CN108643256A - A kind of excavator - Google Patents
A kind of excavator Download PDFInfo
- Publication number
- CN108643256A CN108643256A CN201810535423.1A CN201810535423A CN108643256A CN 108643256 A CN108643256 A CN 108643256A CN 201810535423 A CN201810535423 A CN 201810535423A CN 108643256 A CN108643256 A CN 108643256A
- Authority
- CN
- China
- Prior art keywords
- excavator
- display
- module
- sensor node
- control terminal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
-
- 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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a kind of excavators, devise a kind of excavator dynamic depth measurement direction-finding system based on smart sensor's network, solve the problems, such as that current excavator operation is inefficient, which can be used in the excavating depth during excavator operation and excavation direction instruction.It has difficulties system solves the problem limited view when driver operates excavator and excavating depth measurement and the problems such as safety risks, helps to improve excavator operation quality and efficiency.
Description
Technical field
The invention belongs to excavator fields, are related to the excavator with dynamic depth measurement direction-finding system by it.
Background technology
Hydraulic crawler excavator is one of most widely used engineering machinery, and applying working condition is complicated, bad environments, in operation
When operator sight be often blocked, or can not see the depth of excavator clearly, reduce the effect of excavation
Rate, while can also have prodigious security risk, due to that cannot know the depth of excavation in time, does not know and arrived in operator
Also continuing to excavate when having reached limit depth, is often causing more serious consequence.
Invention content
The present invention to solve the above-mentioned problems, provides a kind of excavator with dynamic depth measurement direction-finding system.
The present invention specifically uses following technical scheme to realize,
A kind of excavator, is included in:Lower running body, for driving excavator to walk；Upper rotating body is equipped on the lower part
Running body can be rotated relative to lower running body；Driver's cabin is equipped on upper rotating body；Equipment, including swing arm, bucket
Bar and scraper bowl；It is characterized in that, the excavator further includes dynamic depth measurement direction-finding system, the system is by sensor node and shows
Control terminal two parts are constituted, and the sensor node is mounted on swing arm, dipper and scraper bowl, and the sensor node is for measuring
The inclination angle of swing arm, dipper and scraper bowl, and network is sent to display and control terminal by radio communication, the display and control terminal, which is mounted on, to be driven
Interior, aggregation node of the display and control terminal as sensor node, the inclination value that receiving sensor node is sent, and combine work clothes
The mechanical dimension set resolves excavating depth, and the display and control terminal further includes electronic compass, for measuring excavation direction, by depth and
The calculating measurement result in direction is by showing screen display;Between sensor node and display and control terminal by 2.4G wireless networks into
Row communication；
Further, the sensor node is obliquity sensor, and the obliquity sensor is made of accelerometer and gyroscope.
Further, the sensor node includes：Control module, power module, battery capacity acquisition module, communication mould
Block, data acquisition module and radio-frequency module.
Further, the display and control terminal includes：Control module, power module, battery capacity acquisition module, communication mould
Block, data acquisition module, radio-frequency module, magnetoresistive sensor module and display panel module.
Further, the data acquisition module is magnetoresistive sensor.
Further, the display panel module is for showing excavator excavating depth, course and miscue information.
System solves the problem limited view when driver's operation excavator and excavating depth measurement has difficulties and safety
The problems such as hidden danger, helps to improve excavator operation quality and efficiency.
Description of the drawings
Fig. 1 excavator overall schematics；
1, lower running body in figure, 2, upper rotating body, 3, driver's cabin, 4, counterweight, 5, swing arm, 6, dipper, 7, scraper bowl.
Specific implementation mode
Excavator orientation measurement measures the angle between excavator direction of advance and north geographic pole, that is, realizes electricity
The function of sub- compass heading angular measurement.Geomagnetic field horizontal component always points at magnetic north, and electronic compass senses geomagnetic field information,
It resolves to obtain azimuth according to projection of the geomagnetic fieldvector on three axis.Since electronic compass can not remain water when in use
Level state first obtains electronic compass attitude angle using accelerometer, calculates the component of earth's magnetic field in the horizontal plane, then navigate
It is calculated to angle.
Excavator dynamic sounding system is by three sensor nodes and a display and control terminal elder sister at being needed separately below to it
The function of realization is described.Sensor node needs to realize following functions:(1) Signals collecting function:Using MEMS sensor
MPU6050 carries out inclination angle detection, is merged into row information to accelerometer and gyroscope measurement data, keeps tilt angle measurement more accurate
Really.(2) electrical measurement function:Sensor node use lithium battery power supply, when not enough power supply, to display and control terminal send signal into
Row prompt.(3) wireless communication function:Sensor node and display and control terminal carry out communication and data biography by 2.4G wireless networks
It is defeated.
Display and control terminal needs to realize following functions:(1) Signals collecting function:Electricity is realized using magnetoresistive sensor HMC5983
Sub- compass function provides course angle instruction;MPU6050 sensors provide attitude angle for electronic compass.(2) wireless communication function;
Sensor node and display and control terminal are communicated by 2.4G wireless networks.(3) data calculation function:It is sent out according to sensor node
The inclination data to come over calculates excavator current depth;Resolving and compensation correction are carried out to magnetoresistive sensor data, calculate course
Angle.(4) display screen display function:Equipment uses OLED display screen, and the display screen is highlighted to be stablized, and display is clear, intuitive and convenient, uses
In display excavator depth, course and miscue information etc..
Display terminal also has both the function of management node, is directly facing user, provides detection information；
Display and control terminal is integrated with the function of electronic compass simultaneously, and real-time excavating depth and excavation direction are shown by OLED screen；
Herein on the basis of establishing excavator depth and orientation measurement model, master-plan side is determined according to system requirements
Then case completes the design of hardware and software of sensor node and display and control terminal.The hardware design of the two is essentially identical, all with micro-control
Device CC2530 processed cores in order to control devise electric power management circuit, sensor data acquisition circuit, radio-frequency antenna, display screen electricity
Road etc..Software development is carried out on the basis of hardware design, using IAR as development environment, is mainly realized battery capacity acquisition, is passed
The function modules such as sensor signal acquisition, wireless data transmission.On this basis, the big problem of dynamic error is measured for inclination angle
（Paper can be added：The contactless real-time measurement system of excavator motion arm posture, Jiang Yi, Wang Haibo, Qian Yu）, it is proposed that add
The method of speedometer and the fusion of gyroscope information devises complementary filter and Kalman filter, and is imitated to the filtering of the two
Fruit is compared analysis;For the big problem of electronic compass magnetic deviation, the error compensating method assumed based on nanmu circle is used.
System testing and analysis finally have been carried out to the design.Test shows that the system can realize expectation function, have
Actual application value.
Claims (6)
1. a kind of excavator, is included in:
Lower running body, for driving excavator to walk；
Upper rotating body is equipped on the lower running body, can be rotated relative to lower running body；
Driver's cabin is equipped on upper rotating body；
Equipment, including swing arm, dipper and scraper bowl；
It is characterized in that, the excavator further includes dynamic depth measurement direction-finding system, the system is whole by sensor node and aobvious control
Two parts are held to constitute, the sensor node is mounted on swing arm, dipper and scraper bowl, and the sensor node is dynamic for measuring
The inclination angle of arm, dipper and scraper bowl, and network is sent to display and control terminal by radio communication, the display and control terminal is mounted on driver's cabin
It is interior, aggregation node of the display and control terminal as sensor node, the inclination value that receiving sensor node is sent, and combine equipment
Mechanical dimension resolve excavating depth, the display and control terminal further includes electronic compass, for measuring excavation direction, by depth and side
To calculating measurement result pass through show screen display;It is carried out by 2.4G wireless networks between sensor node and display and control terminal
Communication.
2. excavator according to claim 1, it is characterised in that：The sensor node is obliquity sensor, described to incline
Angle transducer is made of accelerometer and gyroscope.
3. excavator according to claim 1, it is characterised in that：The sensor node includes：Control module, power supply mould
Block, battery capacity acquisition module, communication module, data acquisition module and radio-frequency module.
4. excavator according to claim 1, it is characterised in that：The display and control terminal includes：Control module, power supply mould
Block, battery capacity acquisition module, communication module, data acquisition module, radio-frequency module, magnetoresistive sensor module and display screen mould
Block.
5. excavator according to claim 4, it is characterised in that：The data acquisition module is magnetoresistive sensor.
6. excavator according to claim 4, it is characterised in that：The display panel module is for showing that it is deep that excavator excavates
Degree, course and miscue information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810535423.1A CN108643256A (en) | 2018-05-30 | 2018-05-30 | A kind of excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810535423.1A CN108643256A (en) | 2018-05-30 | 2018-05-30 | A kind of excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108643256A true CN108643256A (en) | 2018-10-12 |
Family
ID=63758478
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810535423.1A Pending CN108643256A (en) | 2018-05-30 | 2018-05-30 | A kind of excavator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108643256A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110031023A (en) * | 2019-05-16 | 2019-07-19 | 上海华测导航技术股份有限公司 | A kind of engineering machinery attitude transducer systematic error scaling method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4491927A (en) * | 1980-04-11 | 1985-01-01 | The Digger Meter Corporation | Depth monitoring system |
| CN105544641A (en) * | 2015-12-10 | 2016-05-04 | 同济大学 | Deep sea two-way propulsion hydraulic grab monitoring system |
| JP2016153573A (en) * | 2015-02-20 | 2016-08-25 | 日立建機株式会社 | Construction machine |
| CN107532400A (en) * | 2015-03-19 | 2018-01-02 | 住友建机株式会社 | Excavator |
| CN107747330A (en) * | 2017-10-13 | 2018-03-02 | 唐旭 | Riverway sludge clears up system |
-
2018
- 2018-05-30 CN CN201810535423.1A patent/CN108643256A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4491927A (en) * | 1980-04-11 | 1985-01-01 | The Digger Meter Corporation | Depth monitoring system |
| JP2016153573A (en) * | 2015-02-20 | 2016-08-25 | 日立建機株式会社 | Construction machine |
| CN107532400A (en) * | 2015-03-19 | 2018-01-02 | 住友建机株式会社 | Excavator |
| CN105544641A (en) * | 2015-12-10 | 2016-05-04 | 同济大学 | Deep sea two-way propulsion hydraulic grab monitoring system |
| CN107747330A (en) * | 2017-10-13 | 2018-03-02 | 唐旭 | Riverway sludge clears up system |
Non-Patent Citations (1)
| Title |
|---|
| 朱里奇、刘嵩: "《现代通信网概论》", 30 September 2013, 天津：天津大学出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110031023A (en) * | 2019-05-16 | 2019-07-19 | 上海华测导航技术股份有限公司 | A kind of engineering machinery attitude transducer systematic error scaling method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181012 |