WO2015143964A1 - Système de commande de niveleuse et son procédé de commande - Google Patents

Système de commande de niveleuse et son procédé de commande Download PDF

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Publication number
WO2015143964A1
WO2015143964A1 PCT/CN2015/072969 CN2015072969W WO2015143964A1 WO 2015143964 A1 WO2015143964 A1 WO 2015143964A1 CN 2015072969 W CN2015072969 W CN 2015072969W WO 2015143964 A1 WO2015143964 A1 WO 2015143964A1
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WO
WIPO (PCT)
Prior art keywords
grader
controller
working surface
laser
control system
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Application number
PCT/CN2015/072969
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English (en)
Chinese (zh)
Inventor
张瓯
宗晓明
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常州华达科捷光电仪器有限公司
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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 WO2015143964A1 publication Critical patent/WO2015143964A1/fr

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    • 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
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E02F3/847—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B31/00—Drags graders for field cultivators

Definitions

  • the invention relates to the field of agricultural equipment, in particular to a grader control system and a control method thereof.
  • graders in farmland farming is now very common.
  • the practical effects of laser leveling systems on the transformation of saline-alkali land into cultivated land have been practiced in Inner Mongolia and Ningxia.
  • Today's graders only control the height of the level shovel and improve the accuracy of the land leveling in the field.
  • Position, after the flat shovel has been adjusted several times, the horizontal position of the shovel is very easy to change, which causes the leveled land to meet the flatness requirement but cannot meet the requirements in the horizontal position, resulting in the land leveled by the grader relative to the level.
  • the invention discloses a grader control system, comprising: a grader and a controller; the grader has a blade; the controller is used for controlling the position of the blade, the control system further comprises a three-dimensional scanning device, Means for scanning a work surface of the shovel to form work surface topographical information, and transmitting the work surface topographical information to the controller; the controller adjusting the shovel according to the work surface topographical information The position is such that the work surface after the operation of the shovel is flat.
  • the three-dimensional scanning device is a 3D scanner, and the 3D scanner is disposed on the motor grader.
  • the work surface information includes initial surface information of the work surface when the grader is not working, and working surface information of the work surface after the grader operates, and the controller calculates the initial surface The difference between the information and the face information controls the blade to operate with the difference.
  • control system further includes an angle sensor for determining the level position of the blade and transmitting the horizontal position information to the controller.
  • the grader is a laser grader.
  • the laser grader comprises a laser emitter, a laser receiver, a mast, a hydraulic system and an actuator; the laser emitter emits laser light to the laser receiver; the laser receiver is disposed on the mast Sending an instruction to the controller; one end of the mast is connected to the blade, standing upright on the laser grader, causing a difference in position between the laser receiver and the blade in the vertical direction Fixed by the mast; the hydraulic system drives the actuator to adjust the vertical position of the blade in accordance with an operation command sent by the controller.
  • the laser emitter is a laser leveling device.
  • the invention further discloses a control method of the grader control system, comprising the following steps: Step A: the three-dimensional scanning device scans the working surface to form initial working surface information; Step B: the laser emitter emits laser light to the laser receiver, and sets a reference working surface according to the initial working surface information and The reference work surface information is sent to the controller; Step C: the controller controls the level shovel to perform a ground operation.
  • the method further includes the step D: after the flat land operation is completed, the three-dimensional scanning device scans the working surface, determines a difference between the working surface and the reference working surface in a horizontal and vertical direction, and The difference is sent to the controller; Step E: The controller controls the blade to perform a second leveling operation to make the work surface coincide with the reference work surface.
  • two or more scans of the working surface are detected by the three-dimensional scanning device, so that the level shovel of the grader can be adjusted in real time for the preset working surface during the flat process, and after the operation is completed
  • the difference between the working surface and the reference surface can also be compared.
  • the grader can be corrected twice, which greatly improves the leveling effect and working efficiency.
  • FIG. 1 is a schematic diagram showing the working principle of a motor grader control system according to a preferred embodiment of the present invention
  • Figure 2 is a schematic view showing the structure of the grader of the present invention.
  • the grader control system is used on a laser grader.
  • the motor grader control system comprises: a grader that is driven on a work surface, the grader further includes a flat shovel that directly planarizes the work surface, and a controller that controls the shovel, in order to perform real-time scan analysis on the work surface, control
  • the system also includes a three-dimensional scanning device, which can scan each part of the working surface of the grader and simultaneously establish a set of three-dimensional coordinate cloud information of the terrain of the working surface. After the establishment, the three-dimensional coordinate cloud information of the terrain of the working surface is sent to the control. Device. After receiving the information, the controller implements adjusting the horizontal and vertical position of the shovel to level the work surface after the operation of the shovel.
  • the three-dimensional coordinate cloud information established by the three-dimensional scanning device can be understood as the detection result after the detection of the topography of the working surface.
  • the information generally includes the outer contour shape of the working surface, the lowest topographical information, the highest topographical information, and the terrain information of the grader.
  • the three-dimensional scanning device is a 3D scanner, which is disposed on the grader, close to the working surface to be measured, and can create a geometric surface of the working surface.
  • the principle is that the point of each scanning is used to interpolate into the working surface.
  • a plurality of working surface information can be formed by using the plurality of measurement results of the three-dimensional scanning device, wherein the main working surface can be the original working surface when the leveling machine is not working yet.
  • the controller can compare the two, calculate the difference between the initial surface information and the working surface information, and control the level shovel to work with the difference to improve the leveling effect of the grader, and the specific comparison The method will be described in detail later.
  • the control system further includes an angle sensor dedicated to determining the horizontal position of the blade, which is connected to the blade and sends horizontal position information.
  • the laser receiver After being sent to the laser receiver, the laser receiver adds a horizontal direction control command of the blade in the original command after receiving the horizontal position signal, and the controller controls the command and level according to the vertical direction of the blade shovel sent by the laser emitter
  • the direction control command performs position adjustment in the above two directions on the blade.
  • the angle sensor is disposed inside the laser receiver to avoid inaccurate horizontal signal data from the angle sensor caused by other factors such as vibration and manual adjustment.
  • integrating the angle sensor into the interior of the laser receiver saves space in the control system and does not affect the structure of the control system on the basis of adding new functions to the original control system.
  • grader control system of the present invention can be applied to all conventional graders other than the laser grader, and can help the conventional grader based on the original manual measurement or other instrument measurement flatness. Further control the smoothness of the work surface.
  • the invention also relates to a grader using the above-mentioned grader control system, wherein the grader is a laser grader, the grader comprises a laser emitter 1, a laser receiver 5, a shovel 2, a mast 4, a hydraulic system 8 and
  • the actuator device 7 further includes an angle sensor and a three-dimensional scanning device 3.
  • the laser emitter 1 is a laser leveling device, and the laser leveling device is fixedly mounted on the outer side of the leveling land to emit a laser plane to the grader.
  • the shovel 2 is upright with a mast 4, one end of which should be higher than the height of the laser plane emitted by the laser leveling device, and the laser receiver 5 and the angle sensor are arranged on the mast 4, that is, the shovel 2 is in the vertical direction
  • the displacement variable on the upper side is equal to the displacement variable of the laser receiver 5 in the vertical direction
  • the angle sensor directly determines the horizontal position of the current blade 2 .
  • the laser receiver 5 calculates the displacement variable of the current blade 2 and the working reference surface, and simultaneously obtains the horizontal position information of the blade according to the angle sensor.
  • An integrated command is sent to the hydraulic system 8, and the hydraulic system 8 collectively controls the drive actuator 7 to adjust the position of the blade 2 so that the blade 2 returns to the initial working reference plane in the vertical and horizontal directions.
  • the three-dimensional scanning device 3 While the angle sensor determines the position of the blade 2, the three-dimensional scanning device 3 also compares the horizontal position of the blade 2 with the set reference plane position, and adjusts the horizontal and vertical positions of the blade 2 in real time. Specifically, the three-dimensional scanning device 3 is configured to determine whether the horizontal position of the shovel 2 coincides with the horizontal position of the reference surface, and whether the working surface of the shovel 2 is level with the set reference surface, and the angle sensor is used. It is detected whether the respective positions of the blade 2 are on the same level, and if not, the flat floor of the blade 2 itself is adjusted by controlling so that the entire level is level. Therefore, the command issued by the three-dimensional scanning device 3 does not contradict the control of the blade 2 by the command of the blade 2, but further ensures the smoothness of the leveling machine to the working surface in two aspects. .
  • Step A Establish initial job surface information. After the three-dimensional scanning device is set on the grader, the three-dimensional scanning device scans the flat working surface to form an initial working surface information when the image is not flattened.
  • Step B The laser emitter emits laser light to the laser receiver, and sets a reference working surface according to the initial working surface information and sends the reference working surface information to the controller for informing the controller user of the desired working surface Flatness and flatness.
  • Step C After the controller obtains the above information, it is determined in real time whether the vertical direction of the shovel corresponds to the reference working surface, and if so, continues to control the shovel to level the ground at the vertical position; if not, calculate the flat with the three-dimensional scanning device The difference between the shovel in the vertical direction and the reference plane, and through the controller Controls the vertical height of the blade to return to the datum. Likewise, the horizontal position of the shovel is also operated in this manner.
  • control method of the grader may further comprise the following steps to ensure that the leveled ground meets the requirements:
  • Step D After the flat shovel is leveled on the ground, the three-dimensional scanning device scans the working surface again, and judges the difference between the working surface and the reference working surface in the horizontal and vertical directions again, and sends the difference to the controller;
  • Step E The controller controls the shovel to perform two or more leveling operations after obtaining the command to ensure that the working surface coincides with the reference plane desired by the user.
  • two or more scans of the working surface are detected by the three-dimensional scanning device, so that the level shovel of the grader can be adjusted in real time for the preset working surface during the flat process, and after the operation is completed
  • the difference between the working surface and the reference surface can also be compared.
  • the grader can be corrected twice, which greatly improves the leveling effect and working efficiency.
  • the grader has the function of automatically recognizing the terrain after having the control system, and corrects the accuracy of the leveling in real time during the leveling process, and ensures that the working plane is always level or in accordance with the requirements of the user when the grader is in different working states, and reaches a certain level. Tilt.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

La présente invention concerne un système de commande de niveleuse comprenant une niveleuse et un dispositif de commande (6). La niveleuse est pourvue d'une lame niveleuse (2). Le dispositif de commande (6) est utilisé pour commander une position de la lame niveleuse (2). Le système de commande de niveleuse comprend en outre un dispositif de balayage tridimensionnel (3), utilisé pour balayer un plan de travail de la lame niveleuse (2), de sorte à obtenir des informations de terrain de plan de travail, et pour envoyer les informations de terrain de plan de travail au dispositif de commande (6). Le dispositif de commande (6) ajuste la position de la lame niveleuse (2) selon les informations de terrain de plan de travail, de sorte que le plan de travail soit plat suite au traitement de la surface de niveleuse (2). La niveleuse peut balayer le terrain d'un sol plat entier, ajuster la position de la lame niveleuse (2) en temps réel et améliorer la précision de planéité dans les directions verticale et horizontale.
PCT/CN2015/072969 2014-03-24 2015-02-13 Système de commande de niveleuse et son procédé de commande WO2015143964A1 (fr)

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CN201410111569.5A CN103869831B (zh) 2014-03-24 2014-03-24 一种平地机控制系统及其控制方法
CN201410111569.5 2014-03-24

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109298672A (zh) * 2018-11-30 2019-02-01 苏州市航银机电有限公司 一种平地机控制器
CN109462440A (zh) * 2018-12-28 2019-03-12 苏州市航银机电有限公司 一种平地机接收器
US10995472B2 (en) 2018-01-30 2021-05-04 Caterpillar Trimble Control Technologies Llc Grading mode integration
CN115164785A (zh) * 2022-07-08 2022-10-11 中化学南方运营管理有限公司 一种平整度及高程测定装置
CN115647689A (zh) * 2022-07-13 2023-01-31 中国十七冶集团有限公司 一种焊接机器人及其校准方法
CN118463862A (zh) * 2024-07-08 2024-08-09 中铁十四局集团有限公司 一种基于三维激光摊铺机的仰拱平整度测量方法及系统

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CN103869831B (zh) * 2014-03-24 2016-09-14 常州华达科捷光电仪器有限公司 一种平地机控制系统及其控制方法
CN104977943B (zh) * 2015-07-14 2018-12-18 崔汉文 一种动态稳定水平控制系统
CN108398950B (zh) * 2018-03-13 2024-07-26 安捷睿（厦门）机器人有限公司 一种地面磨平机器人及地面磨平机器人控制方法
CN108566787B (zh) * 2018-07-17 2024-01-12 潍坊科技学院 一种犁耙联合整地机控制装置
CN111552281A (zh) * 2020-04-13 2020-08-18 程国军 一种智能耕种系统及其装置

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US20090071667A1 (en) * 2007-08-20 2009-03-19 Davco Farming Method and system for optimising land levelling designs
CN102131986A (zh) * 2008-08-22 2011-07-20 卡特彼勒天宝控制技术有限责任公司 包括动态更新的三维扫描装置
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10995472B2 (en) 2018-01-30 2021-05-04 Caterpillar Trimble Control Technologies Llc Grading mode integration
CN109298672A (zh) * 2018-11-30 2019-02-01 苏州市航银机电有限公司 一种平地机控制器
CN109462440A (zh) * 2018-12-28 2019-03-12 苏州市航银机电有限公司 一种平地机接收器
CN115164785A (zh) * 2022-07-08 2022-10-11 中化学南方运营管理有限公司 一种平整度及高程测定装置
CN115164785B (zh) * 2022-07-08 2023-03-10 中化学南方运营管理有限公司 一种平整度及高程测定装置
CN115647689A (zh) * 2022-07-13 2023-01-31 中国十七冶集团有限公司 一种焊接机器人及其校准方法
CN115647689B (zh) * 2022-07-13 2024-01-26 中国十七冶集团有限公司 一种焊接机器人及其校准方法
CN118463862A (zh) * 2024-07-08 2024-08-09 中铁十四局集团有限公司 一种基于三维激光摊铺机的仰拱平整度测量方法及系统

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