Autonomous bulldozing robot

A bulldozer and robot technology, applied in the direction of earth mover/shovel, mechanically driven excavator/dredger, construction, etc., can solve the randomness and unevenness of filling in the working environment, no autonomous bulldozer robot, etc. problems, to achieve the effect of improving construction quality, avoiding omissions, and accurate autonomous navigation

Active Publication Date: 2018-06-29
TSINGHUA UNIV
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  • Claims
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Problems solved by technology

Second, the randomness and inhomogeneity of filling in the working environment
The third is the reciprocating nature of the bulldozing operation, which requires several processes of shoveling

Method used

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Embodiment Construction

[0064] The technology and method of the present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings. The following examples and drawings are used to illustrate the technical structure of the present invention, but are not intended to limit the scope of the present invention.

[0065] figure 1 Shown is a structural diagram of an embodiment of the invention applicable to a bulldozing robot, which mainly includes a bulldozer, a bulldozer-borne autonomous measurement and control device, a remote scheduling management device, and a satellite positioning device.

[0066] The bulldozer-borne autonomous measurement and control device includes satellite positioning receiver group 1, communication transceiver antenna 2, camera pair 3, blade lift sensor 4, blade tilt sensor 5, engine speed control driver 6, reversing collision avoidance radar 7, integrated controller 8 and Travel electromagnetic drive 9;

[0067] The rem...

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Abstract

The invention discloses an autonomous bulldozing robot. The bulldozing robot relies on devices of environment sensing, satellite positioning, machine vision, automatic control and the like, so that the functions of autonomous driving route planning, automatic bulldozing operation and autonomous on-line operation quality evaluation are realized, and the bulldozing robot is an unmanned and intelligent building construction machine. According to the task and the operation area, the autonomous bulldozing robot utilizes satellite positioning to measure the posture, and utilizes machine vision to sense and recognize the operation environment, the task sequence, the driving route and the posture of a scraper knife of the autonomous bulldozing robot are autonomously decided, and the working effectand the operation quality are evaluated according to the machine vision. A satellite positioning system adopts a satellite positioning and receiving unit to accurately sense the posture of the bulldozing robot in real time; a machine vision system adopts a fixed baseline camera to sense the environment surrounding the bulldozing robot and evaluate the quality of the bulldozing operation; and an automatic control system is composed of an upper computer and a lower controller on the basis of a field bus to form an onboard automatic control network. The autonomous bulldozing robot can also be operated by manual driving or remote control.

Description

technical field [0001] The invention belongs to the technical field of engineering machinery, and in particular relates to an autonomous bulldozing robot, which is an earthwork building construction machine with independent decision-making, unmanned driving, and intelligent bulldozing operations. Background technique [0002] The mechanization of engineering construction in our country has become a long-term development trend. Among them, bulldozers are responsible for heavy earthwork tasks in various construction projects such as civil engineering, water conservancy, mining, agriculture and forestry, oil fields, and national defense. They are indispensable key equipment in construction. In recent years, with the continuous development of microprocessors, the practicality of low-cost computers, sensing and communication technologies has increased, making engineering construction automation technologies, especially bulldozing robots, possible. [0003] Construction machinery ...

Claims

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Application Information

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IPC IPC(8): E02F3/76E02F3/84E02F9/20
CPCE02F3/76E02F3/84E02F3/841E02F3/844E02F9/205
Inventor 刘天云王恩志张建民
Owner TSINGHUA UNIV
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