CN201089948Y - Intelligent leveling system of grader - Google Patents
Intelligent leveling system of grader Download PDFInfo
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- CN201089948Y CN201089948Y CNU200720097350XU CN200720097350U CN201089948Y CN 201089948 Y CN201089948 Y CN 201089948Y CN U200720097350X U CNU200720097350X U CN U200720097350XU CN 200720097350 U CN200720097350 U CN 200720097350U CN 201089948 Y CN201089948 Y CN 201089948Y
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Abstract
The utility model discloses an intelligent leveling system for a leveling machine, which comprises: an automatic leveling electric control system which receives signals of shovel blade positions of a leveling machine according to a monitoring sensor for shovel blade space positions and automatically sends control signals to an electric control hydraulic valve used to control a shovel blade oil cylinder, and an automatic leveling hydraulic system which receives the control signals of the automatic leveling electric control system and drives a shovel blade to automatically level. The utility model introduces a driving speed parameter of the leveling machine, a shovel blade horizon distance sensor and a GPS satellite location device, inputs road data into a storage monitor, can ensure that the leveling machine quickly and efficiently makes automatic leveling operation through a control software, and adapts to the accurate control that transverse slopes such as ordinary road cross slopes, superelevation of curve ways, road transition curves and so on, change according to certain rules, thereby assuring the operation evenness of the leveling machine in accordance with the construction standard.
Description
Technical field
The utility model belongs to the land leveller leveling system, particularly relate to a kind of can make land leveller rapidly and efficiently carry out automatic leveling operation, adapt to the leveler intelligent leveling system that ordinary road horizontal wall inscription, bend superelevation, road relax the accurate control that cross falls such as line change according to certain rules.
Background technology
Land leveller is as the term suggests be exactly the machinery on smooth place, road surface.During the land leveller operation, perching knife its work quality with respect to the determining positions on ground, just the planeness on road surface.The equipment perching knife of land leveller be mounted in one can horizontal rotation, on the frame of vertical oscillation and transversal stretching,, the lifting of control perching knife, revolution, tilt, draw and shovel native angular transformation by the action of each control hydraulic jack.When the land leveller operation, the driver must adjust the locus of perching knife usually at any time, makes perching knife scrape whole road surface and tries one's best smooth and reduce the influence that injustice causes of jolting because complete machine travels.The next door of driver driving steering wheel has 10 different hand control valve bars usually, and wherein 6 are directly used in control perching knife position.In order to obtain leveling effect preferably, the driver must have consummate operating technology, constantly adjust perching knife according to the land leveller travel conditions.Therefore land leveller driver's operation labour intensity is bigger.If the driver does not have correct adjustment perching knife position in time, the surface that the perching knife root edge scrapes will rise and fall along with the fluctuating of complete machine, even make perching knife shovel in short-term that dark, the machine of soil transships with excessivelying and deceleration shifting and carry shovel, cause the construction surface local to be uneven, influence operation surface evenness and productivity ratio greatly.
The utility model patent of CN200520011494.X discloses a kind of land leveller automatic leveling system, the sensor that comprises the position parameter data that is used to measure perching knife, be used to control the proportioning valve group of perching knife oil cylinder, the operation interface that is used for the real time position parameter information of initialization system parameter and construction parameter and demonstration perching knife, the main controller that is used for the real time information of receiving sensor collection, main controller compares through corresponding computing and setting value according to the data of sensor acquisition, again corresponding signal is outputed to the proportioning valve group, the control perching knife resets, sensor and operation interface link to each other with main controller by the CAN bus, the signal input part of proportioning valve group links to each other with the signal output part of main controller, and the proportioning valve group links to each other with the hydraulic system of land leveller.Native system can make land leveller control automatically according to predefined longitudinal gradient of operator and horizontal wall inscription value, thereby realizes the automatic operation of land leveller, guarantees that land leveller carries out accurately smooth according to setting value.
The described land leveller automatic horizontal control system of this patent must rely on road edge to carry out operation, and for road middle part or the inconvenient place that the construction benchmark is set, application is restricted; Major control button and hand-operated valve control lever are easy to generate misoperation together in operation.
U.S. Pat 6278955 land levellers self-level to the method in precalculated position, have proposed a kind of system and method, are used for regulating automatically the perching knife position of land leveller perching knife to operator's pre-programmed.The step that this method comprises is: 1. an electronic controller is provided and has the perching knife control device of position sensor; 2. the output of monitoring location sensor is to determine the position of control perching knife; 3. accept first input signal and be used to be provided with the perching knife memory area; 4. determine memory perching knife position according to the output of position sensor; 5. accept second input request signal memory perching knife position; 6. determine current perching knife position according to the position sensor of output; 7. generation control signal acts on the perching knife control device so that perching knife is moved to storage perching knife position from current location.
This patent is to be used for the position that control operation person imports the memory perching knife, determines the perching knife current location according to the feedback signal of position sensor, and memory perching knife Position Control perching knife is as requested moved to storage perching knife position from current location.Be mainly used in the groundwork position of rapid adjustment perching knife, rather than the relative position that is used for land leveller and ground changes and adjusts perching knife and carry out real-time leveling operation.
U.S. Pat 5107932 land levellers are controlled the apparatus and method of perching knife, have proposed a kind of method and apparatus at radial type land leveller control horizontal wall inscription angle, turn to by perching knife, turn to the situation of travelling with non-horizontal surface straight-line travelling, crab shape.The perching knife angle is monitored to make the perching knife angle keep calculating about equally the perching knife angle with control.First embodiment, the perching knife angle calculation is to use formula:
BS：＝sin(τ’)·tan(R)+cos(τ’)·tan(CS)
Here, BS is the perching knife of requirement and the angle of horizontal plane, and τ ' is a perching knife with respect to the angle of perching knife motion at the projecting direction of horizontal plane, and R is the angle of perching knife travel direction and horizontal plane, and CS is the horizontal wall inscription angle of wishing, by the control angle of operating personnel's input.
In further embodiment, the perching knife angle calculation is to use formula:
BS：＝sin(τ”?)·tan(R’)+cos(τ”)·tan(CS)
Here, BS is the perching knife of requirement and the angle of horizontal plane, τ " be that perching knife is with respect to the angle of perching knife motion at the projecting direction of horizontal plane; and the horizontal wall inscription angle at its front-wheel steer device place is zero; R ' is the angle of perching knife travel direction and horizontal plane; the horizontal wall inscription angle at its front-wheel steer device place is zero, and CS is the horizontal wall inscription angle of wishing.
This only is an end mathematics of control model of a kind of leveling of land leveller, rather than the complete land leveller levelling control system of a cover.
Summary of the invention
The utility model for solve the technical problem that exists in the known technology provide a kind of can make land leveller rapidly and efficiently carry out automatic leveling operation, adapt to the leveler intelligent leveling system that ordinary road horizontal wall inscription, bend superelevation, road relax the accurate control that cross falls such as line change according to certain rules.
The technical scheme that the utility model is taked for the technical problem that exists in the solution known technology is: a kind of leveler intelligent leveling system, include: the signal that receives land leveller perching knife position according to perching knife locus monitoring sensor, and the control signal of sending the automatic leveling electric-control system of control signal and receiving automatic leveling electric-control system from the electro hydraulic valve of trend control perching knife oil cylinder drives the self-leveling automatic leveling hydraulic system of perching knife.
Described automatic leveling electric-control system includes: be provided with on land leveller: the perching knife inclination sensor of heeling condition that is used to monitor perching knife and horizontal plane that is installed in perching knife top; Being installed in being used on the perching knife rotary disk monitors the perching knife rotary sensor of perching knife angle of revolution; Being installed in being used on the land leveller forebay monitors the rack inclining sensor of the longitudinal grade of travelling; Control perching knife oil cylinder and be arranged on left hoist cylinder electrically-controlled valve and right hoist cylinder electrically-controlled valve in the automatic leveling hydraulic system; Be installed in the perching knife elevation sensor and the perching knife range sensor that are used to follow the tracks of operation road surface benchmark of perching knife one side; And according to receiving each sensor signal hoist cylinder electrically-controlled valve and right hoist cylinder electrically-controlled valve are sent the leveling controller and the display of control signal left, wherein, the leveling controller is connected with perching knife inclination sensor, perching knife rotary sensor, rack inclining sensor, left hoist cylinder electrically-controlled valve and right hoist cylinder electrically-controlled valve, perching knife elevation sensor, perching knife range sensor and display respectively.
The complete machine travel speed sensor that links to each other with the leveling controller also is installed on land leveller.
A side or middle part at perching knife also are equipped with the band differential GPS satellite positioning device that links to each other with the leveling controller.
Described automatic leveling hydraulic system includes: the pressure-gradient control valve that control liquid flows into; First, second timing throttle valve that links to each other with the output of pressure-gradient control valve respectively; On the corresponding respectively output that is connected two timing throttle valves and be subjected to the left hoist cylinder electrically-controlled valve and the right hoist cylinder electrically-controlled valve of leveling controller control in the automatic leveling electric-control system; First, second hand control valve that links to each other with the output of pressure-gradient control valve respectively; Reach second bidirectional hydraulic lock that links to each other with second-hand's brake control valve with right hoist cylinder electrically-controlled valve with first bidirectional hydraulic lock that left hoist cylinder electrically-controlled valve links to each other with first-hand brake control valve; And correspondence links to each other with the output of two bidirectional hydraulic locks respectively, drives the left hoist cylinder and the right hoist cylinder of perching knife action; Be connected by fluid pressure line between the above-mentioned parts.
Advantage and the good effect that the utlity model has are: because leveler intelligent leveling system of the present utility model has been introduced land leveller travel speed parameter, perching knife lateral separation sensor, gps satellite positioner, road data is input into control store monitor, and by control software, can make land leveller rapidly and efficiently carry out automatic leveling operation, adapt to ordinary road horizontal wall inscription, bend superelevation, road and relax the accurate control that cross falls such as line change according to certain rules.Thereby guarantee the operation planeness of land leveller according to construction reference.
Description of drawings
Fig. 1 is a land leveller side structure schematic diagram;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the partial schematic diagram among Fig. 1;
Fig. 4 is the automatic leveling hydraulic system of a land leveller block diagram;
Fig. 5 is the automatic leveling electric-control system of a land leveller block diagram.
Label among the figure is respectively:
First, second hand control valve of 1a, 1-; First, second bidirectional hydraulic lock of 2a, 2-; 3a, 3-left side hoist cylinder and right hoist cylinder; The left and right hoist cylinder electrically-controlled valve of 4a, 4-; First, second timing throttle valve of 5a, 5-; 6-pressure-gradient control valve 6; 7-perching knife rotary disk; The 8-forebay; The 9-perching knife; 10-leveling controller; The 11-display; 12-perching knife inclination sensor; 13-perching knife rotary sensor; 14-rack inclining sensor 14; 15-perching knife elevation sensor; 16-perching knife range sensor; 17-complete machine travel speed sensor; The 18-GPS satellite positioning device.
The specific embodiment
For further understanding summary of the invention of the present utility model, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
Fig. 1 is a land leveller side structure schematic diagram; Fig. 2 is the vertical view of Fig. 1.During actual job, land leveller is by regulating left and right sides hoist cylinder 3, the 3a of perching knife 9, and the locus of perching knife 9 is wipeed in control off, and the road bed that perching knife 9 is scraped satisfies the requirement of engineering construction standard.Land leveller perching knife 9 is steel structure bodies, and perching knife 9 shear blades are a straight line, after the height of 2 P1, P2 about perching knife 9 shear blades is determined, along with the perching knife 9 bottom blades that travel of land leveller just will form a face.When the land leveller own level is travelled, if the height of P1, P2 keep to equate, formation be exactly horizontal plane; If the difference in height of P1, P2 remains unchanged, formation be exactly the domatic of constant slope.When in fact land leveller travelled on the roadbed without leveling, self jolted machine along with the injustice of roadbed, if therefore the height of the relative frame 8 of P1, P2 keeps equating that perching knife 9 blade track planes are exactly the profiling of road bed; If the difference in height of P1, P2 remains unchanged, final forming face is the domatic of constant slope, but the compound uneven waveform of road bed.The automatic horizontal control system of land leveller, be exactly will be in the actual job of land leveller, the difference in height that makes remains unchanged with respect to the horizontal reference of the earth, and perching knife 9 blade track planes are the inclined-planes that satisfy certain cross fall like this, and the influence of having filtered the uneven waveform of road bed.In the highway section that road need change cross fall or have the bend superelevation to require, automatic horizontal control system can be according to the requirement of line design, and the horizontal reference difference in height with respect to the earth of adjustment P1, P2 promptly and accurately satisfies the standard-required of engineering construction.
Fig. 3 is the partial schematic diagram among Fig. 1, promptly reflects land leveller road viewgraph of cross-section (the road M-M cross section among Fig. 2), and normally road is middle high can to see road Cross Section, and its both sides are low, and this requirement for road drainage designs.The cross fall perching knife 9 of road design forms angle β with road, then cross fall is on perching knife 9 shear blade P1-P2 directions, α will change into α ', in the land leveller driving process, the angle theta and the road oblique line gradient α ' that wish its perching knife 9 shear blade P1-P2 and horizontal plane coincide, and there is error in the two in the actual travel because various factors influences.Automatic horizontal control system is according to the transverse slope α of road design, and the perching knife 9 real space location parameter data of each sensor monitors are regulated the action of perching knife 9 left and right sides hoist cylinders 3,3a automatically, satisfy the requirement of highway construction design parameters.
Leveler intelligent levelling control system of the present utility model, include: the signal that receives land leveller perching knife position according to perching knife locus monitoring sensor, and the control signal of sending the automatic leveling electric-control system of control signal and receiving automatic leveling electric-control system from the electro hydraulic valve of trend control perching knife oil cylinder drives the self-leveling automatic leveling hydraulic system of perching knife.
As shown in Figure 4, described automatic leveling hydraulic system includes: the pressure-gradient control valve 6 that control liquid flows into; First, second timing throttle valve 5a, 5 that links to each other with the output of pressure-gradient control valve 6 respectively; Corresponding respectively left hoist cylinder electrically-controlled valve 4a and the right hoist cylinder electrically-controlled valve 4 that is connected on two timing throttle valve 5a, 5 the output and is subjected to leveling controller 10 controls in the automatic leveling electric-control system; First, second hand control valve 1a, 1 that links to each other with the output of pressure-gradient control valve 6 respectively; Reach second bidirectional hydraulic lock 2 that links to each other with second-hand's brake control valve 1 with right hoist cylinder electrically-controlled valve 4 with the first bidirectional hydraulic lock 2a that left hoist cylinder electrically-controlled valve 4a links to each other with first-hand brake control valve 1a; And respectively corresponding and two bidirectional hydraulic lock 2a, 2 output link to each other, drives left hoist cylinder 3a and right hoist cylinder 3 that perching knife 9 moves; Be connected by fluid pressure line between the above-mentioned parts.
System pressure oil at first satisfies the control fluid of electrically-controlled valve 4 and 4a through pressure-gradient control valve 6, more than hydraulic oil reallocate to hand control valve.Automatically during leveling, all near the ideal position of design, once there being deviation to correct adjusting immediately, therefore each perching knife 9 its movement ranges of adjusting are less usually for perching knife 9, and required hydraulic oil is also less.Adopt timing throttle valve 5 and 5a to control oily flow velocity degree and avoid perching knife 9 overshoot, and electro hydraulic valve 4 or each the keeping strokes of 4a when guaranteeing that control signal is identical, 4 and the keeping strokes of 4a valve.Owing to adopted pressure-gradient control valve 6, the action of other hand control valves can not influence the action of automatic leveling electrically-controlled valve; Automatically leveling needs the hydraulic pressure oil mass less, and most of hydraulic oil distribution is given other hand control valves, though therefore automatically the leveling valve work, to the almost not influence of manual control of other oil cylinders, motor.
As shown in Figure 5, described automatic leveling electric-control system includes: be provided with on land leveller: the perching knife inclination sensor 12 of heeling condition that is used to monitor perching knife and horizontal plane that is installed in perching knife 9 tops; Being installed in being used on the perching knife rotary disk 7 monitors the perching knife rotary sensor 13 of perching knife angle of revolution; Being installed in being used on the land leveller forebay 8 monitors the rack inclining sensor 14 of the longitudinal grade of travelling; Control perching knife oil cylinder and be arranged on left hoist cylinder electrically-controlled valve 4a and right hoist cylinder electrically-controlled valve 4 in the automatic leveling hydraulic system; Be installed in the perching knife elevation sensor 15 and the perching knife range sensor 16 that are used to follow the tracks of operation road surface benchmark of perching knife 9 one sides, this sensor is used for monitoring in real time the variation of land leveller perching knife and operation road surface altitude datum and horizontal range, and system monitoring is implemented control to this side perching knife lifting electro hydraulic valve in view of the above; And according to receiving each sensor signal hoist cylinder electrically-controlled valve 4a and right hoist cylinder electrically-controlled valve 4 are sent the leveling controller 10 and the display 11 of control signal left, wherein, leveling controller 10 is connected with perching knife inclination sensor 12, perching knife rotary sensor 13, rack inclining sensor 14, left hoist cylinder electrically-controlled valve 4a and right hoist cylinder electrically-controlled valve 4, perching knife elevation sensor 15, perching knife range sensor 16 and display 11 respectively.
The complete machine travel speed sensor 17 that links to each other with leveling controller 10 also is installed on land leveller.
A side or middle part at perching knife 9 also are equipped with the band differential GPS satellite positioning device 18 that links to each other with leveling controller 10.
Automatically the leveling electric-control system is the core of this patent, display 11 is used to set automatic leveling pattern, horizontal wall inscription angle [alpha], shows the leveling state of perching knife 9 and the indication of reporting to the police in real time, can import and store current road construction data by data-interface (CAN, USB etc.) as required.The setting of the control model of display 11, horizontal wall inscription angle [alpha] all adopts the soft key of display 11 configurations to realize, can simplify control circuit, the maloperation of avoiding part command switch and hand-hydraulic valve rod to link to each other and may occur.
Automatically the monitoring sensor of leveling electric-control system also comprises extension sensor: perching knife range sensor 16, car load velocity sensor 17, gps satellite positioner 18 and road construction Data Input Interface.In this expansion leveling control mode, perching knife range sensor 16 monitoring perching knives 9 road transversely with respect to benchmark rope or benchmark curb apart from d, be used for Height control and introduce and laterally move corresponding elevation correction, improve control accuracy; The position that can be used for positioning operation process perching knife 9 left-hand point P1 simultaneously.Car load velocity sensor 17 is used to monitor the real-time speed of land leveller, in the computational tasks with respect to the distance of reference point (starting point), thereby cooperate position apart from d location perching knife 9 left-hand point P1.GPS device 18 selects for use the supplier that the satellite positioning device of difference base station data service is provided in the land leveller scope of application, and its positioning accuracy reaches a centimetre rank, can satisfy the required precision of land leveller perching knife 9 automatic horizontal control systems.GPS device 18 can be used for locating P2 point (or P1-P2 mid point) position.After P1, P2 point was determined, perching knife 9 oblique lines and respective design oblique line gradient α ' were just determined; Compare with perching knife 9 actual measurement inclination angle [theta] in view of the above, system can carry out the adjusting of right side perching knife 9, satisfies the engineering construction technical requirement.
In this extended control mode, the operating range, the perching knife 9 transversal displacement d that calculate according to travel speed determine P1 point horizontal level, adopt GPS device 18 to obtain P2 point horizontal level.At this moment,, then can access the design data of 2 of P1, P2, calculate 2 theoretical slope angle (with respect to the horizontal plane) and carry out the adjusting of right side perching knife 9 according to perching knife 9 actual inclination angle [theta] if current road construction data are imported and stored to watch-dog in advance.At this moment, the horizontal wall inscription angle of road can change, and leveling controller 10 can calculate the design grade α ' of current location birth canal in real time, thereby is fit to the accurate control that cross falls such as bend superelevation, road mitigation line change according to certain rules; And when not using the method for this patent, this situation promptly uses other land leveller automatic horizontal control system (U.S. Pat 5107932, Chinese patent CN200520011494.X) also to adjust with feeling by the driver fully, planeness do not guarantee, can not realize that more cross fall presses the accurate control that rule changes.
Adopt 4 kinds of sensors of pedestal sensor group, add that shovel range sensor 16, car load velocity sensor 17 can realize becoming the leveling control of gradient road.At this moment, import and store the delta data of road grade with display 11 soft keys or Data Input Interface with the distance of travelling.During the land leveller operation, go out operating range, can access corresponding cross fall α thus by travel speed and Time Calculation; Perching knife 9 elevation sensors 15 detect the elevation variation of perching knife 9P1 point with respect to benchmark, and the correction of Height control has been introduced in perching knife 9 transversal displacement d monitoring, make the control of P1 point height more accurate; Perching knife 9 horizontal rotation angle betas, frame 8 longitudinal grade that combined sensor detects and the horizontal wall inscription angle [alpha] that accesses can calculate the theoretical oblique line gradient α ' of perching knife 9; In view of the above, automatic horizontal control system is regulated right side perching knife 9 liftings, and its actual inclination angle [theta] is equated with α ' is approaching as far as possible, and the realization land leveller flattens road and satisfies the requirement of the road design gradient.
In the present embodiment, leveling controller 10 is selected Finland EPEC company 2023 type engineering machinery controllers for use; Display 11 is selected the German GRAF AT72 of company escope for use.
Claims (5)
1. leveler intelligent levelling control system, include: the signal that receives land leveller perching knife position according to perching knife locus monitoring sensor, and the control signal of sending the automatic leveling electric-control system of control signal and receiving automatic leveling electric-control system from the electro hydraulic valve of trend control perching knife oil cylinder drives the self-leveling automatic leveling hydraulic system of perching knife.
2. leveler intelligent levelling control system according to claim 1, it is characterized in that described automatic leveling electric-control system includes: be provided with on land leveller: the perching knife inclination sensor (12) of heeling condition that is used to monitor perching knife and horizontal plane that is installed in perching knife (9) top; Being installed in being used on the perching knife rotary disk (7) monitors the perching knife rotary sensor (13) of perching knife angle of revolution; Be installed in the rack inclining sensor (14) that is used to monitor the longitudinal grade of travelling on the land leveller forebay (8); Control perching knife oil cylinder and be arranged on left hoist cylinder electrically-controlled valve (4a) and right hoist cylinder electrically-controlled valve (4) in the automatic leveling hydraulic system; Be installed in the perching knife elevation sensor (15) and the perching knife range sensor (16) that are used to follow the tracks of operation road surface benchmark of perching knife (9) one sides; And according to receiving each sensor signal the automatically controlled Yan of hoist cylinder (4a) and right hoist cylinder electrically-controlled valve (4) are sent the leveling controller (10) and the display (11) of control signal left, wherein, leveling controller (10) is connected with perching knife inclination sensor (12), perching knife rotary sensor (13), rack inclining sensor (14), left hoist cylinder electrically-controlled valve (4a) and right hoist cylinder electrically-controlled valve (4), perching knife elevation sensor (15), perching knife range sensor (16) and display (11) respectively.
3. leveler intelligent levelling control system according to claim 2 is characterized in that: the complete machine travel speed sensor (17) that links to each other with leveling controller (10) also is installed on land leveller.
4. leveler intelligent levelling control system according to claim 2 is characterized in that: a side or middle part at perching knife (9) also are equipped with the band differential GPS satellite positioning device (18) that links to each other with leveling controller (10).
5. leveler intelligent levelling control system according to claim 1 is characterized in that, described automatic leveling hydraulic system includes: the pressure-gradient control valve (6) that control liquid flows into; First, second timing throttle valve (5a, 5) that links to each other with the output of pressure-gradient control valve (6) respectively; Correspondence is connected on the output of two timing throttle valves (5a, 5) and is subjected to the left hoist cylinder electrically-controlled valve (4a) and the right hoist cylinder electrically-controlled valve (4) of leveling controller (10) control in the automatic leveling electric-control system respectively; First, second hand control valve (1a, 1) that links to each other with the output of pressure-gradient control valve (6) respectively; Reach second bidirectional hydraulic lock (2) that links to each other with the second manual control Yan (1) with the automatically controlled Yan of right hoist cylinder (4) with first bidirectional hydraulic lock (2a) that left hoist cylinder electrically-controlled valve (4a) links to each other with first-hand brake control valve (1a); And correspondence links to each other with the output of two bidirectional hydraulic locks (2a, 2) respectively, drives the left hoist cylinder (3a) and the right hoist cylinder (3) of perching knife (9) action; Be connected by fluid pressure line between the above-mentioned parts.
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| CNU200720097350XU CN201089948Y (en) | 2007-09-05 | 2007-09-05 | Intelligent leveling system of grader |
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| CN101117809B (en) * | 2007-09-05 | 2012-02-15 | 天津工程机械研究院 | Leveler intelligent leveling system |
| CN103140632A (en) * | 2011-09-30 | 2013-06-05 | 株式会社小松制作所 | Blade control system and construction machine |
| CN103140631A (en) * | 2011-10-06 | 2013-06-05 | 株式会社小松制作所 | Blade control system, construction machine and blade control method |
| CN103154386A (en) * | 2011-09-30 | 2013-06-12 | 株式会社小松制作所 | Construction machine |
| CN103161186A (en) * | 2013-02-05 | 2013-06-19 | 德国Moba自动控制股份有限公司 | Land leveler scraper knife angle detection leveling system and implement method thereof |
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| CN104294871A (en) * | 2013-07-18 | 2015-01-21 | 山推工程机械股份有限公司 | Control method and system for tilt angle of shovel blade |
| CN105780834A (en) * | 2016-04-01 | 2016-07-20 | 黑龙江八农垦大学 | Intelligent pulsewidth modulation control device for hydraulic electromagnetic valve of land leveler |
| CN108086373A (en) * | 2017-09-26 | 2018-05-29 | 内蒙古大学 | Land leveller human assistance automatic Pilot and leveling unit based on GPS-RTK technologies |
| CN108699803A (en) * | 2016-03-23 | 2018-10-23 | 株式会社小松制作所 | The control method and motor-driven grader of motor-driven grader |
| CN110374154A (en) * | 2019-07-24 | 2019-10-25 | 江苏徐工工程机械研究院有限公司 | A kind of list GPS grader elevation control device and control method |
| RU2707614C1 (en) * | 2018-12-29 | 2019-11-28 | федеральное государственное бюджетное образовательное учреждение высшего образования "Самарский государственный технический университет" | Road profiling method for motor grader |
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| CN110056026B (en) * | 2019-04-30 | 2021-08-06 | 三一汽车制造有限公司 | Blade control system, land leveler and control method thereof |
| CN114489031A (en) * | 2022-01-26 | 2022-05-13 | 上海联适导航技术股份有限公司 | Flat leveling operation overload control system and method based on satellite |
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| CN101117809B (en) * | 2007-09-05 | 2012-02-15 | 天津工程机械研究院 | Leveler intelligent leveling system |
| CN103140632A (en) * | 2011-09-30 | 2013-06-05 | 株式会社小松制作所 | Blade control system and construction machine |
| CN103154386A (en) * | 2011-09-30 | 2013-06-12 | 株式会社小松制作所 | Construction machine |
| CN103140632B (en) * | 2011-09-30 | 2014-07-02 | 株式会社小松制作所 | Blade control system and construction machine |
| CN103154386B (en) * | 2011-09-30 | 2014-07-02 | 株式会社小松制作所 | Construction machine |
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