CN206146491U - Load mobilometer side and weighing device based on laser scanning distance measurement technique - Google Patents
Load mobilometer side and weighing device based on laser scanning distance measurement technique Download PDFInfo
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- CN206146491U CN206146491U CN201620179189.XU CN201620179189U CN206146491U CN 206146491 U CN206146491 U CN 206146491U CN 201620179189 U CN201620179189 U CN 201620179189U CN 206146491 U CN206146491 U CN 206146491U
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- laser
- scraper bowl
- scanning
- distance measuring
- measuring sensor
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Abstract
The utility model relates to an in automatic side of counting of the loader of laser scanning distance measurement technique and weighing device, it turns around scanning range sensor (3) by left side scraper bowl laser gyration scanning range sensor (1), left side scraper bowl laser gyration scanning range sensor support (2), right side scraper bowl laser, right side scraper bowl laser gyration scanning range sensor support (4), and control panel (5) and control box (6) are constituteed, left side scraper bowl laser gyration scanning range sensor (1) and the structure of right side scraper bowl laser rotary scanning range sensor (3), constitute, the function is the same with the principle, synchronous simultaneous working, it can be for the top of 14 departments of lateral length apart from both ends at the scraper bowl back -porch to install respectively through left side scraper bowl laser gyration scanning range sensor support (2) and right side scraper bowl laser rotary scanning range sensor support (4), its gyration scanning range face should be perpendicular with the plane that the back -porch constitutes with ground or scraper bowl forward position, inclusive AND scraper bowl cross section is parallel.
Description
Technical field
This utility model belongs to loose or liquid material volume measurement techniques field in bucket, railway carriage or compartment, storehouse (cabin) or tank body, especially
It is related to a kind of loader based on laser scanning and ranging the technology side of counting and gravity measure device automatically.
Background technology
There is presently no the introduction with regard to meter side's method and device of material in loading shovel, it is disclosed for filling
The method and device of carrier aircraft weight calculation adopts the structure being made up of oil pressure sensor, processor, control panel and display screen etc. mostly,
Its principle is：The oil pressure sensor output oil pressure data being installed on loading machine movable arm cylinder, processor is by oil pressure data Jing
The weight information of material in scraper bowl is exported after analog digital conversion and computing.When such weighing device (or claiming electronic scale) is in operating condition
When poor such as broken (gravel) stone field, sandpit, sand field processed or simple rickyard are weighed, it is difficult to eliminate due to shutting down face
Incline, jolting when loader is travelled, the change and boom pivot lubrication state of acceleration, oil temperature in boom arm lift with temperature
The factor such as change to counting weight the impact that precision is produced, thus it haves the shortcomings that bad adaptability and application surface are narrow.
The content of the invention
Technical problem to be solved in the utility model is：There is provided a kind of loader based on laser scanning and ranging technology certainly
Dynamic meter side and gravity measure device, the device is simple using laser scanning and ranging system structure, integrated easy and range finding fast accurate
Advantage, need not to the subsystems of working device of loader under conditions of such as hydraulic system is modified, by means of
The mode of operation of driver's paperback scraper bowl, realizes the accurate survey to loose or liquid material volume and weight in loading shovel
Amount.
Loader automatically count side and weight calculation method and step of the device based on following laser scanning and ranging technology：
The first step：Often to turn over a scanning stepping angle α institute inswept for laser range finder based on synchronized scanner on metering scraper bowl transverse section
Material area.Laser range finder based on synchronized scanner carries out respectively two frame scans to scraper bowl that is empty and filling material and by two groups of data
Centering, if the datum mark of laser range finder based on synchronized scanner is O points, often turning over a scanning stepping angle α just carries out a Laser Measuring
Away from, it is OCD that angle encloses figure by two laser ranging lines of α with scraper bowl inner surface, and it is OEF to enclose figure with surface of material,
Drawing a straight line for dividing α angles equally by surface of material and scraper bowl inner surface etc. from datum mark O has OBiAnd OAi, then draw two B excessivelyi
Point and AiPoint is perpendicular to OBiAnd OAiStraight line, form isosceles triangle OC ' D ' and OE ' F ', as shown in Figure 1.Make OCD and OEF institutes
The area for enclosing figure is equal to the area of isosceles triangle OC ' D ' and OE ' F ', and by isosceles triangle area formula the face of OC ' D ' is obtained
Product SOC’D’：
In formula：
The area S of OE ' F ' is obtained in the same mannerOE’F’：
In formula：
Then in each scanning inswept scraper bowl of stepping angle of laser range finder based on synchronized scanner material area SiFor：
Second step：The cross-sectional area S of material on metering scraper bowl transverse section.It is made to be equal to scanning laser sensor each time
The inswept corresponding trapezoidal area S of all scanning stepping angles from initial angle to end angleiSum：
3rd step：Volume V of material in metering scraper bowl.Left and right side scanning laser sensor is scanned simultaneously or synchronously
Range finding, using average disconnected
4th step：Weight W of material in metering or calculating scraper bowl.The proportion of material in advance manual measurement or selection scraper bowl
And represent have with γ：
W=V γ are 6.
Loader automatically count side and gravity measure device of this kind based on laser scanning and ranging technology, is made up of following six part,
It is respectively left side scraper bowl laser revolving scanning distance measuring sensor 1, left side scraper bowl laser revolving scanning distance measuring sensor support 2 is right
Side scraper bowl laser revolving scanning distance measuring sensor 3, right side scraper bowl laser revolving scanning distance measuring sensor support 4, the He of control panel 5
Control box 6, referring to Fig. 2；Electronic device each several part therein include thereon or between internal each parts, by all kinds of interfaces with
Joint, socket and plug etc., connect in a wired or wireless manner；The device needs to do two preparations before enabling, and one is
The calibration for entering line sensor setting base is demarcated, and need to determine scanning initial angle and end angle position according to scanning pattern on scraper bowl
Put, the two location points can be substituted for each other as datum mark, to carry out bilateral scanning, they are carried out Jing after system validation
The locking of stopping means；Two is to generate the relevant data for calculating volume of material in scraper bowl, first by control panel 5
Keyboard by the scraper bowl lateral length data inputting of hand dipping to control box 6, then start laser range finder based on synchronized scanner
One frame scan is carried out from initial angle to end angle to empty scraper bowl, the distance values on its each scanning element are used as one group of base value
According to being stored in the internal memory of control box 6, the volume and weight for loaded material is calculated, and the benchmark data that this frame scan is formed should be with
Scraper bowl is filled position of the real-time scan data after material on each scanning element and is corresponded, and two groups of data via controllers are processed
After can generate material cross sectional area numerical value in scraper bowl；Additionally, conventional bulk cargo should be also stored in internal memory in different humidity state
Under specific gravity data and liquid material (such as cement concrete) specific gravity data, together side and weight calculation based on system；Concrete thing
The specific gravity data of material can be to obtain, and by chain of command by means of conventional bulk cargo or liquid material specific weight measurer Jing measurements
Plate 5 is input to corresponding measurement data in control box 6.
The composition of this device each several part, function and operation principle are described below.
Described left side scraper bowl laser revolving scanning distance measuring sensor 1 and right side scraper bowl laser revolving scanning distance measuring sensor
3, it is characterised in that：Their structure, composition, function are identical with principle, synchronous or while work, by left sensor support
2 and right sensor support 4 be separately mounted to scraper bowl tailing edge away from two ends can be lateral length 1/4 at top (referring to figure
3), its revolving scanning range finding face should be vertical with the plane that tailing edge is constituted with ground or scraper bowl forward position or parallel with scraper bowl cross section,
It is to simplify structure design in the case where scanning blind spot is not formed, the positioning that should make revolving scanning distance measuring sensor calibrates basic point
It is positioned as close to the distance between scraper bowl tailing edge, if selecting or coordinating the flat bucket charging operation of scraper bowl, i.e., in fully charged wink
Between expect or make to by way of discharging outside scraper bowl the planar state of charge level in bucket manipulating rotary ink tank handle and shake into scraper bowl,
The size can narrow down to minimum；The left side scraper bowl laser revolving scanning distance measuring sensor 1 or right side scraper bowl laser revolution are swept
Distance measuring sensor 3 is retouched, is made up of laser range sensor 7 and device for revolving and driving 8, therebetween using straight drive, gear or tooth
Band or Worm Wheel System mode, distance measuring sensor therein 7, can by range finding control module 9, laser emitting module 10, swash
Optical Receivers 11 and range finder module 12 etc. are constituted, and device for revolving and driving therein 8 by positioning control module 13, stepping or can be watched
Take motor or servo driving module 14 and stepping or servomotor or steering wheel 15 is constituted；The range finding control module 9 and positioning control
Molding block 13, may be selected to be substituted by same PLC or single-chip microcomputer, and partial installation form may also be employed directly by control box 6
PLC or single-chip microcomputer are substituted, and its purpose is to the laser emitting module 10 described in setting up and stepping or servomotor or steering wheel drives
The synchronization therebetween of dynamic model block 14 or interaction relation, the control cyclic process of its each frame scan can be：Driver presses
PLC or single-chip microcomputer behind meter side, weight calculation or cumulative button on control panel 5 in one signal of telecommunication → control box 6 of generation is accordingly
The signal of telecommunication to laser emitting module 10 send triggering one laser ranging pulse instruction → laser emitting module 10 send one
Individual laser ranging pulse Jing laser pick-ofves module 11 receives, and is calculated by laser ranging module 12, and output one is from distance measuring sensor 7
Datum mark to material in scraper bowl scanned measuring point scan initial angle or terminate Angle Position distance values → control box 6 in
PLC or single-chip microcomputer send one to stepping or servomotor or servo driving module 14 and drive stepping or servomotor or steering wheel
15 turn over one with motor stepping angle into multiple proportion fixed test angle (or claim scanning stepping angle, referring to Fig. 1) instruction →
Stepping or servomotor or steering wheel 15 drive laser range sensor 7 to turn over a fixed scanning stepping angle and do one it is of short duration
Rest → PLC or single-chip microcomputer send the instruction of one laser ranging pulse of triggering → swash resting the moment to laser emitting module 10
Ligh-ranging sensor 7 repeats aforementioned ranging process, exports the distance values of the measuring point, when stepping or servomotor or steering wheel 15 are received
Control drive laser range sensor 7 often turn over one scanning stepping angle do one it is of short duration rest when, laser emitting module 10 is just
One laser ranging pulse command of controlled triggering, so as to produce the distance values of a measuring point, when stepping or servomotor or rudder
Machine 15 carries out a frame and sweeps from initial angle to end angle or from end angle to initial Angle Position by angularly-batch (-type)-continuous rotation
After retouching, laser range sensor 7 just can export the distance that one group of position is relatively fixed the scanning point distance measurement equal with angle of revolution
Data, after completing frame scan work, again accordingly data and a group be stored in internal memory are scanned to empty scraper bowl for PLC or single-chip microcomputer
Benchmark data calculate the cross sectional area of material, volume and weight in scraper bowl successively；To eliminate left side laser revolving scanning
Distance measuring sensor 1 or right side laser revolving scanning distance measuring sensor 3 are before work because scraper bowl shake or vehicle pitching etc. cause it
The change of scanning initial angle or end angle initial position, in its revolving scanning initial angle or should terminate the spacing dress of angular position setting
Put, position of the stopping means on base is adjustable and can locking, can add in the shaft end of stepping or servomotor or steering wheel 15
Dress encoder, sensor and code-disc carry out SERVO CONTROL, the return and system before can adding scanning in scanner driver design
Dynamic program.
Described left side scraper bowl laser revolving scanning distance measuring sensor support 2 or right side scraper bowl laser revolving scanning range finding are passed
Sensor bracket 4, it is characterised in that：Its lower end and scraper bowl detachable connection, its upper end is turned round with corresponding left side scraper bowl laser
Scanning distance measuring sensor 1 or right side scraper bowl laser revolving scanning distance measuring sensor 3 connect, its specific constructive form and type of attachment
Foundation can be adjusted in space with the positioning calibration base position for guaranteeing to complete laser range finder based on synchronized scanner, left or right can be completed
The initial alignment operation of side scraper bowl laser revolving scanning distance measuring sensor positioning calibration basic point and scraper bowl mount point.
Described control box 6, it is characterised in that：It is mounted or fixed to driving interior and is easy to operator with observation
Near position such as boom cylinder operation handle, it can be by box body, PLC or single-chip microcomputer, memorizer, data conversion module, display mould
Block, input/output interface, bus and mainboard composition, by interface, adapter and bus etc. and left side scraper bowl laser revolving scanning
The wired or wireless connection such as distance measuring sensor 1 or right side scraper bowl laser revolving scanning distance measuring sensor 3, control panel 5；It can be with
Control panel 5 becomes one, and the configurable handset for becoming one, and is easy to personnel under machine to check；It also can will be described
Range finding control module (9), range finder module (12), positioning control module (13) and stepping or servomotor or servo driving module
(14) it is integrated into coming.
Described control panel 5, it is characterised in that：It is by display screen, button or button, display lamp, alarm buzzer, language
Sound prompting apparatuss etc. are constituted, and its basic configuration button has three groups：First group is that system arranges button：It is true including scanning initial angle
Recognize, scan end angle confirmation, scraper bowl lateral length and measured specific gravity confirmation button；Second group is function selecting button：Including meter
Side, weight calculation and cumulative button etc., wherein, when weight calculation button is pressed, system energy display material specific gravity data input mode option,
Its Data Source has two：One is that specific gravity data of the bulk cargo under different humidity state is commonly used in Installed System Memory, and two is manual defeated
Enter the specific gravity data by means of conventional bulk cargo specific weight measurer measurement；3rd group is to include 0-9 numeral keys；Additionally, control
Power key etc. should be also set on panel processed 5.
Description of the drawings
Fig. 1 is to calculate laser range finder based on synchronized scanner often to turn over material face in an inswept scraper bowl of scanning stepping angle α
Long-pending principle schematic.
Fig. 2 is principle schematic diagram. of the present utility model.
Fig. 3 is scanning laser sensor schematic view of the mounting position, wherein, 1- left sides scraper bowl laser revolving scanning range finding sensing
Device, 2- left sides scraper bowl laser revolving scanning distance measuring sensor support, 3- right sides scraper bowl laser revolving scanning distance measuring sensor, 4- is right
Side scraper bowl laser revolving scanning distance measuring sensor support.
Specific embodiment
Below by taking CLG856 (ZL50) loader as an example, the implementation process of this utility model structural principle is illustrated.
Used as the CLG856 loaders of mainstream configuration type, the basic parameter of its scraper bowl is：Rated capacity 3m3, [grow crosswise ×
Vertical width] (m) size be 2.86 × 1.38, high 0.27 (m) of baffle plate；Operator is using the flat bucket charging operation of scraper bowl.This practicality
New basic structure size and running parameter can be：1. left and right side laser revolving scanning distance measuring sensor support 2 and 4
0.3m is highly taken, the scan angle of a frame scan is about 70 °, its Installation posture should be slightly tilted blind to eliminate scanning to scraper bowl
Point, its installation site on scraper bowl tailing edge is respectively away from two ends about 0.6m (the 1/4 of lateral length) place；2. left and right side is calibrated
Laser revolving scanning distance measuring sensor 1 and 3 revolving scanning range finding face when, sensor stand 2 and 4 should perpendicular to scraper bowl tailing edge,
A leveling ruler can be put along away from two ends equidistant before and after along scraper bowl longitudinal direction, point light laser makes hot spot be close to along the edge of leveling ruler
Be radiated on scraper bowl inwall, do several frame scans and check its track, should ensure that the track and leveling ruler edge to bucket sidewalls away from
From equal；3. scanning distance measuring sensor 1 or 3 in left or right side adopts pivoting support structure, the inner ring and left scan of pivoting support
The firm banking connection on distance measuring sensor support 4, outer ring and the installation of pivoting support are scanned in distance measuring sensor support 2 or right side
The rotary table connection of laser range sensor 7 and stepping or servomotor or steering wheel 15, processes on the inner ring of pivoting support
There is ring gear, it is engaged with the drive gear of stepping or servomotor or the shaft end of steering wheel 15, speed reducing ratio takes 10, and stepping or servo are electric
The stepping angle of machine or steering wheel 15 takes 1.8 °, and stepping or servomotor 15 often turn over 2 × 1.8 °, the output of laser range sensor 7 one
The distance values of individual measuring point, the range finding points of a frame scan are 194.
Claims (5)
1. a kind of loader based on the laser scanning and ranging technology side of counting and gravity measure device automatically, is characterized in that：It is by following six
Part constitutes, and is respectively left side scraper bowl laser revolving scanning distance measuring sensor (1), and left side scraper bowl laser revolving scanning range finding is sensed
Device support (2), right side scraper bowl laser revolving scanning distance measuring sensor (3), right side scraper bowl laser revolving scanning distance measuring sensor
Frame (4), control panel (5) and control box (6)；Electronic device each several part therein include thereon or between internal each parts,
By all kinds of interfaces and joint, socket and plug, connect in a wired or wireless manner；Left side scraper bowl laser revolution therein is swept
Distance measuring sensor (1) and right side scraper bowl laser revolving scanning distance measuring sensor (3) are retouched, their structure, composition, function and principle
It is identical, it is synchronous or while work, by left side scraper bowl laser revolving scanning distance measuring sensor support (2) and right side scraper bowl laser time
Turn scanning distance measuring sensor support (4) to be separately mounted to scraper bowl tailing edge away from two ends to be the top at the 1/4 of lateral length, its
Revolving scanning range finding face should be vertical with the plane that tailing edge is constituted with ground or scraper bowl forward position or parallel with scraper bowl cross section, not
It is to simplify structure design in the case of forming scanning blind spot, the positioning that should make revolving scanning distance measuring sensor calibrates basic point with shovel
The distance between bucket tailing edge is positioned as close to.
2. a kind of loader based on the laser scanning and ranging technology as claimed in claim 1 side of counting and gravity measure device automatically, its
It is characterised by：Described left side scraper bowl laser revolving scanning distance measuring sensor (1) or right side scraper bowl laser revolving scanning range finding passes
Sensor (3), is made up of laser range sensor (7) and device for revolving and driving (8), therebetween using straight drive, gear or cingulum
Or Worm Wheel System mode, distance measuring sensor (7) therein can be by range finding control module (9), laser emitting module
(10), laser pick-off module (11) and range finder module (12) are constituted, and device for revolving and driving (8) therein can be by positioning control module
(13), stepping or servomotor or servo driving module (14) and stepping or servomotor or steering wheel (15) composition；The range finding
Control module (9) and positioning control module (13), may be selected to be substituted by same PLC or single-chip microcomputer, and partial installation may also be employed
Form is directly substituted by the PLC in control box (6) or single-chip microcomputer, its purpose is to set up described laser emitting module (10)
With stepping or servomotor or servo driving module (14) synchronization therebetween or interaction relation；To eliminate left side laser revolution
Scanning distance measuring sensor (1) or right side scraper bowl laser revolving scanning distance measuring sensor (3) are before work because scraper bowl is shaken or drives a vehicle
Jolt etc. and to cause the change of its scanning initial angle or end angle initial position, in its revolving scanning initial angle or Angle Position should be terminated
Place arrange stopping means, position of the stopping means on base is adjustable and can locking, can be in stepping or servomotor or steering wheel
(15) shaft end installs encoder, sensor and code-disc additional and carries out SERVO CONTROL.
3. a kind of loader based on the laser scanning and ranging technology as claimed in claim 1 side of counting and gravity measure device automatically, its
It is characterised by：Described left side scraper bowl laser revolving scanning distance measuring sensor support (2) or right side scraper bowl laser revolving scanning is surveyed
Away from sensor stand (4), its lower end and scraper bowl detachable connection, its upper end is surveyed with corresponding left side scraper bowl laser revolving scanning
Connect away from sensor (1) or right side scraper bowl laser revolving scanning distance measuring sensor (3), its specific constructive form and type of attachment with
Guaranteeing to complete the positioning calibration base position of laser range finder based on synchronized scanner can be adjusted to foundation in space.
4. a kind of loader based on the laser scanning and ranging technology as claimed in claim 1 side of counting and gravity measure device automatically, its
It is characterised by：Described control panel (5), by display screen, button or button, display lamp, alarm buzzer, voice prompting device group
Into its basic configuration button has three groups：First group is that system arranges button：Confirm, scan end angle including scanning initial angle
Confirm, scraper bowl lateral length and measured specific gravity confirm button；Second group is function selecting button：Including meter side, count weight and cumulative
Button, wherein, when weight calculation button is pressed, system energy display material specific gravity data input mode option, its Data Source has two
It is individual：One is that specific gravity data of the bulk cargo under different humidity state is commonly used in Installed System Memory, and two manually enter by means of conventional
The specific gravity data of bulk cargo specific weight measurer measurement；3rd group is to include 0-9 numeral keys；Additionally, should also on control panel (5)
Power key is set.
5. a kind of loader based on the laser scanning and ranging technology as claimed in claim 1 side of counting and gravity measure device automatically, its
It is characterised by：Described control box (6), is mounted or fixed to drive the position such as swing arm that operator and observation are easy in interior
Near operation of oil cylinde handle, it can be by box body, PLC or single-chip microcomputer, memorizer, data conversion module, display module, input and output
Interface, bus and mainboard composition, by interface, adapter and bus and left side scraper bowl laser revolving scanning distance measuring sensor (1)
Or right side scraper bowl laser revolving scanning distance measuring sensor (3), the wired or wireless connection of control panel (5)；It can be with control panel
(5) become one, and the configurable handset for becoming one, it is easy to personnel under machine to check；It also can be by described range finding control
Molding block (9), range finder module (12), positioning control module (13) and stepping or servomotor or servo driving module (14) are integrated
Come in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620179189.XU CN206146491U (en) | 2016-03-10 | 2016-03-10 | Load mobilometer side and weighing device based on laser scanning distance measurement technique |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620179189.XU CN206146491U (en) | 2016-03-10 | 2016-03-10 | Load mobilometer side and weighing device based on laser scanning distance measurement technique |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206146491U true CN206146491U (en) | 2017-05-03 |
Family
ID=58615947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620179189.XU Expired - Fee Related CN206146491U (en) | 2016-03-10 | 2016-03-10 | Load mobilometer side and weighing device based on laser scanning distance measurement technique |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206146491U (en) |
-
2016
- 2016-03-10 CN CN201620179189.XU patent/CN206146491U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170503 Termination date: 20210310 |