Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Bulldozer dozer blade automatic control method and device based on GNSS
The invention relates to the technical field of digital construction, and discloses a GNSS (Global Navigation Satellite System)-based automatic control method and a GNSS-based automatic control device for a dozer blade of a bulldozer, which can be used for fixedly mounting a GNSS receiver at the top end of a machine body of the bulldozer and respectively fixedly mounting inertial measurement units on the machine body and the dozer blade; according to three-dimensional coordinate information of a construction design surface and acquired GNSS positioning information, machine body attitude information and dozer blade attitude information, real-time three-dimensional coordinates of scraper knife points on the left side and the right side and real-time target expansion and contraction amounts of an inclined hydraulic cylinder and a lifting hydraulic cylinder are calculated; and finally, the inclined hydraulic cylinder and the lifting hydraulic cylinder are controlled to complete the corresponding target expansion and contraction amount, so that the scraper knife position control scheme can tend to be linearized, all control targets can be clearly determined, the setting difficulty of control parameters can be reduced, the fast, accurate and stable control purpose can be achieved, and practical application and popularization are facilitated.
本发明涉及数字化施工技术领域，公开了一种基于GNSS的推土机推土铲自动控制方法及装置，可以在推土机的机体顶端固定安装GNSS接收器以及在机体和推土铲分别固定安装惯性测量单元后，根据施工设计面的三维坐标信息以及获取的GNSS定位信息、机体姿态信息和推土铲姿态信息，推算得到左右两侧铲刀点的实时三维坐标以及倾斜液压缸和抬升液压缸的实时目标伸缩量，最后控制所述倾斜液压缸和所述抬升液压缸完成对应的目标伸缩量，使得铲刀位置控制方案能够趋向线性化，清晰地明确各个控制目标，进而可降低控制参数的整定难度，实现快、准和稳的控制目的，便于实际应用和推广。
Bulldozer dozer blade automatic control method and device based on GNSS
The invention relates to the technical field of digital construction, and discloses a GNSS (Global Navigation Satellite System)-based automatic control method and a GNSS-based automatic control device for a dozer blade of a bulldozer, which can be used for fixedly mounting a GNSS receiver at the top end of a machine body of the bulldozer and respectively fixedly mounting inertial measurement units on the machine body and the dozer blade; according to three-dimensional coordinate information of a construction design surface and acquired GNSS positioning information, machine body attitude information and dozer blade attitude information, real-time three-dimensional coordinates of scraper knife points on the left side and the right side and real-time target expansion and contraction amounts of an inclined hydraulic cylinder and a lifting hydraulic cylinder are calculated; and finally, the inclined hydraulic cylinder and the lifting hydraulic cylinder are controlled to complete the corresponding target expansion and contraction amount, so that the scraper knife position control scheme can tend to be linearized, all control targets can be clearly determined, the setting difficulty of control parameters can be reduced, the fast, accurate and stable control purpose can be achieved, and practical application and popularization are facilitated.
本发明涉及数字化施工技术领域，公开了一种基于GNSS的推土机推土铲自动控制方法及装置，可以在推土机的机体顶端固定安装GNSS接收器以及在机体和推土铲分别固定安装惯性测量单元后，根据施工设计面的三维坐标信息以及获取的GNSS定位信息、机体姿态信息和推土铲姿态信息，推算得到左右两侧铲刀点的实时三维坐标以及倾斜液压缸和抬升液压缸的实时目标伸缩量，最后控制所述倾斜液压缸和所述抬升液压缸完成对应的目标伸缩量，使得铲刀位置控制方案能够趋向线性化，清晰地明确各个控制目标，进而可降低控制参数的整定难度，实现快、准和稳的控制目的，便于实际应用和推广。
Bulldozer dozer blade automatic control method and device based on GNSS
一种基于GNSS的推土机推土铲自动控制方法及装置
WEN BAOJUN (Autor:in) / LIN JIEMAN (Autor:in) / YUAN YONGHU (Autor:in) / CHEN HUANBIN (Autor:in)
26.04.2022
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
Valve control hydraulic cylinder control method and bulldozer dozer blade automatic control system
| Europäisches Patentamt | 2022