CN203613580U - GPS-RTK technology based automatic leveling device for bulldozers - Google Patents
GPS-RTK technology based automatic leveling device for bulldozers Download PDFInfo
- Publication number
- CN203613580U CN203613580U CN201320721959.5U CN201320721959U CN203613580U CN 203613580 U CN203613580 U CN 203613580U CN 201320721959 U CN201320721959 U CN 201320721959U CN 203613580 U CN203613580 U CN 203613580U
- Authority
- CN
- China
- Prior art keywords
- gps
- rtk
- perching knife
- controller
- bulldozer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Operation Control Of Excavators (AREA)
Abstract
The utility model relates to a GPS-RTK technology based automatic leveling device for bulldozers. A GPS-RTK reference station is wirelessly connected with a GPS-RTK rover, and the GPS-RTK reference station and the GPS-RTK rover are wirelessly connected with a wireless receiver; the wireless receiver is wirelessly connected with a data converter, and the data converter is connected with an input terminal of a controller; a shovel blade ascending solenoid valve and a shovel blade descending solenoid valve are respectively connected with an output terminal of the controller, and the controller, a display and a shovel blade control handle are respectively connected with a CAN bus. The GPS-RTK technology based automatic leveling device provided by the utility model has the beneficial effects that: 1. a GPS-RTK positioning technology is used to achieve the precise positioning and elevation control of a bulldozer shovel blade position; 2. by comparison between shovel blade spatial position detection data based on the GPS-RTK technology and construction design data, the lifting operation of the bulldozer shovel blade is automatically realized, and the efficiency and accuracy of construction are greatly improved.
Description
Technical field
The utility model relates to a kind of leveling unit, relates in particular to a kind of bulldozer automatic leveling device based on GPS-RTK technology.
Background technology
Along with the development of national economy, country payes attention to further to farmland capital construction, Hydraulic and Hydro-Power Engineering, road and rail construction, airport construction and municipal engineering etc. in recent years.The smooth operation functions such as bulldozer, paver, loader are more and more in these construction site application.For example, in highway construction, road pavement planeness, the road qualities such as road surface aesthetics and road-ability require more and more higher.And the high-flatness on road surface depends on the planeness of the roadbed of previous construction, substantially place one's entire reliance upon driver's operating experience of the smooth work pattern of traditional bulldozer, the levelling pattern precision of this empirical formula is lower, even if veteran bulldozer driver also will could be by rough road surface levelling through at least three four times, so not only wasted a large amount of manpower and materials, surface evenness is also difficult to guarantee.
Utility model content
Technical problem to be solved in the utility model is: a kind of bulldozer automatic leveling device based on GPS-RTK technology is provided, for the bulldozer levelling operation problem of difficulty relatively, by the real-time location feature of GPS-RTK high accuracy, realize the real-time location of accurate control to bulldozer, perching knife and the full automation of smooth, digging and muck haulage, meet vertical curve, transition point, superelevated curve etc. and require harsh engineering construction needs.
The utility model for the technical scheme that the problem of the above-mentioned proposition of solution adopts is:
A kind of bulldozer automatic leveling device based on GPS-RTK technology, comprise GPS-RTK datum station 1, GPS-RTK rover station 2, wireless receiver 3, data converter 4, controller 5, display 6, perching knife rising electromagnetic valve 7, perching knife decline electromagnetic valve 8, perching knife control crank 9 and CAN bus 10, GPS- RTK datum station 1 and 2 wireless connections of GPS-RTK rover station, GPS-RTK datum station 1 is arranged on the predetermined area for receiving gps signal, GPS-RTK rover station 2 is arranged in measured zone, described GPS-RTK datum station 1 sends observation to GPS-RTK rover station 2 together with survey station coordinate information by Data-Link, described GPS-RTK rover station 2 receives gps signal from GPS-RTK datum station 1, provide Centimeter Level positioning result, GPS-RTK datum station 1 and GPS-RTK rover station 2 all with wireless receiver 3 wireless connections, the locating information detecting is sent to wireless receiver 3, wireless receiver 3 and data converter 4 wireless connections, locating information is carried out conversion process by data converter 4, data converter 4 is connected with controller 5 inputs, after controller 5 is compared the data that detect in real time and loaded design data, controller 5 is exported corresponding pwm control signal, perching knife rising electromagnetic valve 7 is connected with controller 5 outputs respectively with perching knife decline electromagnetic valve 8, perching knife rising electromagnetic valve 7 and perching knife decline electromagnetic valve 8 are according to control signal electromagnetic valve for adjusting aperture, thereby realize lifting and the decline of bulldozer perching knife, complete the work of bulldozer Automatic Levelling, controller 5, display 6 is connected with CAN bus 10 respectively with perching knife control crank 9, by CAN bus 10 transmission informations, display 6 is for showing in real time perching knife locating information, control output PWM value, the information such as perching knife mode of operation, control the action of vehicle to run and each equipment by perching knife control crank 9.
Described controller 5 is PLC controller, and antijamming capability is strong, easy to maintenance, energy consumption is low.
Described display 6 is liquid crystal display, makes to show more precisely with clear.
On described display 6, button 11 is set, parameter that can setting program control by button 11, has increased man-machine interaction.
Described perching knife rising electromagnetic valve 7 and perching knife decline electromagnetic valve 8 are electric-hydraulic proportion electromagnetic valve, and it is more flexible that electric-hydraulic proportion electromagnetic valve limits operation.
Described perching knife control crank 9 is electric rocker lever, and electric rocker lever can be controlled the action of vehicle to run and each equipment more accurately and stably.
Operating principle of the present utility model: construction party only need provide the design data of the levelling such as road, Gao Po operating mode, data are imported after treatment to the inside of on-board controller, by controller, received real-time detector data and design data are compared to calculating, realize the accurate control to bulldozer levelling.Utilize the accurate spatial orientation information of RTK technology, send locating information to wireless receiver through GPS-RTK datum station and GPS-RTK rover station, then pass through the conversion process of data converter, data converter docks with the respective input mouth of controller, controller is compared the data that detect in real time and the design data that is written into of controller, through sequential operation, controller is exported corresponding pwm control signal, perching knife lifting electromagnetic valve and perching knife decline electromagnetic valve are according to control signal electromagnetic valve for adjusting aperture, thereby realize lifting and the decline of bulldozer perching knife, make the position after perching knife adjustment meet working design requirement.Thereby overcome the bulldozer drawback of artificial levelling by rule of thumb in the past, realized the operation of bulldozer Automatic Levelling.Owing to can determine the 3 d space coordinate of the website that flows based on GPS-RTK location technology, so changed the drawback of conventional laser levelling, leveling unit based on GPS-RTK technology can be applied to plane levelling, also can be used for the levelling that slope, curved surface etc. require harsh operating mode, the high process control of disposable solution, planeness control, the problems such as slope control.
GPS-RTK datum station mainly comprises: tripod, and gps antenna, GPS Receiving Host, radio-transmitting station, radio antenna, measurement hand are thin, stube cable and electric power system; GPS-RTK rover station mainly comprises: gps antenna, mast, GPS receiver, reception radio station, radio antenna and stube cable.The existing product of respectively each ingredient of datum station and rover station having been made to integral type now, more convenient on-the-spot installation.
Data converter: its function is mainly the conversion process through ad hoc rules by the locating information receiving, converts the data signal that controller can be identified and conveniently process to.
Controller: the perching knife locus detection information and the design data (plane, slope, curved design) that receive are compared to computing, show that controller PWM controls output signal.
Display: show in real time perching knife locating information, control the information such as output PWM value, perching knife mode of operation.Display also has button settings function in addition, can change some programme-control parameter by associated button, has increased man-machine interaction.
Wireless receiver: the wireless signal that energy receiving positioner sends, and can send the signal of acquisition to Date Conversion Unit.
The beneficial effects of the utility model are: 1, utilize GPS-RTK location technology, guarantee that bulldozer can carry out Automatic Levelling operation, between measuring station, without intervisibility, strengthen the place compliance of bulldozer levelling operation, realized definite location and the high process control of bulldozer perching knife position; 2, detect the contrast of data and working design data by the perching knife locus based on GPS-RTK technology, automatically realize the descending operation to bulldozer perching knife, a levelling can meet construction requirement, the labour intensity that can reduce again bulldozer driver, has improved efficiency of construction and accuracy rate greatly; 3, the automatic leveling device based on GPS-RTK technology can be realized the real-time location of accurate control to bulldozer levelling, perching knife and the full automation of smooth, digging and muck haulage, has met vertical curve, transition point, superelevated curve and complicated website etc. and has required harsh engineering construction needs; 4, automatic leveling device has reduced the energy loss of bulldozer, thereby has reduced engineering spending and environment pollution.
Accompanying drawing explanation
Fig. 1 is structural principle schematic diagram of the present utility model.
Wherein, 1-GPS-RTK datum station, 2-GPS-RTK rover station, 3-wireless receiver, 4-data converter, 5-controller, 6-display, 7-perching knife rising electromagnetic valve, 8-perching knife decline electromagnetic valve, 9-perching knife control crank, 10-CAN bus, 11-button.
The specific embodiment
Further illustrate embodiment of the present utility model below in conjunction with accompanying drawing.
With reference to Fig. 1, a kind of bulldozer automatic leveling device based on GPS-RTK technology described in this specific embodiment, comprise GPS-RTK datum station 1, GPS-RTK rover station 2, wireless receiver 3, data converter 4, controller 5, display 6, perching knife rising electromagnetic valve 7, perching knife decline electromagnetic valve 8, perching knife control crank 9 and CAN bus 10, GPS- RTK datum station 1 and 2 wireless connections of GPS-RTK rover station, GPS-RTK datum station 1 is arranged on the predetermined area for receiving gps signal, GPS-RTK rover station 2 is arranged in measured zone, described GPS-RTK datum station 1 sends observation to GPS-RTK rover station 2 together with survey station coordinate information by Data-Link, described GPS-RTK rover station 2 receives gps signal from GPS-RTK datum station 1, provide Centimeter Level positioning result, GPS-RTK datum station 1 and GPS-RTK rover station 2 all with wireless receiver 3 wireless connections, the locating information detecting is sent to wireless receiver 3, wireless receiver 3 and data converter 4 wireless connections, locating information is carried out conversion process by data converter 4, data converter 4 is connected with controller 5 inputs, after controller 5 is compared the data that detect in real time and loaded design data, controller 5 is exported corresponding pwm control signal, perching knife rising electromagnetic valve 7 is connected with controller 5 outputs respectively with perching knife decline electromagnetic valve 8, perching knife rising electromagnetic valve 7 and perching knife decline electromagnetic valve 8 are according to control signal electromagnetic valve for adjusting aperture, thereby realize lifting and the decline of bulldozer perching knife, complete the work of bulldozer Automatic Levelling, controller 5, display 6 is connected with CAN bus 10 respectively with perching knife control crank 9, by CAN bus 10 transmission informations, display 6 is for showing in real time perching knife locating information, control output PWM value, the information such as perching knife mode of operation, control the action of vehicle to run and each equipment by perching knife control crank 9.
Described controller 5 is PLC controller, and antijamming capability is strong, easy to maintenance, energy consumption is low.
Described display 6 is liquid crystal display, makes to show more precisely with clear.
On described display 6, button 11 is set, parameter that can setting program control by button 11, has increased man-machine interaction.
Described perching knife rising electromagnetic valve 7 and perching knife decline electromagnetic valve 8 are electric-hydraulic proportion electromagnetic valve, and it is more flexible that electric-hydraulic proportion electromagnetic valve limits operation.
Described perching knife control crank 9 is electric rocker lever, and electric rocker lever can be controlled the action of vehicle to run and each equipment more accurately and stably.
The operating principle of this specific embodiment: construction party only need provide the design data of the levelling such as road, Gao Po operating mode, data are imported after treatment to the inside of on-board controller, by controller, received real-time detector data and design data are compared to calculating, realize the accurate control to bulldozer levelling.Utilize the accurate spatial orientation information of RTK technology, send locating information to wireless receiver through GPS-RTK datum station and GPS-RTK rover station, then pass through the conversion process of data converter, convert the data signal that controller can be identified and conveniently process to, data converter docks with the respective input mouth of controller, controller is by the data that detect in real time and the design data (plane that is written into of controller, slope, curved design) compare computing, through sequential operation, controller is exported corresponding pwm control signal, perching knife lifting electromagnetic valve and perching knife decline electromagnetic valve are according to control signal electromagnetic valve for adjusting aperture, thereby realize lifting and the decline of bulldozer perching knife, make the position after perching knife adjustment meet working design requirement.Thereby overcome the bulldozer drawback of artificial levelling by rule of thumb in the past, realized the operation of bulldozer Automatic Levelling.Owing to can determine the 3 d space coordinate of the website that flows based on GPS-RTK location technology, so changed the drawback of conventional laser levelling, leveling unit based on GPS-RTK technology can be applied to plane levelling, also can be used for the levelling that slope, curved surface etc. require harsh operating mode, the high process control of disposable solution, planeness control, the problems such as slope control.
GPS-RTK datum station mainly comprises: tripod, and gps antenna, GPS Receiving Host, radio-transmitting station, radio antenna, measurement hand are thin, stube cable and electric power system; GPS-RTK rover station mainly comprises: gps antenna, mast, GPS receiver, reception radio station, radio antenna and stube cable.The existing product of respectively each ingredient of datum station and rover station having been made to integral type now, more convenient on-the-spot installation.
Display: show in real time perching knife locating information, control the information such as output PWM value, perching knife mode of operation.Display also has button settings function in addition, can change some programme-control parameter by associated button, has increased man-machine interaction.
The beneficial effect of this specific embodiment is: 1, utilize GPS-RTK location technology, guarantee that bulldozer can carry out Automatic Levelling operation, between measuring station, without intervisibility, strengthen the place compliance of bulldozer levelling operation, realized definite location and the high process control of bulldozer perching knife position; 2, detect the contrast of data and working design data by the perching knife locus based on GPS-RTK technology, automatically realize the descending operation to bulldozer perching knife, a levelling can meet construction requirement, the labour intensity that can reduce again bulldozer driver, has improved efficiency of construction and accuracy rate greatly; 3, the automatic leveling device based on GPS-RTK technology can be realized the real-time location of accurate control to bulldozer levelling, perching knife and the full automation of smooth, digging and muck haulage, has met vertical curve, transition point, superelevated curve and complicated website etc. and has required harsh engineering construction needs; 4, automatic leveling device has reduced the energy loss of bulldozer, thereby has reduced engineering spending and environment pollution.
Specific embodiment of the utility model does not form restriction of the present utility model, and every employing analog structure of the present utility model and variation, all in protection domain of the present utility model.
Claims (6)
1. the bulldozer automatic leveling device based on GPS-RTK technology, it is characterized in that: comprise GPS-RTK datum station (1), GPS-RTK rover station (2), wireless receiver (3), data converter (4), controller (5), display (6), perching knife rising electromagnetic valve (7), perching knife decline electromagnetic valve (8), perching knife control crank (9) and CAN bus (10), GPS-RTK datum station (1) and GPS-RTK rover station (2) wireless connections, GPS-RTK datum station (1) and GPS-RTK rover station (2) all with wireless receiver (3) wireless connections, wireless receiver (3) and data converter (4) wireless connections, data converter (4) is connected with controller (5) input, perching knife rising electromagnetic valve (7) is connected with controller (5) output respectively with perching knife decline electromagnetic valve (8), controller (5), display (6) is connected with CAN bus (10) respectively with perching knife control crank (9).
2. a kind of bulldozer automatic leveling device based on GPS-RTK technology as claimed in claim 1, is characterized in that: described controller (5) is PLC controller.
3. a kind of bulldozer automatic leveling device based on GPS-RTK technology as claimed in claim 1, is characterized in that: described display (6) is liquid crystal display.
4. a kind of bulldozer automatic leveling device based on GPS-RTK technology as described in claim 1 or 3, is characterized in that: on described display (6), button (11) is set.
5. a kind of bulldozer automatic leveling device based on GPS-RTK technology as claimed in claim 1, is characterized in that: described perching knife rising electromagnetic valve (7) and perching knife decline electromagnetic valve (8) are electric-hydraulic proportion electromagnetic valve.
6. a kind of bulldozer automatic leveling device based on GPS-RTK technology as claimed in claim 1, is characterized in that: described perching knife control crank (9) is electric rocker lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320721959.5U CN203613580U (en) | 2013-11-16 | 2013-11-16 | GPS-RTK technology based automatic leveling device for bulldozers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320721959.5U CN203613580U (en) | 2013-11-16 | 2013-11-16 | GPS-RTK technology based automatic leveling device for bulldozers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203613580U true CN203613580U (en) | 2014-05-28 |
Family
ID=50766236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320721959.5U Expired - Lifetime CN203613580U (en) | 2013-11-16 | 2013-11-16 | GPS-RTK technology based automatic leveling device for bulldozers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203613580U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104215229A (en) * | 2014-08-07 | 2014-12-17 | 广州市中海达测绘仪器有限公司 | RTK device adjusting method, RTK device adjusting system and RTK measuring method |
| CN105300410A (en) * | 2015-12-01 | 2016-02-03 | 中国矿业大学 | Coalcutter inertial navigation and location error calibration device and method |
| 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 |
| CN107462246A (en) * | 2017-07-07 | 2017-12-12 | 南京天辰礼达电子科技有限公司 | A kind of digging machine guides system |
| CN107514022A (en) * | 2017-07-07 | 2017-12-26 | 南京天辰礼达电子科技有限公司 | A kind of bull-dozer guides system |
| CN108517747A (en) * | 2018-07-06 | 2018-09-11 | 孙昕怡 | A kind of ground evener |
| CN108729489A (en) * | 2018-06-04 | 2018-11-02 | 山推工程机械股份有限公司 | A kind of intelligent distant control bull-dozer and its control method |
| CN108797669A (en) * | 2018-06-20 | 2018-11-13 | 清华大学 | A kind of autonomous 3D excavations construction robot |
-
2013
- 2013-11-16 CN CN201320721959.5U patent/CN203613580U/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104215229A (en) * | 2014-08-07 | 2014-12-17 | 广州市中海达测绘仪器有限公司 | RTK device adjusting method, RTK device adjusting system and RTK measuring method |
| CN105300410A (en) * | 2015-12-01 | 2016-02-03 | 中国矿业大学 | Coalcutter inertial navigation and location error calibration device and method |
| 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 |
| CN107462246A (en) * | 2017-07-07 | 2017-12-12 | 南京天辰礼达电子科技有限公司 | A kind of digging machine guides system |
| CN107514022A (en) * | 2017-07-07 | 2017-12-26 | 南京天辰礼达电子科技有限公司 | A kind of bull-dozer guides system |
| CN108729489A (en) * | 2018-06-04 | 2018-11-02 | 山推工程机械股份有限公司 | A kind of intelligent distant control bull-dozer and its control method |
| CN108797669A (en) * | 2018-06-20 | 2018-11-13 | 清华大学 | A kind of autonomous 3D excavations construction robot |
| CN108797669B (en) * | 2018-06-20 | 2020-12-22 | 清华大学 | Autonomous 3D excavating construction robot |
| CN108517747A (en) * | 2018-07-06 | 2018-09-11 | 孙昕怡 | A kind of ground evener |
| CN108517747B (en) * | 2018-07-06 | 2020-03-31 | 孙昕怡 | Ground leveling machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203613580U (en) | GPS-RTK technology based automatic leveling device for bulldozers | |
| CN108797669B (en) | Autonomous 3D excavating construction robot | |
| CN108316363B (en) | Automatic monitoring system and method for horizontal displacement of foundation pit | |
| CN106123776B (en) | A kind of push pipe intelligence jacking measuring system and measurement method | |
| CN103526783B (en) | A kind of method measuring building foundation pit horizontal movement | |
| CN104091215A (en) | Project planning management system based on building information model | |
| CN102155230B (en) | Tunnel curve segment lofting method based on circle coordinates | |
| CN101737030A (en) | Method for controlling well depth positioning in deposit drilling | |
| CN103886152A (en) | Drainage basin water catchment range manufacturing method based on urban concave downward flyover area DEM | |
| CN102587425A (en) | Measurement positioning and construction method for foundation piles | |
| CN103196403B (en) | A kind of earth volume measuring method controlling flat ground system based on GPS | |
| CN102680942A (en) | Blast furnace frame measuring positioning method based on total station | |
| CN103837125A (en) | Convergence monitoring system for tunnel construction | |
| CN110260039A (en) | A kind of Vertical Curve pipe jacking construction method based on BIM technology | |
| CN104280014A (en) | Measurement method for measuring elevation and flatness of concrete surface | |
| CN202956103U (en) | Digital measurement system for roadbed construction and control system | |
| CN103822704B (en) | Road lighting measurement mechanism | |
| CN106292601B (en) | Paving operation state supervisory systems and method based on RTK | |
| CN102518013A (en) | Method for construction of measurement and pavement of GRP (ground reference point) of ballastless track reference network | |
| CN100378275C (en) | Automatic dredging depth controller for cutter suction dredger | |
| US10144620B2 (en) | Method and system for positioning engineering machinery work objects | |
| CN209248023U (en) | A kind of static pile press automatic positioning stake position system | |
| CN112784352A (en) | Intelligent paving guidance system based on Beidou and three-dimensional self-perception positioning technology | |
| CN202471067U (en) | Airport clearance monitor | |
| CN105178367A (en) | Three-dimensional visualization method of final foundation settlement amount |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |