WO2014121651A1 - Engin de formation de talus de déblai et son système de commande - Google Patents

Engin de formation de talus de déblai et son système de commande Download PDF

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Publication number
WO2014121651A1
WO2014121651A1 PCT/CN2014/000074 CN2014000074W WO2014121651A1 WO 2014121651 A1 WO2014121651 A1 WO 2014121651A1 CN 2014000074 W CN2014000074 W CN 2014000074W WO 2014121651 A1 WO2014121651 A1 WO 2014121651A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
control unit
slope
receiver
cutting machine
Prior art date
Application number
PCT/CN2014/000074
Other languages
English (en)
Chinese (zh)
Inventor
张瓯
宗晓明
Original Assignee
常州华达科捷光电仪器有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 常州华达科捷光电仪器有限公司 filed Critical 常州华达科捷光电仪器有限公司
Publication of WO2014121651A1 publication Critical patent/WO2014121651A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
    • E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
    • E02F5/145—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids control and indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B5/00—Artificial water canals, e.g. irrigation canals
    • E02B5/02—Making or lining canals

Definitions

  • the present invention relates to the field of hydraulic machinery and equipment, and more particularly to a slope cutter having an automatic calibration function. Background technique
  • the slope cutting machine in the construction of water conservancy equipment is an indispensable construction equipment.
  • the construction work of the canal using the slope cutting machine is controlled by manual visual method, which has low efficiency and poor precision; It is necessary to carry out construction baseline positioning on the slope cutter several times. Since the construction line positioning accuracy of the slope cutter has a great influence on the quality of the canal construction, the conventional tool is used to locate and measure the stakes of the construction baseline, which is bound to have low construction precision, time-consuming and laborious, low construction efficiency, and waste of materials. And other issues.
  • Another object of the present invention is to provide a control system for a slope cutter that enables the slope cutter to have an automatic calibration and positioning function.
  • Still another object of the present invention is to provide a control method for the above-described slope cutter, which makes the slope cutter easy to work and efficient.
  • the invention discloses a slope cutting machine, comprising: a walking device arranged on a guide rail, wherein the walking device comprises a lifting adjustment device, the slope cutting machine further comprises: a laser emitter, a laser receiver and a control a laser unit for emitting a laser plane; a laser receiver mounted on the traveling device, transmitting an instruction to the control unit according to the laser light emitted from the laser transmitter; and the control unit performing the lifting and adjusting device according to the instruction Position adjustment.
  • the laser emitter is a laser leveling device that emits a laser plane to the laser receiver.
  • the laser emitter is a laser projector, disposed on the rail, and emitting a laser line to the laser receiver.
  • the laser emitter is disposed outside the walking device and away from the running surface of the walking device and the slope cutting machine.
  • the laser receiver further comprises: a data processing module, configured to analyze the position of the walking device.
  • the invention also discloses a control system for a slope cutter, the slope cutter comprising: a walking device disposed on the guide rail, the walking device comprising a lifting adjustment device, the control system comprising: a laser detecting device, a data processing device and an operating device, wherein the laser detecting device is configured to detect the position of the traveling device; the data processing device is configured to receive a position signal of the traveling device sent by the laser detecting device, and perform the position signal Processing, after the processing is completed, issuing an operation instruction to the operating device; the operating device is configured to receive the operation instruction sent by the data processing device and perform position adjustment on the lifting adjustment device.
  • the laser detecting device comprises a laser leveling device for emitting laser light, and a laser receiver for receiving laser light emitted by the laser leveling device.
  • the data processing device includes a communication module for receiving the position signal and converting it into the operation command and delivering it to the operating device.
  • the invention further discloses a control method based on the above-mentioned slope cutter, step A: arranging the walking device reference value in the laser receiver; Step B: the laser emitter emits laser light to the walking device; Step C: the laser receiver receives the laser The laser from the transmitter calculates the difference between the current walking device and the reference value. The value is sent to the control unit; Step D: After receiving the difference, the control unit converts the difference into a command program; Step E: The control unit adjusts the position of the lifting and adjusting device according to the command program.
  • step 8 the step 8
  • step B the step (:, step D)
  • step F the user manually inputs the execution instruction to the control unit, and the control unit converts into the instruction program after receiving the execution instruction.
  • the slope cutter in the construction of the water conservancy facility no longer needs to adopt the manual visual method for precision control, and also omits the action of the construction guide line positioning for the slope cutter multiple times, the slope cutter can be automatically based on The construction reference line set before the user is adjusted.
  • the above control system will automatically correct the displacement difference so that the slasher always works according to the set construction baseline.
  • the working efficiency of the cutting machine is improved, the flatness and uniformity of the working face of the cutting machine are improved, the labor cost is reduced, and the whole system is small in size, simple in structure, simple in operation and low in maintenance cost.
  • FIG. 1 is a schematic structural view of a slope cutting machine of the present invention
  • FIG. 2 is a schematic diagram of a control system of a slope cutter according to the present invention. detailed description
  • the slanting machine includes: a traveling device 4 disposed on the guide rail 7, wherein the traveling device 4 includes a lifting and lowering device 5, the slashing machine further includes: a laser transmitter 1, a laser receiver 3 and a control unit 6; Wherein the laser emitter 1 is for emitting laser light; the laser receiver 3 is mounted on the traveling device 4 for receiving the laser emitter The laser light is sent from the control unit 6 and the control unit 6 interacts with the laser receiver 3 to receive the command from the laser receiver 3 and adjust the position of the lift adjusting device 5.
  • the laser emitter 1 can adopt a laser emitter that emits a laser line.
  • a laser emitter 1 having a linear function of emitting laser light is disposed at a working starting point of the traveling device 4 of the slope cutter on the guide rail 7, A laser line is emitted to the traveling device 4, and when the traveling device 4 is away from the starting point, it is away from the laser transmitter 1.
  • a laser receiver 3 is disposed on the traveling device 4, and when the laser receiver 3 is in the set initial position, the laser light emitted by the laser emitter 1 can be received and an initial is presented on the laser receiver 3. The laser point.
  • the traveling device 4 When the slope cutter is in operation, the traveling device 4 will be displaced in the vertical direction due to the unevenness in the horizontal direction of the guide rail 7.
  • the laser spot received by the laser receiver 3 will also be inconsistent with the initial laser spot.
  • the difference between the points is the same as the displacement generated by the traveling device 4, because these displacements will cause the slope ratio of the working surface of the sloper before the displacement to be different from the slope of the working surface of the slopeer after the displacement Therefore, when these unavoidable displacements occur, the constructor can adjust the lifting and lowering adjustment device 5 according to the initial value of the recorded laser spot position until the initial position is adjusted, thereby saving the previous procedure for measuring the height of the lifting device. It can also increase the accuracy.
  • the above process may also employ a laser receiver 3 including a data processing module.
  • the data processing module in the laser receiver 3 compares the receiving position and compares the laser spot position with the initial position to calculate the After the analysis is completed, the difference information is sent to the control unit 6, and the control unit 6 adjusts the position in the vertical direction of the shovel lifting and lowering adjustment device 5 according to the information, and the adjusted amount is the laser receiver. The difference analyzed. After the adjustment process is finished, the laser spot of the laser emitter 1 on the laser receiver 3 returns to the initial position, at which time the slope ratio of the working face of the cutting machine returns to the slope ratio at the initial working of the cutting machine, and is completed. The function of automatic calibration of the slope cutter.
  • the laser emitter can also be replaced by a laser leveling device, which is disposed outside the traveling device 4, away from the working device 4 and the working face of the slope cutter.
  • the walking device is 4 emitting a laser plane 2
  • the laser receiver 3 mounted on the traveling device 4
  • the data processing module analyzes the laser spot position when the traveling device 4 is walking.
  • the current laser linear position and the initial laser linear position height difference information are sent to the control unit 6, and the control unit 6 will cut the information according to the information.
  • the position adjustment of the slope lifting and lowering adjustment device 5 in the vertical direction is the difference in height analyzed by the laser receiver 3.
  • the laser light of the laser emitter 1 on the laser receiver 3 returns to the initial position, and the slope ratio of the working face of the slope cutter returns to the slope ratio at the initial working of the slope cutter, and is completed.
  • the automatic calibration function of the slope cutter is the same in height analyzed by the laser receiver 3.
  • FIG. 2 Schematic diagram of the control system of the slope cutter of the present invention.
  • the commonly used cutting machine includes: the upper and lower two traveling devices disposed on the guide rail are respectively a traveling device A and a traveling device B, and the traveling device includes a lifting adjustment device, wherein the cutting device is used on each of the traveling devices Slope machine control system.
  • the slope cutter control system includes a laser detecting device, a data processing device, and an operating device.
  • the laser detecting device comprises a laser leveling device for emitting laser light, and the laser receiver is for receiving laser light emitted by the laser leveling device; wherein the data processing device comprises a communication module for receiving the sending by the laser detecting device.
  • the position signal of the traveling device is processed, and the position signal is processed, and the operation command is sent to the operating device after the processing is completed; the operating device is configured to receive the command sent by the data processing device and adjust the position of the lifting and adjusting device.
  • the laser leveling device in the laser detecting device of the control system emits a laser plane to the walking device, and the laser receiver mounted on the traveling device receives the laser plane sent by the laser leveling device and processes the data
  • the device sends a walking device position signal, which carries the position information in the vertical direction of the walking device.
  • the data processing device converts the position signal into a command signal, it is sent to the operating device, and the operating device receives the command signal. According to the instruction, the position adjustment of the lifting adjustment device is performed.
  • the constructor can manually input commands to the data processing device according to the site construction requirements.
  • the data processing device converts the command signal into an operation device according to the received command, and after receiving the command signal, the operation device adjusts the position of the lifting adjustment device according to the instruction, that is, the slope control system also has a manual configuration mode. It can be changed with the construction conditions.
  • Step A Configuring a walking device reference value in the laser receiver
  • Step B The laser emitter emits laser light to the walking device
  • Step C The laser receiver receives the laser light
  • the laser generated by the transmitter calculates the difference between the current walking device and the reference value, and sends the data to the control unit
  • Step D After receiving the data command, the control unit issues the action command value executing device
  • Step E the executing unit receives After the action command, the position of the lift adjustment device is adjusted according to the difference.
  • Step 8 step B, step C, and step D in the above method may be replaced by:
  • Step F The user manually inputs an execution instruction to the control unit, and the control unit converts the instruction to the instruction program after receiving the execution instruction.
  • the slope cutter in the construction of the water conservancy facility no longer needs to adopt the manual visual method for precision control, and also omits the action of multiple times on the construction of the slope cutting machine.
  • the slope cutter can be automatically based on The construction reference line set before the user is adjusted.
  • the above control system will automatically correct the displacement difference so that the slasher always works according to the set construction baseline.
  • the working efficiency of the cutting machine is improved, the flatness and uniformity of the working face of the cutting machine are improved, the labor cost is reduced, and the whole system is small in size, simple in structure, simple in operation and low in maintenance cost.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

Cette invention concerne un engin formation de talus de déblai, comprenant un dispositif mobile (4) disposé sur un rail de guidage (7), ledit dispositif mobile (4) comprenant un dispositif d'ajustement de levage (5). Ledit engin de formation de talus de déblai comprend en outre un émetteur laser (1) pour émettre un laser, un récepteur laser (3) pour recevoir un laser et une unité de commande (6) pour commander la position du mécanisme d'ajustement de levage (5). Ledit mécanisme d'ajustement de levage (5) de ladite machine de formation de talus de déblai peut être automatiquement ajusté sur la base de la ligne de niveau, de façon à améliorer l'efficacité de l'engin de formation de talus de déblai ainsi que la planéité et la régularité de la face de travail de l'engin de formation de talus de déblai. L'invention concerne en outre un système et un procédé de commande mis en œuvre pour ledit engin de formation de talus de déblai.
PCT/CN2014/000074 2013-02-07 2014-01-21 Engin de formation de talus de déblai et son système de commande WO2014121651A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201310049030.7 2013-02-07
CN201310049030.7A CN103938668A (zh) 2013-02-07 2013-02-07 一种削坡机及其控制系统

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Publication Number Publication Date
WO2014121651A1 true WO2014121651A1 (fr) 2014-08-14

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WO (1) WO2014121651A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106120516A (zh) * 2016-08-20 2016-11-16 新疆北方建设集团有限公司 渠道砂石料及水稳料两用摊铺机
CN106351179B (zh) * 2016-08-20 2018-06-12 新疆北方建设集团有限公司 渠道半断面侧振式砂石料及水稳料两用摊铺机

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US4699543A (en) * 1986-02-10 1987-10-13 Kajima Corporation Slope paving machine
SU1548325A1 (ru) * 1987-12-28 1990-03-07 Всесоюзное Научно-Производственное Объединение "Украинский Научно-Исследовательский Институт Гидротехники И Мелиорации" Способ строительства бетонной облицовки канала и устройство дл его осуществлени
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CN202466530U (zh) * 2012-01-30 2012-10-03 韩其华 半断面多功能渠道修整机
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US4699543A (en) * 1986-02-10 1987-10-13 Kajima Corporation Slope paving machine
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CN202466530U (zh) * 2012-01-30 2012-10-03 韩其华 半断面多功能渠道修整机
CN202559410U (zh) * 2012-05-11 2012-11-28 山东路得威工程机械制造有限公司 水渠坡面铣削机
CN203188267U (zh) * 2013-02-07 2013-09-11 常州华达科捷光电仪器有限公司 一种削坡机及其控制系统

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