Scraper knife posture control system and method based on machine vision and land leveler

A posture control and machine vision technology, which is applied to mechanically driven excavators/dredgers, earth movers/shovels, construction, etc. Work quality is difficult to guarantee and other problems, to achieve the effect of solving the collision problem, improving the safety of work, reducing the difficulty of manipulation and labor intensity

Active Publication Date: 2021-04-09
XUZHOU XUGONG ROAD CONSTR MACHINERY +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with other construction machinery, the blade of the core working device of the grader has flexible movement and a larger range of motion, and it is more difficult to accurately detect and control the attitude of the blade, and the driver's operation er...

Method used

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  • Scraper knife posture control system and method based on machine vision and land leveler
  • Scraper knife posture control system and method based on machine vision and land leveler
  • Scraper knife posture control system and method based on machine vision and land leveler

Examples

Experimental program
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Effect test

Embodiment 1

[0029] Such as Figure 1~Figure 10 As shown, a blade attitude control system based on machine vision includes: several cameras 15 installed at the set position of the grader for collecting multiple visual perception tracking points 16 installed at the set position of the grader The real-time position information and send to the vision processing unit 17; The target attitude of the blade 10 generates the target state of the blade attitude control mechanism, and sends the target state and the current state of the blade attitude control mechanism to the on-board controller 18; the on-board controller 18 is used to The target state and current state of the control mechanism are controlled, and the blade attitude control mechanism is controlled through the electric proportional control valve 20, so that the blade attitude control mechanism drives the blade 10 to the target attitude.

[0030] Such as figure 1 , 2 , 7, and 8, in the present embodiment, the blade attitude control m...

Embodiment 2

[0038] Based on the blade attitude control system based on machine vision described in Embodiment 1, this embodiment provides a motor grader configured with the blade attitude control system based on machine vision described in Embodiment 1.

Embodiment 3

[0040] Based on the blade attitude control system based on machine vision described in Embodiment 1, this embodiment provides a blade attitude control method based on machine vision, including:

[0041] 1) Collect real-time position information of multiple visual perception tracking points installed at the set position of the grader;

[0042] 2) Obtain the current posture of the blade according to the real-time position information of each visual perception tracking point, and combine the target posture of the blade to generate the target state of the blade posture control mechanism;

[0043] 3) According to the target state and current state of the blade attitude control mechanism, the blade attitude control mechanism is controlled through the electric proportional control valve, so that the blade attitude control mechanism drives the blade to the target attitude, specifically:

[0044] 31) According to the target state and current state of the blade attitude control mechanis...

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Abstract

The invention discloses a scraper knife posture control system and method based on machine vision and a land leveler, and belongs to the technical field of land levelers. A scraper knife can be automatically adjusted to a set posture according to an operation instruction of a driver, and the control difficulty and labor intensity of the driver are reduced. The scraper knife posture control system comprises a plurality of cameras, a visual processing unit and a vehicle-mounted controller, wherein the cameras are installed at set positions of the land leveler and used for collecting real-time position information of a plurality of visual perception tracking points installed at the set positions of the land leveler; the visual processing unit is used for acquiring the current posture of a scraper knife according to the received real-time position information of each visual perception tracking point, and generating a target state of a scraper knife posture control mechanism in combination with the target posture, sent by a man-machine display, of the scraper knife; and the vehicle-mounted controller is used for controlling the scraper knife posture control mechanism through an electric proportional control valve according to the target state and the current state of the scraper knife posture control mechanism, so that the scraper knife posture control mechanism drives the scraper knife to a target posture.

Description

technical field [0001] The invention belongs to the technical field of graders, and in particular relates to a blade attitude control system and method based on machine vision and a grader. Background technique [0002] The grader is a kind of shovel transportation construction machine with a blade as the main body and various other replaceable operating devices for soil shoveling, leveling and shaping operations. It is mainly used in large areas such as roads, airports, farmland, and water conservancy. Soil leveling operations and construction operations such as slope scraping, trenching, bulldozing, loosening, and clearing road ice and snow are one of the important equipment in the construction of national defense, transportation, agriculture, and water conservancy infrastructure, and play a huge role in national economic construction. effect. Compared with other construction machinery, the blade of the core working device of the grader has flexible movement and a larger ...

Claims

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Application Information

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IPC IPC(8): E02F3/76E02F3/80E02F3/84E02F3/85E02F3/815
CPCE02F3/76E02F3/80E02F3/84E02F3/815E02F3/8152E02F3/8155E02F3/8157E02F3/844
Inventor 梁帮修侯志强刘浩卜令臣张乐天
Owner XUZHOU XUGONG ROAD CONSTR MACHINERY
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