CN205276244U - Ram quick -witted automatic control system by force - Google Patents
Ram quick -witted automatic control system by force Download PDFInfo
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- CN205276244U CN205276244U CN201520887655.5U CN201520887655U CN205276244U CN 205276244 U CN205276244 U CN 205276244U CN 201520887655 U CN201520887655 U CN 201520887655U CN 205276244 U CN205276244 U CN 205276244U
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Abstract
The utility model discloses a ram quick -witted automatic control system by force. This system includes: the task channels into unit, host computer unit, the next quick -witted unit and rams quick -witted body by force, the leading -in unit of task passes through wire mode with the host computer unit or wireless mode is connected, and the host computer unit is connected with the next quick -witted unit is electric, the next quick -witted unit with ram by force that quick -witted body is electric to be connected, wherein, the leading -in unit of task is with operation task data import host computer unit, the host computer unit is with target action instruction transmission to the next quick -witted unit that generates, the next quick -witted unit extremely rams quick -witted body by force with the control command transmission that generates, ram quick -witted body by force and carry out corresponding action according to the control command that the next quick -witted unit sent. The utility model discloses a strong automatic control who rams the machine to can realize not having the humanization operation, automatic, intelligent degree improves, and work efficiency improves, manpower cost reduction.
Description
Technical field
The utility model relates to engineering machinery field, in particular to dynamic compaction machinery automatic control system.
Background technology
Along with domestic infrastructure construction continue carry out, heavy-tamping method is able to widespread use in the basement process link of industry with the engineering such as covil construction, warehouse, roadbed, airport and harbour. As the major equipment of heavy-tamping method construction, dynamic compaction machinery is also thereupon fast-developing. Existing dynamic compaction machinery realizes corresponding actions by workmen's control handle. But, the construction of manual maneuvering dynamic compaction machinery has following shortcoming: (1) operating mode severe (sandstone fly upward, mud flashes), and pole is not suitable for manual operation; (2) automatization, intelligence degree are low, and operating efficiency is low; (3) working-yard potential safety hazard is many, and very easily accidents happened, threatens personnel safety; (4) workman is lazy causes few rammer, leakage to ram, and ground exists potential safety hazard; (5) support personnel needed is more, labor cost height.
Practical novel content
The technical problem that the utility model needs solve is: the automatic control realizing dynamic compaction machinery.
According to first aspect of the present utility model, it provides a kind of dynamic compaction machinery automatic control system, comprising: task imports unit, upper computer unit, lower computer unit and dynamic compaction machinery body; Described task is imported unit and is connected by wired mode or wireless mode with described upper computer unit, and described upper computer unit is electrically connected with described lower computer unit, and described lower computer unit is electrically connected with described dynamic compaction machinery body; Wherein, described task imports unit by operation task data importing upper computer unit; The subject performance instruction of generation is transferred to described lower computer unit by described upper computer unit; The steering order of generation is transferred to described dynamic compaction machinery body by described lower computer unit; Described dynamic compaction machinery body performs corresponding action according to the steering order that described lower computer unit sends.
In certain embodiments, described dynamic compaction machinery automatic control system also comprises: state detection unit, it is electrically connected with described lower computer unit, detect the state parameter of described dynamic compaction machinery body, and described state parameter is transferred to described lower computer unit, described state parameter is transferred to described upper computer unit by described lower computer unit.
In certain embodiments, described dynamic compaction machinery automatic control system also comprises: environmental safety detecting unit, it is electrically connected with described upper computer unit, send obstacle when detecting and ram and hammer operating area or dynamic compaction machinery action path exist obstacle to described upper computer unit and there is signal, so that described upper computer unit performs respective handling.
In certain embodiments, described dynamic compaction machinery automatic control system also comprises: remote monitoring and control unit, wirelessly it is connected with described upper computer unit, receive the dynamic compaction machinery work state information that described upper computer unit is sent, the working order of monitor in real time dynamic compaction machinery, and send emergent stop signal to described upper computer unit when dynamic compaction machinery is in fault state, stop dynamic compaction machinery work.
In certain embodiments, described dynamic compaction machinery automatic control system also comprises: mode selection switch, is electrically connected with described lower computer unit, selects the operating mode of dynamic compaction machinery, and the operating mode of selection is transferred to described lower computer unit; Wherein, described operating mode comprises: artificial mode and automatic mode.
In certain embodiments, described dynamic compaction machinery automatic control system also comprises: warning device, is electrically connected with described lower computer unit, receives guard signal from described lower computer unit, and performs corresponding warning according to described guard signal.
In certain embodiments, described dynamic compaction machinery automatic control system also comprises: emergency stop switch, is electrically connected with described lower computer unit, sends to described lower computer unit and shuts down signal, stops dynamic compaction machinery work.
In certain embodiments, described dynamic compaction machinery automatic control system also comprises: human and machine interface unit, is electrically connected with described lower computer unit, and the working parameter under dynamic compaction machinery automatic mode is inputed to described lower computer unit, and shows the state parameter of dynamic compaction machinery; Described working parameter is transferred to described upper computer unit by described lower computer unit.
In certain embodiments, described dynamic compaction machinery automatic control system also comprises: positioning and directing unit, it is electrically connected with described upper computer unit, obtains the real-time position of described dynamic compaction machinery body and directional information, and described position and directional information are transferred to described upper computer unit.
In certain embodiments, described environmental safety detecting unit comprises: planar laser scanning device and/or ultrasonic transducer.
The utility model achieves the automatic control of dynamic compaction machinery, and can realize unmanned operation, and automatization, intelligence degree improve, and working efficiency improves, and human cost reduces.
By the detailed description of exemplary embodiment of the present utility model, further feature of the present utility model and advantage thereof being become clear referring to accompanying drawing.
Accompanying drawing explanation
Form specification sheets a part drawings describe embodiment of the present utility model, and together with the description for explaining principle of the present utility model.
With reference to accompanying drawing, according to detailed description below, it is possible to clearly understand the utility model, wherein:
Fig. 1 is the anatomical connectivity figure schematically showing the dynamic compaction machinery automatic control system according to some embodiments of the utility model.
Fig. 2 is the anatomical connectivity figure schematically showing the dynamic compaction machinery automatic control system according to other embodiments of the utility model.
Fig. 3 A is the scheme of installation of the part parts schematically showing the dynamic compaction machinery automatic control system according to some embodiments of the utility model.
Fig. 3 B is the scheme of installation of the part parts schematically showing the dynamic compaction machinery automatic control system according to other embodiments of the utility model.
Fig. 4 is the trajectory planning schematic diagram schematically showing the dynamic compaction machinery automatic control system according to some embodiments of the utility model.
Embodiment
Now with reference to accompanying drawing, various exemplary embodiment of the present utility model is described in detail. It should be noted that: unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts set forth in these embodiments and step and numerical value do not limit scope of the present utility model.
Simultaneously, it should be appreciated that for convenience of description, the size of each part shown in accompanying drawing is not draw according to the proportionlity of reality.
It is explanation property to the description only actually of at least one exemplary embodiment below, never as to any restriction of the utility model and application or use.
Detailed discussion may not be done, but in the appropriate case, described technology, method and equipment should be regarded as authorizing a part for specification sheets for the known technology of person of ordinary skill in the relevant, method and equipment.
In all examples with discussing shown here, any concrete value should be interpreted as being only exemplary, instead of as restriction. Therefore, other example of exemplary embodiment can have different values.
It should be noted that: similar label and letter accompanying drawing below represents similar item, therefore, once a certain Xiang Yi accompanying drawing is defined, then does not need it to be further discussed in accompanying drawing subsequently.
Fig. 1 is the anatomical connectivity figure schematically showing the dynamic compaction machinery automatic control system according to some embodiments of the utility model.
As shown in Figure 1, dynamic compaction machinery automatic control system 10 comprises: task imports unit 101, upper computer unit 102, lower computer unit 103 and dynamic compaction machinery body 104.
Task imports unit 101 by operation task data importing upper computer unit 102. At least one this task can be set and import unit. In certain embodiments, task importing unit 101 is connected by wired mode or wireless mode with upper computer unit 102. Preferably, wired mode is USB interface, and wireless mode is wireless station's communication transfer.
The subject performance instruction of generation is transferred to lower computer unit 103 by upper computer unit 102. Such as, upper computer unit 102 is according to operation task data genaration subject performance instruction, and subject performance instruction is transferred to lower computer unit 103. Upper computer unit 102 is electrically connected with lower computer unit 103. At least one this upper computer unit can be set. This upper computer unit can carry out information interaction with lower computer unit. Such as, upper computer unit can be industrial computer. In further embodiments, this upper computer unit can according to operation task data genaration subject performance instruction and target control parameter.
The steering order of generation is transferred to dynamic compaction machinery body 104 by lower computer unit 103. Such as, lower computer unit 103 is according to subject performance instruction, and generates steering order according to the inverse amplification factor of setting, and steering order transfers to dynamic compaction machinery body 104. This lower computer unit 103 is electrically connected with dynamic compaction machinery body 104. Can arranging at least one this lower computer unit, this lower computer unit can perform predetermined action by programming Control dynamic compaction machinery body. Such as, lower computer unit can be vehicle-mounted programmable logic controller.
Dynamic compaction machinery body 104 performs corresponding action according to the steering order that lower computer unit 103 sends. Such as, this dynamic compaction machinery body can ram hammer do not break off relations lowering function and electric-hydraulic proportion can drive the automatically controlled dynamic compaction machinery body of actions such as walking, turn round, luffing, volume are raised for possessing. This dynamic compaction machinery body can drive the actions such as dynamic compaction machinery walking, luffing, volume are raised, revolution according to the steering order of lower computer unit, thus performs corresponding operation task.
In this embodiment, dynamic compaction machinery automatic control system achieves the automatic control of dynamic compaction machinery, and can realize unmanned operation, and automatization, intelligence degree improve, and working efficiency improves, and human cost reduces.
Fig. 2 is the anatomical connectivity figure schematically showing the dynamic compaction machinery automatic control system according to other embodiments of the utility model. As shown in Figure 2, dynamic compaction machinery automatic control system 20 comprises: task imports unit 101, upper computer unit 102, lower computer unit 103 and dynamic compaction machinery body 104.
In embodiment of the present utility model, as shown in Figure 2, dynamic compaction machinery automatic control system 20 can also comprise: state detection unit 205, it is electrically connected with lower computer unit 103, the state parameter of detection dynamic compaction machinery body, and this state parameter is transferred to lower computer unit 103, this state parameter can be transferred to upper computer unit 102 by lower computer unit 103. Wherein, upper computer unit 102 is according to the real-time adjustment aim action instruction of this state parameter, and the subject performance instruction of adjustment is transferred to lower computer unit 103. Lower computer unit 103 is according to the subject performance instruction of adjustment, and in conjunction with this state parameter, generates steering order and this steering order is transferred to dynamic compaction machinery body 104, drives dynamic compaction machinery body to perform corresponding action.
In certain embodiments, this state detection unit can detect working process and the state parameter of dynamic compaction machinery, exports dynamic compaction machinery status information to lower computer unit and upper computer unit. State parameter can comprise: change angle, volume raise the information such as height, tilting of car body angle, revolution angle, walking speed, hydraulic pressure pressure. Such as, this state detection unit can comprise: luffing obliquity sensor, master winch encoder, tilting of car body angle sensor device, rotary encoder, walking encoder and pressure transmitter etc.
Fig. 3 A is the scheme of installation of the part parts schematically showing the dynamic compaction machinery automatic control system according to some embodiments of the utility model. The installation position of the sensor or encoder is described respectively below in conjunction with Fig. 3 A.
As shown in Figure 3A, luffing obliquity sensor 303 can be arranged on principal arm, the change angle of detection principal arm, and the change angle of acquisition is transferred to lower computer unit.
As shown in Figure 3A, master winch encoder 304 can be arranged on master winch, rams hammer lift height and tamping depth for detecting, and by the transmitting measured values of acquisition to lower computer unit.
As shown in Figure 3A, tilting of car body angle sensor device 305 can be arranged on dynamic compaction machinery and get on the bus and (be placed in car body central position) on car body as far as possible, detection car body angle of inclination, and the tilting of car body angle of acquisition is transferred to lower computer unit.
As shown in Figure 3A, rotary encoder 306 can be arranged on the revolution parts of car body, detection revolution angle, and the revolution angle of acquisition is transferred to lower computer unit.
As shown in Figure 3A, walking encoder 307 can be arranged on dynamic compaction machinery crawler travel driving mechanism (such as driving speed reducer), and detect lines walks speed, and the walking speed of acquisition is transferred to lower computer unit.
Pressure transmitter (Fig. 3 A does not illustrate) can be arranged on the hydraulic unit (such as oil cylinder) of dynamic compaction machinery, detection hydraulic pressure information, and the hydraulic pressure information of acquisition is transferred to lower computer unit.
By the detection of the sensor or encoder, thus obtain the state parameter of needs, by these state parameters being fed back to lower computer unit and upper computer unit, it is thus possible to according to the state parameter of dynamic compaction machinery, the action of the dynamic compaction machinery body of adjustment control in real time, it is to increase the dynamic compaction machinery accuracy that control operates automatically.
In embodiment of the present utility model, as shown in Figure 2, dynamic compaction machinery automatic control system 20 can also comprise: environmental safety detecting unit 206, it is electrically connected with upper computer unit 102, send obstacle when detecting and ram and hammer operating area or dynamic compaction machinery action path exist obstacle to upper computer unit 102 and there is signal, so that upper computer unit performs respective handling. Such as, upper computer unit from environmental safety detecting unit receive obstacle there is signal time, it is possible to make dynamic compaction machinery perform shut down or detour wait process. In certain embodiments, environmental safety detecting unit can work by intermittent type, thus realizes whether having obstacle to exist on detection rammer hammer operating area or dynamic compaction machinery action path.
In certain embodiments, environmental safety detecting unit can comprise: planar laser scanning device and/or ultrasonic transducer. Such as, as shown in Figure 3 B, planar laser scanning device 309 can be arranged in dynamic compaction machinery front, and before ramming hammer release, detection rams whether hammer operating area has obstacle to exist. Whether some ultrasonic transducers 308 are arranged in dynamic compaction machinery rear and both sides, as shown in Figure 3 B, have obstacle to exist when dynamic compaction machinery retreats or turns round on detection action path. Those skilled in the art should understand that, scope of the present utility model is not limited in the installation position of planar laser scanning device disclosed herein and ultrasonic transducer, and it can be arranged installation by those skilled in the art according to actual needs.
Preferably; in order to ensure good barrier propterty; folding formula protective guard is set outside planar laser scanning device, when ram hammer mention after protective guard open and be convenient to the detection of planar laser scanning device, before ramming hammer release protective guard fallen to prevent ramming the foreign matter damage planar laser scanning device hammered into shape and evoke.
In embodiment of the present utility model, as shown in Figure 2, dynamic compaction machinery automatic control system 20 can also comprise: remote monitoring and control unit 207, receive the dynamic compaction machinery work state information that upper computer unit 102 is sent, the working order of monitor in real time dynamic compaction machinery, and send emergent stop signal to upper computer unit 102 when dynamic compaction machinery is in fault state (the fault state that can not fall or promote hammered into shape by the rammer of such as dynamic compaction machinery), stop dynamic compaction machinery work, to guarantee the security of dynamic compaction machinery working process. At least one remote monitoring and control unit can be set far-end (such as monitoring room). In certain embodiments, remote monitoring wirelessly can be connected with upper computer unit 102 with control unit 207. By adopting wireless communication mode real-time exchange information between upper computer unit, it is possible to realize the remote monitoring to unattended dynamic compaction machinery working process. In further embodiments, remote monitoring can also be connected by wired mode with upper computer unit 102 with control unit 207.
In embodiment of the present utility model, as shown in Figure 2, dynamic compaction machinery automatic control system 20 can also comprise: mode selection switch 208, is electrically connected with lower computer unit 103, select the operating mode of dynamic compaction machinery, and the operating mode of selection is transferred to lower computer unit 103. Wherein, this operating mode can comprise: artificial mode and automatic mode (can also be called unattended pattern). At least one mode selection switch 208 can be set. The switching that this mode selection switch 208 is mainly used between artificial mode and automatic mode, when construction area and machine condition are applicable to unmanned manipulation, adopts the automatic mode of unmanned manipulation, otherwise, adopt manual work pattern.
In embodiment of the present utility model, as shown in Figure 2, dynamic compaction machinery automatic control system 20 can also comprise: warning device 209, is electrically connected with lower computer unit 103, receives guard signal from lower computer unit 103, and performs corresponding warning according to guard signal. Wherein, lower computer unit sends guard signal to this warning device under the dynamic compaction machinery emergency state (such as needing the state of emergency stop), fault state or automatic mode. At least one warning device 209 can be set. Such as, this warning device can be acoustic-optic alarm, such as warning horn, pilot lamp etc. In certain embodiments, lower computer unit under the dynamic compaction machinery emergency state, fault state or automatic mode, can send different guard signals to warning device so that warning device performs different warnings respectively, such as different audio warnings, different indicator light colors etc.
In embodiment of the present utility model, as shown in Figure 2, dynamic compaction machinery automatic control system 20 can also comprise: emergency stop switch 210, is electrically connected with lower computer unit 103, sends to lower computer unit and shuts down signal, stops dynamic compaction machinery work. The main effect of emergency stop switch in emergency circumstances manually stops dynamic compaction machinery operation, it is possible to arranges at least one emergency stop switch (such as can have multiple), is usually placed in around dynamic compaction machinery to be convenient to the position of manual operation.
In embodiment of the present utility model, as shown in Figure 2, dynamic compaction machinery automatic control system 20 can also comprise: human and machine interface unit 211, is electrically connected with lower computer unit 103, working parameter under dynamic compaction machinery automatic mode is inputed to lower computer unit 103, and shows the state parameter of dynamic compaction machinery. This working parameter is transferred to upper computer unit 102 by lower computer unit 103. Wherein, upper computer unit 102 according to operation number of tasks according to this and working parameter carry out task and resolve planning, generate and ram a some layout drawing, and generate a subject performance instruction according to rammer point layout drawing. Lower computer unit receives the above-mentioned subject performance instruction according to ramming some layout drawing generation from upper computer unit, and generates steering order according to this subject performance instruction, and control dynamic compaction machinery body performs corresponding action.
In certain embodiments, it is possible at least one human and machine interface unit is set. Such as, this human and machine interface unit can be touch-screen. This human and machine interface unit achieves user and dynamic compaction machinery job parameter is set, and the crucial state parameter of display dynamic compaction machinery.
In embodiment of the present utility model, as shown in Figure 2, dynamic compaction machinery automatic control system 20 can also comprise: positioning and directing unit 212, it is electrically connected with upper computer unit 102, obtain the real-time position of dynamic compaction machinery body and direction (such as headstock towards) information, and this position and directional information are transferred to upper computer unit 102. Wherein, according to ramming, some layout drawing and position and directional information generate guide tracks and working trajectory to upper computer unit, and generate guide tracks subject performance instruction and working trajectory subject performance instruction respectively according to this guide tracks and this working trajectory, this guide tracks subject performance instruction and this working trajectory subject performance instruction are transferred to lower computer unit; Lower computer unit generates steering order according to guide tracks subject performance instruction and working trajectory subject performance instruction, and control dynamic compaction machinery body performs corresponding action.
In certain embodiments, positioning and directing unit can comprise: high-precision GPS (GlobalPositioningSystem, global positioning system (GPS)) system and three axle electronics compass. This positioning and directing unit based on high-precision GPS system, taking three axle electronics compass as auxiliary, can judge the validity of gps signal. High-precision GPS system can be made up of high-precision GPS base station and the rover station based on RTK (RealTimeKinematic, real time dynamic differential method) principle. Wherein, GPS Base Station (such as the GPS Base Station 410 shown in Fig. 4) is fixed on dynamic compaction machinery operation building site, the positioning antenna that GPS rover station (such as the GPS rover station 301 shown in Fig. 3 A) is at least installed on dynamic compaction machinery body by two forms, and can provide position and directional information. Three axle electronics compass (such as three axle electronics compass 302 shown in Fig. 3 A) can be arranged on dynamic compaction machinery operator's cab top, it is achieved to the correction of GPS attitude information.
Fig. 4 is the trajectory planning schematic diagram schematically showing the dynamic compaction machinery automatic control system according to some embodiments of the utility model. The working process of dynamic compaction machinery automatic control system 20 is exemplarily described below in conjunction with Fig. 4.
Being assembled by dynamic compaction machinery at assembling point 401, the dynamic compaction machinery headstock direction after assembling may be any direction, illustrates to assemble a dynamic compaction machinery headstock direction 402 here. after having assembled, user imports unit by operation task data importing upper computer unit by task. then, user by human and machine interface unit according to the working parameter under construction process requirement and the machine property settings dynamic compaction machinery automatic mode. then, upper computer unit carries out task planning, generate and ram some layout drawing (such as, the rammer lattice array formed as rammed point 408 in Fig. 4 is rams some layout drawing), after the selected first arrest point general orientation of user, carry out guide tracks and working trajectory planning in conjunction with positioning and directing cell data, user confirms, and dynamic compaction machinery mode selection switch is placed in automatic mode. then, the guide tracks 403 of planning is generated subject performance instruction by upper computer unit, is sent to lower computer unit in real time. according to upper computer unit object action instruction, along guide tracks 403 from assembling, point 401 runs to the first arrest point 404 (if assembling point headstock direction is not shown in direction 402 to lower computer unit control dynamic compaction machinery body automatically, then guide tracks 403 also changes thereupon), lower computer unit in automatic walking process in real time and upper computer unit carry out information interaction, action path there is obstacle exist or the data Information abnormity of state detection unit or send guard signal when receiving remote monitoring and control unit emergent stopping signal and action performed by termination when environmental safety detecting unit detects. after arriving the first arrest point 404, now the first arrest point headstock direction 405 of dynamic compaction machinery is as shown in Figure 4. then, the working trajectory 407 of planning is converted into target control instruction and is sent to lower computer unit by upper computer unit, lower computer unit is according to the order of subject performance instruction along working trajectory 407, the data information of real-time reception state detection unit also calculates according to inverse amplification factor to export and drives dynamic compaction machinery body automatically to walk, automatically volume is raised, automatic rotary, automatic luffing, the action such as automatically ram, until operation task completes, action path there is obstacle exist or the data Information abnormity of real-time reception state detection unit or send guard signal when receiving remote monitoring and control unit emergent stopping signal and action performed by termination when environmental safety detecting unit detects. Fig. 4 also show the arrest point 406 on working trajectory 407 and workspace 409. dynamic compaction machinery can perform to ram operation at arrest point 406.
In embodiment of the present utility model, lower computer unit receives subject performance instruction and the target control parameter that upper computer unit is sent, comprehensive state detecting unit information, calculating, according to the inverse amplification factor of setting, the steering order generating and driving this body action of dynamic compaction machinery, such as driving dynamic compaction machinery crawler belt is walked automatically, automatic rotary, automatically luffing, automatically volume are raised, automatically ram, brake, controlled motor speed etc.
In embodiment of the present utility model, upper computer unit assignment data are resolved, are received lower computer unit information, track and motion planning, information interaction, generate the subject performance instruction and the target control parameter that export lower computer unit to.
The utility model provides the dynamic compaction machinery automatic control system based on unmanned manipulation technology, it is possible to realize autonomous and operation function.
In embodiment of the present utility model, task imports unit by operation task data importing upper computer unit; Upper computer unit is according to operation task data genaration subject performance instruction, and subject performance instruction is transferred to lower computer unit; Lower computer unit is according to subject performance instruction, and generates steering order according to the inverse amplification factor of setting, and steering order transfers to dynamic compaction machinery body; Dynamic compaction machinery body performs corresponding action according to the steering order that lower computer unit sends, thus realizes the automatic control of dynamic compaction machinery.
In embodiment of the present utility model, the state parameter of state detection unit detection dynamic compaction machinery body, and this state parameter is transferred to lower computer unit, this state parameter is transferred to upper computer unit by lower computer unit; Upper computer unit is according to the real-time adjustment aim action instruction of this state parameter, and the subject performance instruction of adjustment is transferred to lower computer unit; Lower computer unit is according to the subject performance instruction of adjustment, and bonding state parameter, generate steering order and steering order is transferred to dynamic compaction machinery body, drive dynamic compaction machinery body to perform corresponding action.
In embodiment of the present utility model, environmental safety detecting unit sends obstacle when detecting and ram and there is obstacle on hammer operating area or dynamic compaction machinery action path to upper computer unit and there is signal, so that upper computer unit performs respective handling.
In embodiment of the present utility model, remote monitoring and control unit receive the dynamic compaction machinery work state information that upper computer unit is sent, the working order of monitor in real time dynamic compaction machinery, and send emergent stop signal when dynamic compaction machinery is in fault state to upper computer unit, stop dynamic compaction machinery work.
In embodiment of the present utility model, before upper computer unit is according to operation task data genaration subject performance instruction, mode selection switch selects the operating mode of dynamic compaction machinery, and the operating mode of selection is transferred to lower computer unit. Wherein, operating mode comprises: artificial mode and automatic mode.
In embodiment of the present utility model, warning device receives guard signal from lower computer unit, and performs corresponding warning according to guard signal. Wherein, lower computer unit sends guard signal to warning device under the dynamic compaction machinery emergency state, fault state or automatic mode.
In embodiment of the present utility model, emergency stop switch sends to lower computer unit and shuts down signal, stops dynamic compaction machinery work.
In embodiment of the present utility model, before upper computer unit is according to operation task data genaration subject performance instruction, the working parameter under dynamic compaction machinery automatic mode is inputed to lower computer unit by human and machine interface unit, and shows the state parameter of dynamic compaction machinery; Working parameter is transferred to upper computer unit by lower computer unit. Upper computer unit according to operation number of tasks according to this and working parameter carry out task and resolve planning, generate and ram a some layout drawing, and generate a subject performance instruction according to rammer point layout drawing.
In embodiment of the present utility model, before upper computer unit is according to operation task data genaration subject performance instruction, positioning and directing unit obtains the real-time position of dynamic compaction machinery body and directional information, and this position and directional information are transferred to upper computer unit. Preferably, according to ramming, some layout drawing and above-mentioned position and directional information generate guide tracks and working trajectory to upper computer unit, and generate guide tracks subject performance instruction and working trajectory subject performance instruction respectively according to this guide tracks and this working trajectory; This guide tracks subject performance instruction and this working trajectory subject performance instruction are transferred to lower computer unit by upper computer unit. Wherein, lower computer unit generates steering order according to this guide tracks subject performance instruction and this working trajectory subject performance instruction, and control dynamic compaction machinery body performs corresponding action.
In embodiment of the present utility model, at assembling point, dynamic compaction machinery is assembled; Task imports unit by operation task data importing upper computer unit; By the working parameter under human and machine interface unit setting dynamic compaction machinery automatic mode; Upper computer unit according to operation number of tasks according to this and working parameter carry out task and resolve planning, generate and ram a some layout drawing, the position real-time in conjunction with dynamic compaction machinery body and directional information, generate guide tracks and working trajectory; User confirms, mode selection switch is placed in automatic mode; The guide tracks of planning is generated guide tracks subject performance instruction by upper computer unit, is sent to lower computer unit in real time; Along guide tracks from assembling, point runs to the first arrest point automatically in the guide tracks subject performance instruction that lower computer unit control dynamic compaction machinery body is planned according to upper computer unit; The working trajectory of planning is generated working trajectory subject performance instruction by upper computer unit, is sent to lower computer unit in real time; Lower computer unit carries out according to working trajectory subject performance instruction control dynamic compaction machinery body automatically walking, automatically volume raise, automatic rotary, automatically luffing, automatically the action such as ram, until task completes.
The utility model provides dynamic compaction machinery automatic control system, and compared with the dynamic compaction machinery of existing manual control, the utility model has following useful effect: (1) security improves, and people is freed from severe work condition environment; (2) efficiency improves, and the dynamic compaction machinery of unmanned manipulation can realize uninterruptedly construction in 24 hours; (3) construction quality improve, the utility model can realize construction quality control, avoid artificially lazy cause deficient rammer, leakage ram; (4) human cost reduce, it is necessary to support personnel greatly reduce, decrease labor cost; (5) automatization, intelligence degree improve.
So far, described the utility model in detail. In order to avoid covering design of the present utility model, it does not have describe details more known in the field. Those skilled in the art, according to description above, can understand how to implement technical scheme disclosed herein completely.
Although being described in detail by specific embodiments more of the present utility model by example, but the technician of this area is it is to be understood that above example is only to be described, instead of in order to limit scope of the present utility model. The technician of this area is it is to be understood that when not departing from scope and spirit of the present utility model, can modify to above embodiment. Scope of the present utility model is limited by claims.
Claims (10)
1. a dynamic compaction machinery automatic control system, it is characterised in that, comprising:
Task imports unit, upper computer unit, lower computer unit and dynamic compaction machinery body;
Described task is imported unit and is connected by wired mode or wireless mode with described upper computer unit, and described upper computer unit is electrically connected with described lower computer unit, and described lower computer unit is electrically connected with described dynamic compaction machinery body;
Wherein, described task imports unit by operation task data importing upper computer unit; The subject performance instruction of generation is transferred to described lower computer unit by described upper computer unit; The steering order of generation is transferred to described dynamic compaction machinery body by described lower computer unit; Described dynamic compaction machinery body performs corresponding action according to the steering order that described lower computer unit sends.
2. dynamic compaction machinery automatic control system according to claim 1, it is characterised in that, also comprise:
State detection unit, is electrically connected with described lower computer unit, detects the state parameter of described dynamic compaction machinery body, and described state parameter is transferred to described lower computer unit, and described state parameter is transferred to described upper computer unit by described lower computer unit.
3. dynamic compaction machinery automatic control system according to claim 1, it is characterised in that, also comprise:
Environmental safety detecting unit, is electrically connected with described upper computer unit, sends obstacle when detecting and ram and there is obstacle on hammer operating area or dynamic compaction machinery action path to described upper computer unit and there is signal, so that described upper computer unit performs respective handling.
4. dynamic compaction machinery automatic control system according to claim 1, it is characterised in that, also comprise:
Remote monitoring and control unit, wirelessly it is connected with described upper computer unit, receive the dynamic compaction machinery work state information that described upper computer unit is sent, the working order of monitor in real time dynamic compaction machinery, and send emergent stop signal to described upper computer unit when dynamic compaction machinery is in fault state, stop dynamic compaction machinery work.
5. dynamic compaction machinery automatic control system according to claim 1, it is characterised in that, also comprise:
Mode selection switch, is electrically connected with described lower computer unit, selects the operating mode of dynamic compaction machinery, and the operating mode of selection is transferred to described lower computer unit;
Wherein, described operating mode comprises: artificial mode and automatic mode.
6. dynamic compaction machinery automatic control system according to claim 1, it is characterised in that, also comprise:
Warning device, is electrically connected with described lower computer unit, receives guard signal from described lower computer unit, and performs corresponding warning according to described guard signal.
7. dynamic compaction machinery automatic control system according to claim 1, it is characterised in that, also comprise:
Emergency stop switch, is electrically connected with described lower computer unit, sends to described lower computer unit and shuts down signal, stops dynamic compaction machinery work.
8. dynamic compaction machinery automatic control system according to claim 1, it is characterised in that, also comprise:
Human and machine interface unit, is electrically connected with described lower computer unit, and the working parameter under dynamic compaction machinery automatic mode is inputed to described lower computer unit, and shows the state parameter of dynamic compaction machinery; Described working parameter is transferred to described upper computer unit by described lower computer unit.
9. dynamic compaction machinery automatic control system according to claim 1, it is characterised in that, also comprise:
Positioning and directing unit, is electrically connected with described upper computer unit, obtains the real-time position of described dynamic compaction machinery body and directional information, and described position and directional information transfer to described upper computer unit.
10. dynamic compaction machinery automatic control system according to claim 3, it is characterised in that,
Described environmental safety detecting unit comprises: planar laser scanning device and/or ultrasonic transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520887655.5U CN205276244U (en) | 2015-11-09 | 2015-11-09 | Ram quick -witted automatic control system by force |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106698225A (en) * | 2016-12-19 | 2017-05-24 | 杭州杭重工程机械有限公司 | Main wind control system |
| CN106836178A (en) * | 2017-02-14 | 2017-06-13 | 杭州杭重工程机械有限公司 | A kind of dynamic compaction machinery and its control method |
| CN107237310A (en) * | 2017-07-17 | 2017-10-10 | 山东四维卓识信息技术有限公司 | A kind of dynamic compaction machinery construction navigation system and the dynamic compaction machinery using the construction navigation system |
-
2015
- 2015-11-09 CN CN201520887655.5U patent/CN205276244U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106698225A (en) * | 2016-12-19 | 2017-05-24 | 杭州杭重工程机械有限公司 | Main wind control system |
| CN106836178A (en) * | 2017-02-14 | 2017-06-13 | 杭州杭重工程机械有限公司 | A kind of dynamic compaction machinery and its control method |
| CN107237310A (en) * | 2017-07-17 | 2017-10-10 | 山东四维卓识信息技术有限公司 | A kind of dynamic compaction machinery construction navigation system and the dynamic compaction machinery using the construction navigation system |
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