left direction and the right direction of the hopper, and the accuracy of a material output position is further ensured in the width direction of the hopper; then according to the relative speed of advancing of skip and milling machine, the cross sectional dimension of hopper and the defeated material speed of feeding device, control milling machine's speed of advancing to make feeding device feed the hopper by going to the back, and then guarantee the accuracy of material output position in the hopper fore-and-aft direction. The whole milling and transporting process can realize automatic control and manufacture, and the automation degree is high.
In this embodiment, further, before the step of controlling the feeding angle of the feeding device of the milling machine, the method further includes: acquiring and identifying image information of the skip car so as to determine the position of the skip car and the length, height and width of the hopper; determining the section size of the hopper according to the length, the height and the width of the hopper; acquiring a left-right included angle between a material conveying device and a milling machine body; the method comprises the following steps of controlling the material conveying angle of a material conveying device of the milling machine, and specifically comprises the following steps: and controlling the material conveying angle of the material conveying device of the milling machine according to the position of the skip car, the section size of the hopper and the left-right included angle between the material conveying device and the milling machine body.
In this embodiment, further, before the step of controlling the traveling speed of the milling machine, the method further includes: acquiring the distance between the machine body and a side sliding plate of the milling machine to determine the milling depth of the milling machine; acquiring a rotation speed of a travel motor of the milling machine to determine a milling speed of the milling machine; determining the volume of material produced by the milling machine over a period of time based on the milling depth, milling speed and the width of the fuselage; determining the relative advancing speed of the skip car and the milling machine according to the position change of the skip car; the method comprises the following steps of controlling the advancing speed of the milling machine: the travel speed of the milling machine is controlled according to the volume of material produced by the milling machine over a period of time and the relative travel speed of the skip and the milling machine.
In this embodiment, further, the method further includes: acquiring and identifying image information of the ground to determine the relative position of the skip car and the road edge; and controlling the advancing direction of the milling machine according to the relative position of the skip car and the road edge.
The control method of the milling machine provided by the embodiment can realize the automatic control of the material conveying link, and can greatly reduce the working strength of operators; the material conveying angle is controlled according to the position of the skip car, the situation that materials fall down to hit people and vehicles due to manual operation is avoided, and construction safety is guaranteed.
The third concrete embodiment:
as shown in fig. 1, the milling machine according to the present invention has a camera 104 mounted on the left and right of the machine body 102, wherein the camera 104 is used for capturing images of the skip car in front of the milling machine; the size of the hopper is detected by the image processor 106 and the relative travel speed of the skip and the milling machine is obtained according to the distance change.
The specific implementation mode is as follows: the distance sensor 110 is installed on the body 102 or the side sliding plate of the milling machine, the milling depth is indirectly measured through the position difference between the body 102 and the side sliding plate, and the speed sensor 112 is installed on the driving motor, so as to obtain the milling speed of the milling machine; the milling depth, the width of the machine body 102 and the milling speed are combined to obtain the material conveying speed of the milling machine; the camera 104 is mounted on the milling machine body 102, so as to obtain relevant images of the skip car; the image processor 106 analyzes the image to obtain the size, the position and the advancing speed of the hopper of the skip car; the main controller 108 controls the feeding angle and the traveling speed of the milling machine according to the skip information, or reminds the operator of the skip through a horn.
The milling machine provided by the invention can realize automatic construction, greatly reduce the construction strength of operators, and avoid the phenomenon that waste falls down to hit people and vehicles due to manual operation.
In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A milling machine, comprising:
a body;
the material conveying device is movably arranged on the machine body;
an image processing device disposed on the body, the image processing device configured to obtain a position of a skip, a cross-sectional dimension of a hopper of the skip, and a relative travel speed of the skip and the milling machine;
the main controller is arranged on the machine body and electrically connected with the image processing device, and is configured to control the conveying angle of the conveying device according to the position of the skip and the sectional dimension of the hopper, so that materials discharged from a discharge port of the conveying device fall at the middle position of the hopper in the width direction, and control the advancing speed of the milling machine according to the relative advancing speed of the skip and the milling machine, the sectional dimension of the hopper and the conveying speed of the conveying device, and the conveying device is used for feeding the hopper forward and backward.
2. The milling machine of claim 1, wherein the image processing arrangement includes:
a camera disposed on the body, the camera configured to acquire image information of the skip;
the image processor is electrically connected with the camera and is configured to acquire the position of the skip, the length, the height and the width of the hopper according to the image information of the skip and acquire the relative travelling speed of the skip and the milling machine according to the position change of the skip;
the angle sensor is arranged at the joint of the machine body and the material conveying device and is electrically connected with the main controller, and the angle sensor is configured to detect the left and right included angles of the machine body and the material conveying device;
the main controller is configured to control the material conveying angle of the material conveying device according to the left-right included angle between the machine body and the material conveying device, the position of the skip car, and the length, height and width of the hopper.
3. The milling machine of claim 2,
the camera is arranged in front of the material conveying device and is positioned on the side of the machine body, and the camera is also configured to acquire image information of the ground; or
The camera comprises a first camera and a second camera, the first camera is arranged in front of the skip car and is configured to acquire image information of the skip car, and the second camera is located on the side of the machine body and is configured to acquire image information of the ground;
the image processor is further configured to determine a relative position of the milling machine to a road edge from the image information of the ground, and the main controller is further configured to control a travel angle of the milling machine according to the relative position of the milling machine to the road edge.
4. The milling machine of any one of claims 1 to 3, further comprising:
a detection device disposed on the body and electrically connected to the main controller, the detection device configured to acquire a volume of material produced by the milling machine over a period of time;
the main controller is further configured to control a travel speed of the milling machine as a function of a volume of material produced by the milling machine over a period of time, a relative travel speed of the skip and the milling machine.
5. The milling machine of claim 4, wherein the detection device comprises:
a distance sensor disposed on the body or a side slide of the milling machine and electrically connected to the main controller, the distance sensor configured to detect a distance between the body and the side slide;
a speed sensor disposed on a travel motor of a milling machine and electrically connected with the main controller, the speed sensor configured to detect a milling speed of the milling machine;
the main controller is configured to determine a milling depth of the milling machine based on a distance between the body and the side skids, and calculate a volume of material produced by the milling machine over a period of time based on the milling depth, the milling speed, and a width of the body.
6. The milling machine of any one of claims 1 to 3, further comprising:
the prompting device is arranged on the machine body and is electrically connected with the main controller;
and the milling drum is arranged on the machine body and is electrically connected with the main controller.
7. A control method of a milling machine for the milling machine according to any one of claims 1 to 6, characterized by comprising:
controlling a material conveying angle of a material conveying device of the milling machine according to the position of a skip car and the section size of a hopper of the skip car so that a discharge port of the material conveying device is kept at a middle position of the hopper in the left-right direction;
and controlling the advancing speed of the milling machine according to the relative advancing speed of the skip car and the milling machine, the section size of the hopper and the conveying speed of the conveying device, so that the conveying device can charge the hopper from front to back.
8. The control method of a milling machine according to claim 7,
before the step of control milling machine's feeding device's defeated material angle, still include:
acquiring and identifying image information of the skip car so as to determine the position of the skip car and the length, height and width of the hopper;
determining the section size of the hopper according to the length, the height and the width of the hopper;
acquiring a left-right included angle between the material conveying device and a milling machine body;
the method comprises the following steps of controlling the material conveying angle of a material conveying device of the milling machine, and specifically comprises the following steps:
and controlling the material conveying angle of the material conveying device of the milling machine according to the position of the skip car, the section size of the hopper and the left-right included angle between the material conveying device and the milling machine body.
9. The control method of a milling machine according to claim 7,
before the step of controlling the traveling speed of the milling machine, the method further includes:
acquiring a distance between the body and a side slide of the milling machine to determine a milling depth of the milling machine;
obtaining a rotational speed of a travel motor of the milling machine to determine a milling speed of the milling machine;
determining a volume of material produced by the milling machine over a period of time based on the milling depth, the milling speed, and a width of the fuselage;
determining the relative traveling speed of the skip car and the milling machine according to the position change of the skip car;
the step of controlling the traveling speed of the milling machine specifically includes:
controlling a travel speed of the milling machine according to a volume of material produced by the milling machine over a period of time, a relative travel speed of the skip car and the milling machine.
10. The control method of the milling machine according to any one of claims 7 to 9, further comprising:
acquiring and identifying image information of the ground to determine the relative position of the skip car and the road edge;
and controlling the advancing direction of the milling machine according to the relative position of the skip car and the road edge.
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| CN201911400309.9A CN110965443A (en) | 2019-12-30 | 2019-12-30 | Milling machine and control method of milling machine |
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| CN201911400309.9A CN110965443A (en) | 2019-12-30 | 2019-12-30 | Milling machine and control method of milling machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111676785A (en) * | 2020-07-03 | 2020-09-18 | 三一汽车制造有限公司 | Material conveying control method of milling machine, material conveying control system of milling machine and milling machine |
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