WO2015143964A1 - Grader control system and control method thereof - Google Patents

Grader control system and control method thereof 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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Prior art keywords
grader
controller
working surface
laser
control system
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PCT/CN2015/072969
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French (fr)
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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Publication of WO2015143964A1 publication Critical patent/WO2015143964A1/en

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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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Abstract

A grader control system comprises a grader and a controller (6). The grader is provided with a grader blade (2). The controller (6) is used for controlling a position of the grader blade (2). The grader control system further comprises a three-dimensional scanning apparatus (3), used for scanning a work plane of the grader blade (2), to form work plane terrain information, and sending the work plane terrain information to the controller (6). The controller (6) adjusts the position of the grader blade (2) according to the work plane terrain information, so that the work plane is flat after working of the grader surface (2). The grader can scan terrain of an entire flat ground, adjust the position of the grader blade (2) in real time, and improve flat accuracy in both vertical and horizontal directions.

Description

一种平地机控制***及其控制方法Grader control system and control method thereof 技术领域Technical field
本发明涉及农业设备领域，尤其涉及一种平地机控制***及其控制方法。The invention relates to the field of agricultural equipment, in particular to a grader control system and a control method thereof.
技术背景technical background
当今农田耕作中平地机的使用已经十分普遍，激光整平***对于改造盐碱地为耕地的实际作用已经在内蒙、宁夏等地区获得了实践。现如今的平地机只对平地铲的高度作控制，提高田间土地平整的精度，但在对高差较大的土地面进行整平操作时，需要根据作业过程中不同的地面高度调整平地铲的位置，在平地铲多次调节后，平地铲的水平位置极易发生变化，造成整平后的土地满足平整度的要求却在水平位置上无法满足要求，致使平地机整出的土地相对于水平位置存在一倾角，经过不同的整平过程整平后的土地水平度大相径庭，致使平地效果不佳，精度降低。且由于平地过程中作业面无法精确确定，平地完成后的作业面常常与使用者所期望的作业面要求不符合，而再次平地的话原本已经把握准确的作业面的水平方位和竖直方位又要重新调整，大大降低了工作效率。The use of 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. However, when leveling the land with large height difference, it is necessary to adjust the shovel according to the different ground heights during the operation. 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. There is a dip in the position, and the level of the land after leveling through different leveling processes is quite different, resulting in poor flatness and reduced accuracy. Moreover, since the working surface cannot be accurately determined during the flat process, the working surface after the completion of the flat ground often does not conform to the working surface requirement desired by the user, and if the ground level is again flat, the horizontal orientation and the vertical orientation of the working surface are already grasped. Re-adjustment greatly reduces work efficiency.
所以，农田平整领域急需一种平地机，能扫描整个作业面的地形，实时地调节平地铲的水平位置，在竖直和水平方向上同时提高整平精度。Therefore, there is an urgent need for a grader in the field of farmland leveling, which can scan the terrain of the entire working surface, adjust the horizontal position of the shovel in real time, and improve the leveling accuracy in both the vertical and horizontal directions.
发明概要Summary of invention
本发明的目的在于提供一种平地机控制***，通过对整个作业面的地形 的检测提高具有该控制***的平地机的平地效果及工作效率。It is an object of the present invention to provide a grader control system that passes through the terrain of the entire work surface The detection improves the leveling effect and working efficiency of the grader with the control system.
本发明公开了一种平地机控制***，包括：平地机及控制器；所述平地机具有平地铲；所述控制器用于控制所述平地铲的位置，所述控制***还包括三维扫描装置，用于扫描所述平地铲的作业面，以形成作业面地形信息，并将所述作业面地形信息发送至所述控制器；所述控制器根据所述作业面地形信息调整所述平地铲的位置，使经所述平地铲作业后的所述作业面平整。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.
优选地，所述三维扫描装置为3D扫描器，所述3D扫描器设于所述平地机上。Preferably, the three-dimensional scanning device is a 3D scanner, and the 3D scanner is disposed on the motor grader.
优选地，所述作业面信息包括所述平地机未工作时所述作业面的初始面信息，及所述平地机工作后所述作业面的工作面信息，所述控制器计算所述初始面信息及工作面信息间的差值，控制所述平地铲以所述差值作业。Preferably, 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.
优选地，所述控制***还包括角度传感器，用于判断平地铲水平位置，并将水平位置信息发送至所述控制器。Preferably, the control system further includes an angle sensor for determining the level position of the blade and transmitting the horizontal position information to the controller.
优选地，所述平地机为激光平地机。Preferably, the grader is a laser grader.
优选地，所述激光平地机包括激光发射器、激光接收器、桅杆、液压***及执行装置；所述激光发射器向所述激光接收器发射激光；所述激光接收器设置在所述桅杆上，用于向所述控制器发送指令；所述桅杆的一端与所述平地铲连接，直立在所述激光平地机上，使所述激光接收器与所述平地铲的竖直方向上的位置差通过所述桅杆固定；所述液压***根据所述控制器发送的操作指令驱动所述执行装置对所述平地铲的竖直方向位置调整。Preferably, 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.
优选地，所述激光发射器为激光扫平仪。Preferably, the laser emitter is a laser leveling device.
本发明又公开了一种平地机控制***的控制方法，包括如下步骤：步 骤A：所述三维扫描装置扫描作业面，形成初始作业面信息；步骤B：所述激光发射器向所述激光接收器发射激光，并根据所述初始作业面信息设置一基准作业面并将所述基准作业面信息发送至所述控制器；步骤C：所述控制器控制所述平地铲进行平地操作。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.
优选地，还包括步骤D：所述平地产平地操作完成后，所述三维扫描装置扫描作业面，判断所述作业面与基准作业面的水平及竖直方向上的差值，并将所述差值发送至控制器；步骤E：所述控制器控制所述平地铲进行二次平地操作，以使所述作业面与所述基准作业面一致。Preferably, 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.
采用上述技术方案后，通过三维扫描装置对作业面的两次或多次扫描检测，使得平地机的平地铲在平地过程中可针对预先设定好的作业面进行实时的调整，且作业完成后还可比较作业面与基准面的差值，针对该差值，平地机可二次修正，大幅度提高了平地效果及工作效率。After adopting the above technical solution, 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. For the difference, the grader can be corrected twice, which greatly improves the leveling effect and working efficiency.
附图说明DRAWINGS
图1为本发明一优选实施例中平地机控制***工作原理图；1 is a schematic diagram showing the working principle of a motor grader control system according to a preferred embodiment of the present invention;
图2为本发明平地机结构示意图。Figure 2 is a schematic view showing the structure of the grader of the present invention.
附图标记：1激光发射器、2平地铲、3三维扫描装置、4桅杆、5激光接收器、6控制器、7执行装置、液压***8。LIST OF REFERENCE NUMERALS 1 laser emitter, 2 shovel, 3 three-dimensional scanning device, 4 mast, 5 laser receiver, 6 controller, 7 actuator, hydraulic system 8.
发明内容Summary of the invention
以下结合附图与具体实施例进一步阐述本发明的优点。Advantages of the present invention are further explained below in conjunction with the accompanying drawings and specific embodiments.
参阅图1，为本发明平地机控制***工作原理图。该实施例中，本发明 的平地机控制***用于激光平地机上。该平地机控制***包括：在作业面上开动的平地机，平地机还包括对作业面直接平整的平地铲、及对平地铲进行控制的控制器，为了对作业面进行实时的扫描分析，控制***内还包括了三维扫描装置，可扫描平地机作业面的每一部分，并同时建立一套作业面地形的三维坐标云信息，建立完毕后，该作业面地形的三维坐标云信息被发送至控制器。控制器接收到该信息后，实施调整平地铲的水平和竖直位置，使经所述平地铲作业后的所述作业面平整。Referring to Figure 1, there is shown a working principle diagram of the control system of the grader of the present invention. In this embodiment, the 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.
该三维扫描装置建立的三维坐标云信息可理解为对作业面地形的检测后的检测结果。该信息一般包括作业面的外轮廓形状、最低地势信息、最高地势信息及平地机所处地势信息。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.
一优选实施例中，三维扫描装置为3D扫描器，设置在平地机上，靠近需要测量的作业面，可创建作业面的几何表面，原理是利用了每次扫描的点用来插补成作业面的表面形状，越密集的点云便可以创建越精确的作业面模型。In a preferred embodiment, 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. The surface shape, the denser the point cloud, the more accurate the working surface model can be created.
由于三维扫描装置可以多次测量作业面，因此，该控制***中，可利用三维扫描装置的多次测量结果形成多个工作面信息，其中主要需要的可以是平地机尚未工作时，原本作业面的初始面信息，及平地机在工作后作业面的工作面信息。在获得了上述两个信息后，控制器可对两者作比较，计算初始面信息及工作面信息间的差值，控制平地铲以差值作业，以提高平地机的平整效果，具体比对方法将在后文详述。Since the three-dimensional scanning device can measure the working surface multiple times, in the control system, 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 initial surface information and the working surface information of the working surface of the grader after work. After obtaining the above two information, 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.
为了在平整过程中可实时判断平地铲的位置，控制***还包括角度传感器，专用于判断平地铲的水平位置，其与平地铲连接，并将水平位置信息发 送至激光接收器，激光接收器接收到水平位置信号后，在原有指令中添加平地铲的水平方向控制指令，所述控制器根据激光发射器发来的平地铲的竖直方向控制指令及水平方向控制指令对平地铲分别作上述两方向上的位置调整。In order to determine the position of the blade in real time during the leveling process, 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. 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.
更优选地，角度传感器设置在激光接收器内部，避免其他如震动、人工调整等因素造成的角度传感器发出的水平信号数据不准确。同时，将角度传感器整合至激光接收器内部，节省了所述控制***的空间，在为原控制***增添新功能的基础上不影响控制***的结构。More preferably, 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. At the same time, 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.
当然，本领域技术人员可以理解的是，本发明的平地机控制***可用于除激光平地机外的所有常规平地机，可帮助常规的平地机在原有人工测量或其他仪器测量平整度的基础上进一步控制作业面的平整情况。Of course, it will be understood by those skilled in the art that the 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.
参阅图2，为本发明平地机结构示意图。本发明还涉及一种使用上述平地机控制***的平地机，其中平地机为激光平地机，所述平地机包括激光发射器1、激光接收器5、平地铲2、桅杆4、液压***8及执行装置7，还包括角度传感器和三维扫描装置3。本优选实施例中，激光发射器1为激光扫平仪，激光扫平仪固定安装在整平土地的外边一侧，向平地机发射一激光平面。平地铲2上直立一桅杆4，桅杆4一端应高于激光扫平仪发射的激光平面的高度，所述激光接收器5与所述角度传感器设置在桅杆4上，即平地铲2在竖直方向上的位移变量等于激光接收器5在竖直方向上的位移变量，角度传感器直接判断当前平地铲2的水平方向位置。激光扫平仪发射的激光平面打在激光接收器5后，激光接收器5计算出当前平地铲2与作业基准面的位移变量，同时根据角度传感器发来的平地铲水平方向位置信息 整合一指令发送至所述液压***8，由液压***8统一控制驱动执行装置7对平地铲2进行位置调整，使所述平地铲2在竖直及水平方向回到初始工作基准面。2 is a schematic structural view of a grader according to the present invention. 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. In the preferred embodiment, 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, and the angle sensor directly determines the horizontal position of the current blade 2 . After the laser plane emitted by the laser leveling device is hit by the laser receiver 5, 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.
在角度传感器对平地铲2的位置进行判断的同时，三维扫描装置3也对平地铲2的水平位置与设定的基准面位置作比较，实时地调整平地铲2的水平与竖直位置。具体地来说，三维扫描装置3用于判断平地铲2的水平位置与基准面的水平位置是否一致，及平地铲2平地后的作业面与设定的基准面是否一致，而角度传感器则用于检测平地铲2的各个位置是否在同一水平面上，若不是，则通过控制对平地铲2本身的平地面做调整，使得整个平地面水平。因此，三维扫描装置3发出的指令对平地铲2的控制与角度传感器发出的指令对平地铲2的控制并不相悖，反而是进一步的在两个方面保证了平地机对作业面的作业平整度。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. .
对于上述平地机的控制方法，可描述为包括以下步骤：For the above control method of the grader, it can be described as including the following steps:
-步骤A：建立初始作业面信息。当在平地机上设置好三维扫描装置后，三维扫描装置对待平整的作业面进行扫描，以形成一未平整时的初始作业面信息。- 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.
-步骤B：激光发射器向激光接收器发射激光，并根据初始作业面信息设置一基准作业面并将基准作业面信息发送至控制器，用以告知控制器使用者所期望完成的作业面的平整度及平整深度。- 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.
-步骤C：控制器得到上述信息后，实时判断平地铲的竖直方向是否对应基准作业面，若是，便继续控制平地铲以该竖直位置平整地面；若否，则利用三维扫描装置计算平地铲在竖直方向上与基准面的差值，并通过控制器 控制平地铲回复到基准面的竖直高度。同样地，平地铲的水平位置也以该方式操作。- 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.
对于使用者来说，该平地机的控制方法还可包括以下步骤，以确保平整后的地面符合要求：For the user, the control method of the grader may further comprise the following steps to ensure that the leveled ground meets the requirements:
-步骤D：在平地铲对地面平整后，三维扫描装置再次扫描作业面，再次判断所述作业面与基准作业面的水平及竖直方向上的差值，并将差值发送至控制器；- 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;
-步骤E：控制器在得到命令后控制平地铲进行二次或多次平地操作，以保证作业面与使用者期望的基准面一致。- 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.
采用上述技术方案后，通过三维扫描装置对作业面的两次或多次扫描检测，使得平地机的平地铲在平地过程中可针对预先设定好的作业面进行实时的调整，且作业完成后还可比较作业面与基准面的差值，针对该差值，平地机可二次修正，大幅度提高了平地效果及工作效率。After adopting the above technical solution, 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. For the difference, the grader can be corrected twice, which greatly improves the leveling effect and working efficiency.
另外，平地机在具有该控制***后具有自动识别地形的功能，在平整过程中实时修正平整的精度，保证了平地机在不同工作状态时作业面始终水平或根据使用者的要求，达到一定的倾斜度。In addition, 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.
应当注意的是，本发明的实施例有较佳的实施性，且并非对本发明作任何形式的限制，任何熟悉该领域的技术人员可能利用上述揭示的技术内容变更或修饰为等同的有效实施例，但凡未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何修改或等同变化及修饰，均仍属于本发明技术方案的范围内。 It should be noted that the embodiments of the present invention are preferred embodiments, and are not intended to limit the scope of the present invention. Any one skilled in the art may use the above-disclosed technical contents to change or modify the equivalent embodiments. Any modification or equivalent changes and modifications of the above embodiments in accordance with the technical spirit of the present invention are still within the scope of the technical solutions of the present invention.

Claims (9)

  1. 一种平地机控制***，包括：平地机及控制器；所述平地机具有平地铲；A grader control system comprising: a grader and a controller; the grader has a shovel;
    所述控制器用于控制所述平地铲的位置，其特征在于：The controller is configured to control the position of the blade (s), and is characterized by:
    所述控制***还包括三维扫描装置，用于扫描所述平地铲的作业面，以形成作业面地形信息，并将所述作业面地形信息发送至所述控制器；The control system further includes a three-dimensional scanning device for scanning a working surface of the shovel to form working surface topographical information, and transmitting the working surface topographical information to the controller;
    所述控制器根据所述作业面地形信息调整所述平地铲的位置，使经所述平地铲作业后的所述作业面平整。The controller adjusts the position of the blade according to the topographic information of the work surface, and smoothes the work surface after the operation of the blade.
  2. 如权利要求1所述的平地机控制***，其特征在于：The motor grader control system of claim 1 wherein:
    所述三维扫描装置为3D扫描器，所述3D扫描器设于所述平地机上。The three-dimensional scanning device is a 3D scanner, and the 3D scanner is disposed on the motor grader.
  3. 如权利要求1或2所述的平地机控制***，其特征在于：A motor grader control system according to claim 1 or 2, wherein:
    所述作业面信息包括所述平地机未工作时所述作业面的初始面信息，及The work surface information includes initial surface information of the work surface when the grader is not working, and
    所述平地机工作后所述作业面的工作面信息；Working surface information of the working surface after the grader works;
    所述控制器计算所述初始面信息及工作面信息间的差值，控制所述平地铲以所述差值作业。The controller calculates a difference between the initial surface information and the work surface information, and controls the level shovel to operate with the difference.
  4. 如权利要求1或2所述的平地机控制***，其特征在于：A motor grader control system according to claim 1 or 2, wherein:
    所述控制***还包括角度传感器，用于判断平地铲水平位置，并将水平位置信息发送至所述控制器。The control system also includes an angle sensor for determining a level position of the blade and transmitting horizontal position information to the controller.
  5. 如权利要求1所述的平地机控制***，其特征在于：The motor grader control system of claim 1 wherein:
    所述平地机为激光平地机。The grader is a laser grader.
  6. 如权利要求5所述的平地机控制***，其特征在于：The motor grader control system according to claim 5, wherein:
    所述激光平地机包括激光发射器、激光接收器、桅杆、液压***及执行装置；The laser grader comprises a laser emitter, a laser receiver, a mast, a hydraulic system and an execution device;
    所述激光发射器向所述激光接收器发射激光；The laser emitter emits laser light to the laser receiver;
    所述激光接收器设置在所述桅杆上，用于向所述控制器发送指令；The laser receiver is disposed on the mast for transmitting an instruction to the controller;
    所述桅杆的一端与所述平地铲连接，直立在所述激光平地机上，使所述激光接收器与所述平地铲的竖直方向上的位置差通过所述桅杆固定；One end of the mast is connected to the blade, and stands upright on the laser grader, so that a position difference between the laser receiver and the blade in a vertical direction is fixed by the mast;
    所述液压***根据所述控制器发送的操作指令驱动所述执行装置对所述平 地铲的竖直方向位置调整。The hydraulic system drives the executing device to the flat according to an operation instruction sent by the controller The position of the ground shovel is adjusted in the vertical direction.
  7. 如权利要求6所述的平地机，其特征在于：A grader according to claim 6 wherein:
    所述激光发射器为激光扫平仪。The laser emitter is a laser leveling device.
  8. 一种用于如权利要求6所述平地机控制***的控制方法，其特征在于：包括如下步骤：A control method for a grader control system according to claim 6, comprising the steps of:
    步骤A：所述三维扫描装置扫描作业面，形成初始作业面信息；Step A: The three-dimensional scanning device scans the working surface to form initial working surface information;
    步骤B：所述激光发射器向所述激光接收器发射激光，并根据所述初始作业面信息设置一基准作业面并将所述基准作业面信息发送至所述控制器；Step B: the laser emitter emits laser light to the laser receiver, and sets a reference work surface according to the initial work surface information and sends the reference work surface information to the controller;
    步骤C：所述控制器控制所述平地铲进行平地操作。Step C: The controller controls the blade to perform a ground operation.
  9. 如权利要求8所述的控制方法，其特征在于：The control method according to claim 8 wherein:
    还包括步骤D：所述平地产平地操作完成后，所述三维扫描装置扫描作业面，判断所述作业面与基准作业面的水平及竖直方向上的差值，并将所述差值发送至控制器；The method further includes the step D: after the flat land operation is completed, the three-dimensional scanning device scans the working surface, determines the difference between the working surface and the reference working surface in the horizontal and vertical directions, and sends the difference To the controller;
    步骤E：所述控制器控制所述平地铲进行二次平地操作，以使所述作业面与所述基准作业面一致。 Step E: The controller controls the shovel to perform a second leveling operation to make the working surface coincide with the reference working surface.
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