Automatic reset control system and method for shovel blade of high-horsepower bulldozer

Abstract

The invention discloses an automatic reset control system and method for a high-horsepower bulldozer scraper knife, and belongs to the technical field of bulldozer control. The system comprises a bulldozer, and the scraper knife of the bulldozer, a push rod and the tail of a vehicle body are all provided with tilt angle sensors used for obtaining posture numerical values of corresponding parts; a reset controller is arranged in a cab of the bulldozer and is used for receiving the numerical value change from the tilt angle sensor and generating a reset adjustment control signal; and the reset execution mechanism is used for receiving the reset control signal from the reset controller and adjusting the scraper knife to restore to the initial posture. The tilt angle sensor monitors the pitch angle and the rolling angle of the corresponding part in real time, and the reset controller analyzes the pitch angle and the rolling angle and adjusts the scraper knife to the optimal working state through the reset executing mechanism; manual repeated fine adjustment is not needed, the operation preparation time and adjustment time are shortened, and the construction progress is accelerated; visual errors caused by insufficient experience or distraction of operators are avoided, and the operation stability and reliability of the bulldozer are enhanced.

Description

Technical Field

[0001] The invention belongs to the technical field of bulldozer control, in particular to an automatic resetting control system and method for a blade of a high-horsepower bulldozer. Background Art

[0002] Bulldozers are indispensable mechanical equipment in mining and large-scale earthwork construction. Especially high-horsepower bulldozers, they play a core role in high-intensity operations such as leveling land and mining. However, with the continuous expansion of project scale and the increasingly complex construction environment, higher requirements are placed on the accuracy, efficiency and safety of bulldozer operations.

[0003] Limitations of existing technologies: Traditional bulldozer operation relies on the driver’s experience and skills, especially the adjustment of the blade position, which often requires multiple trials and errors to achieve the ideal state, which undoubtedly increases the time cost and labor intensity of the operation. The bulldozer operator’s experience requirements are high, which greatly reduces the construction work efficiency.

[0004] Limitations of manual adjustment: Traditionally, the adjustment of the blade posture relies on the operator's manual operation. In mining and earthmoving projects, complex terrain and harsh environments (such as low light, high dust, and narrow spaces) make it difficult for operators to make visual judgments, thereby reducing the accuracy of adjustment and operating efficiency.

[0005] Challenges of remote operation: With the development of remote operation technology, how to ensure accurate control of the blade posture under off-site control has become a new problem. The lack of real-time and accurate blade posture feedback mechanism makes it difficult for the accuracy and stability of remote operation to meet engineering requirements. Summary of the invention

[0006] In order to solve the problem that the bulldozer blade posture cannot be monitored and automatically reset during operation, the present invention provides a high-horsepower bulldozer blade automatic reset control system and method.

[0007] The present invention is achieved through the following technical solutions: A high-horsepower bulldozer blade automatic reset control system comprises a bulldozer, wherein the blade, push rod and rear of the bulldozer are all provided with inclination sensors for obtaining attitude values ​​of corresponding parts; A reset controller is provided in the bulldozer cab, which is used to receive the value change from the inclination sensor and generate a reset adjustment control signal; The reset actuator is used to receive a reset control signal from the reset controller and adjust the blade to return to its initial posture.

[0008] The three inclination sensors monitor the pitch and roll angles of the corresponding parts in real time, and adjust the blade to the optimal working state through the reset actuator after analysis by the reset controller. There is no need for repeated manual fine-tuning, which greatly shortens the job preparation time and adjustment time and improves the overall construction progress. It avoids visual errors caused by the operator's lack of experience or distraction, and enhances the operational stability and reliability of the bulldozer blade.

[0009] A further improvement of the present invention is that the above-mentioned inclination sensors are respectively centrally arranged on the blade, the push rod and the rear of the bulldozer, so as to accurately obtain the pitch angle and the roll angle.

[0010] A further improvement of the present invention is that the above-mentioned inclination sensor monitors in real time and sends component posture change data to the reset controller.

[0011] A further improvement of the present invention is that the reset controller collects angle data of the bulldozer's blade, push rod and body in real time and processes the data to adjust the command signal to be sent to the reset actuator.

[0012] A further improvement of the present invention further includes a human-machine interaction interface disposed in the bulldozer cab, and the preset posture value of the blade is stored in the reset controller through the human-machine interaction interface.

[0013] A further improvement of the present invention also includes a remote control terminal, which receives attitude angle data and system status information in real time and supports remote operation.

[0014] A method for automatically resetting the blade of a high-horsepower bulldozer, the operating steps are as follows: Step 1, initialization stage: the operator first sets the standard posture parameters of the blade (such as pitch angle and roll angle) through the human-machine interface and saves them to the reset controller; Step 2: Posture monitoring: During operation, the inclination sensor continuously captures the posture changes of the bulldozer blade, push rod and body. The data is processed by the algorithm of the reset controller to obtain the posture angle data of the blade relative to the body, and the posture changes of the blade relative to the body are displayed in real time on the screen; Step 3, data processing: The reset controller will use the difference algorithm to calculate the processed blade posture angle data and the set standard posture angle data again, obtain the data difference between the two and generate a reset adjustment control signal, which is sent to the vehicle-side controller, and then drives the reset actuator to control the blade posture.

[0015] It can be seen from the above technical scheme that the beneficial effects of the present invention are: the three inclination sensors monitor the pitch angle and roll angle of the corresponding parts in real time, and adjust the blade to the optimal working state through the reset actuator after analysis by the reset controller; there is no need for manual repeated fine-tuning, which greatly shortens the job preparation time and adjustment time and improves the overall construction progress; it avoids visual errors caused by operator inexperience or distraction, and enhances the operational stability and reliability of the bulldozer and remote-controlled bulldozer equipment blades; by real-time monitoring of the blade posture, potential risk points can be warned in time to effectively prevent safety accidents caused by blade instability; whether it is rugged mountains or soft foundation conditions, the automatic reset system can ensure that the blade maintains the best working condition and improves the equipment's adaptability to harsh environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0017] Figure 1 It is a structural schematic diagram of a specific implementation mode of the present invention.

[0018] Figure 2 The figure is a schematic diagram of the working process of a specific implementation mode of the present invention.

[0019] Figure 3 The figure is a schematic diagram of the algorithm data flow of a specific implementation mode of the present invention.

[0020] Figure 4 It is a schematic diagram comparing the scraper before and after adjustment according to a specific embodiment of the present invention.

[0021] In the attached drawings: 100, bulldozer; 200, blade inclination sensor; 300, push rod inclination sensor; 400, vehicle body inclination sensor; 500, reset controller; 600, reset actuator. DETAILED DESCRIPTION

[0022] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0023] like Figure 1 and 4As shown, a high-horsepower bulldozer blade automatic reset control system includes a bulldozer 100, wherein the blade, push rod and rear body of the bulldozer 100 are all provided with inclination sensors, and the inclination sensors are respectively a blade inclination sensor 200, a push rod inclination sensor 300 and a body inclination sensor 400, which are used to obtain the posture values ​​of the corresponding parts; the blade inclination sensor 200, the push rod inclination sensor 300 and the body inclination sensor 400 are respectively centrally arranged on the back of the blade, the push rod and the rear body of the bulldozer 100; so as to accurately obtain the pitch angle and the roll angle. The blade inclination sensor 200 is installed in the middle position of the back of the blade, which can obtain the posture change of the blade, and can better protect the inclination sensor and extend the service life. The push rod inclination sensor 300 is installed in the middle position of the push rod, which is used to obtain the posture data of the push rod of the bulldozer 100. The inclination sensor of the bulldozer 100 body is installed at the rear of the bulldozer 100. Installing it at the rear of the bulldozer 100 can greatly prevent the vibration caused by the bulldozer 100 engine and other components from affecting the data of the inclination sensor, and can obtain the posture data of the body more accurately.

[0024] like Figure 1 As shown, the cab of the bulldozer 100 is provided with a reset controller 500 for receiving the value change from the inclination sensor and generating a reset adjustment control signal; the reset controller 500 is placed inside the cab and the controller is equipped with a rich I / O interface (such as CAN bus, RS-485) to ensure stable data exchange with sensors and other systems. The reset actuator 600 is used to receive the reset control signal from the reset controller 500 and adjust the blade to restore to the initial posture; the reset actuator 600 is a cylinder push rod of the linkage blade. The reset controller 500 calculates the sensor data and the preset data, and sends them to the controller of the bulldozer 100 after calculation, thereby driving the cylinder to move and restore the blade to the initial state. The inclination sensor is connected to the reset controller 500 by wire, so that the reset controller 500 obtains the sensor data. The reset controller 500 is connected to the vehicle controller, so as to send the calculated difference that needs to be adjusted by the blade to the vehicle controller for information transmission between the two.

[0025] Inclination sensor: A device used to measure the inclination angle of an object relative to the horizontal plane. It measures the inclination angle of an object relative to the horizontal plane of the earth by using accelerometer and gyroscope technology under the action of gravity or inertial force. Inclination sensors usually contain one or more sensitive axes, each with one or more sensors to detect the rotation and tilt of an object around that axis.

[0026] The inclination sensor monitors in real time and sends component posture change data to the reset controller 500; the reset controller 500 collects angle data of the bulldozer's blade, push rod and body in real time and processes the data to adjust the command signal to be sent to the reset actuator 600.

[0027] The control system also includes a human-machine interface and a remote control terminal arranged in the cab of the bulldozer 100. The preset posture value of the blade is stored in the reset controller 500 through the human-machine interface; the remote control terminal receives posture angle data and system status information in real time and supports remote operation.

[0028] like Figure 2 As shown, a method for automatically resetting the blade of a high-horsepower bulldozer 100 is provided, and the operation steps are as follows: Step 1, initialization stage: the operator first sets the standard posture parameters of the blade (such as pitch angle and roll angle) through the human-machine interaction interface and saves them to the reset controller 500; Step 2, posture monitoring: During operation, the inclination sensor continuously captures the posture changes of the bulldozer blade, push rod and body. The data is processed by the algorithm of the reset controller 500 to obtain the posture angle data of the blade relative to the body, and the posture changes of the blade relative to the body are displayed in real time on the screen; Step 3, data processing: The reset controller 500 uses the difference algorithm to calculate the processed blade posture angle data and the set standard posture angle data again, obtains the data difference between the two and generates a reset adjustment control signal, which is sent to the vehicle-side controller, and then drives the reset actuator 600 to control the blade posture.

[0029] Initial parameter setting: based on the body posture of the bulldozer 100, preset initial parameter setting is performed, that is, the blade posture of the bulldozer 100 needs to be reset.

[0030] Posture analysis and comparison: The reset controller 500 receives information data from the tilt sensor in real time to detect the blade posture and calculates the deviation value of the blade posture relative to the vehicle body, that is, the posture of the blade relative to the vehicle body, in real time.

[0031] Then, the difference is compared with the preset target posture to calculate the parameters that need to be adjusted for the shovel blade. The reset controller 500 sends the parameters that need to be adjusted to the vehicle controller, and then the shovel blade is adjusted.

[0032] like Figure 3 As shown, data processing 1 (posture detection): calculate the posture parameters of the shovel relative to the vehicle body.

[0033] δ=ω1-Φ1 α=ω2-Φ2 Φ1 is the pitch angle of the body, Φ2 is the roll angle of the body; ω1 is the pitch angle of the push rod, ω2 is the roll angle of the push rod. δ and α are the pitch angle and roll angle of the push rod relative to the body of the bulldozer 100. Similarly, the pitch angle of the blade relative to the body is calculated as θ1 and the roll angle is θ2.

[0034] Data processing 2: Calculate the difference between the blade of bulldozer 100 and the preset parameters: η=β1-θ1 γ=β2-θ2 θ1 is the pitch angle of the blade relative to the vehicle body, θ2 is the roll angle of the blade relative to the vehicle body; β1 is the preset parameter pitch angle, β2 is the preset parameter roll angle. η, γ are the parameter differences that need to be adjusted when the blade reaches the preset posture.

[0035] Closed-loop verification and optimization: After resetting, the system checks again whether the blade posture meets the set standard and makes minor adjustments if necessary, forming a closed-loop control mechanism to ensure the maintenance of the optimal posture.

[0036] The working principle of this control system: The blade, push rod and body of the high-horsepower bulldozer 100 are equipped with inclination sensors, which can sense the changes in posture in real time. The automatic reset function of the blade can be configured with parameters on both the remote control end and the vehicle end, that is, the initial position information of the blade is configured, including the pitch, roll and other postures of the blade. Through the data processing of the reset controller 500 algorithm, the deviation value of the blade relative to the body is obtained, and then the blade posture is quickly and accurately restored to the set original posture.

[0037] Due to the on-site environment and the driver's operation, the blade posture will change during the actual construction process, and it is difficult for the operator to accurately operate the bulldozer 100 blade back to the initial position. Through this system function, the bulldozer 100 blade posture can be quickly and accurately restored to the set initial position, greatly improving the construction accuracy and construction efficiency.

[0038] The present invention discloses a high-horsepower bulldozer blade automatic reset control system and method. Three inclination sensors monitor the pitch angle and roll angle of corresponding parts, namely the bulldozer blade, push rod and vehicle body, in real time. The reset controller analyzes and adjusts the blade to the optimal working state through the reset actuator. No manual repeated fine-tuning is required, which greatly shortens the job preparation time and adjustment time, and improves the overall construction progress. Visual errors caused by operator inexperience or distraction are avoided, and the operational stability and reliability of the bulldozer and remote-controlled bulldozer equipment blades are enhanced. By real-time monitoring of the blade posture, potential risk points can be warned in time, effectively preventing safety accidents caused by blade instability. Regardless of rugged mountains or soft foundation conditions, the automatic reset system can ensure that the blade remains in the best working state, improving the equipment's adaptability to harsh environments.

[0039] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other.

[0040] The terms "upper", "lower", "outer side", "inner side", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish the relative relationship in position if they exist, and do not need to be qualitative. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0041] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A high-horsepower bulldozer blade automatic reset control system, comprising a bulldozer (100), characterized in that: The blade, push rod and rear of the bulldozer (100) are all provided with inclination sensors for obtaining posture values ​​of corresponding parts; a reset controller (500) is provided in the cab of the bulldozer (100) for receiving value changes from the inclination sensor and generating a reset adjustment control signal; and a reset actuator (600) is used to receive the reset control signal from the reset controller (500) and adjust the blade to restore to an initial posture.

2. The automatic reset control system for a high-horsepower bulldozer blade according to claim 1, characterized in that: The inclination sensors are respectively arranged centrally on the blade, the push rod and the rear of the bulldozer (100).

3. The automatic reset control system for a high-horsepower bulldozer blade according to claim 2, characterized in that: The inclination sensor monitors in real time and sends component posture change data to the reset controller (500).

4. The automatic reset control system for a high-horsepower bulldozer blade according to claim 3, characterized in that: The reset controller (500) collects angle data of the bulldozer's blade, push rod and body in real time and processes the data to adjust the command signal to be sent to the reset actuator (600).

5. A high-horsepower bulldozer blade automatic reset control system according to any one of claims 1 to 4, characterized in that: It also includes a human-machine interaction interface arranged in the cab of the bulldozer (100), and the preset posture value of the blade is stored in the reset controller (500) through the human-machine interaction interface.

6. A high-horsepower bulldozer blade automatic reset control system according to any one of claims 1 to 4, characterized in that: It also includes a remote control terminal, which receives attitude angle data and system status information in real time and supports remote operation.

7. A high-horsepower bulldozer blade automatic reset control method, characterized in that: The operation steps are as follows: Step 1, initialization stage: the operator first sets the standard posture parameters of the shovel through the human-machine interaction interface and saves them to the reset controller (500); Step 2, posture monitoring: during operation, the inclination sensor continuously captures the posture changes of the bulldozer blade, push rod and body, and the data is processed by the algorithm of the reset controller (500) to obtain the posture angle data of the shovel relative to the body, and the posture changes of the shovel relative to the body are displayed in real time on the screen; Step 3, data processing: the reset controller (500) calculates the processed blade posture angle data and the set standard posture angle data again using the difference algorithm to obtain the data difference between the two and generate a reset adjustment control signal, which is sent to the vehicle-side controller, and then drives the reset actuator (600) to control the blade posture adjustment.

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