Intelligent control land leveler

Abstract

The utility model relates to the technical field of constructional engineering operation vehicles, in particular to an intelligent control land leveler which comprises a control case, a scraper mechanism and a sensing device, the control case is provided with a positioning measurement module, an obstacle avoidance module, a walking mechanism, a control unit and a communication module, and the sensing device is matched with the control unit. The sensing device comprises a position sensor, an angle sensor and a force sensor, the control unit is used for processing data of the sensing device and executing data analysis and algorithm calculation and is integrated with BIM software, and the scraper mechanism is detachably connected with the control case and is in control connection with the control unit. The control unit controls all the components to work cooperatively, obtains the working state of the land leveler in real time and ensures that the land leveler can work according to preset leveling parameters, meanwhile, position data of the land leveler are obtained in real time through the positioning measurement module, obstacle avoidance path planning of the land leveler is supported through the obstacle avoidance module, the automation degree of the land leveler is improved, and the working efficiency of the land leveler is improved. And the leveling precision and efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of construction engineering operation vehicles, in particular to an intelligent control grader. Background Art

[0002] In the field of construction engineering, land leveling is an important preparatory work before construction. Existing construction projects often use graders for land leveling. Traditional graders have a low degree of automation, are relatively large in size, require staff to carry out leveling operations, and the leveling amount, leveling position, leveling range and other information need to be determined manually during the leveling process, resulting in low precision and efficiency of land leveling operations. Summary of the Utility Model

[0003] The purpose of the utility model is to overcome the deficiencies in the prior art that the existing graders have a low degree of automation, which affects the precision and efficiency of land leveling operations, and to provide an intelligent control grader.

[0004] The utility model provides an intelligent control grader, including:

[0005] A control chassis, which is provided with a positioning and measuring module, an obstacle avoidance module, a traveling mechanism, a control unit and a communication module;

[0006] A number of sensor devices, which are adapted to the control unit. The sensor devices include a position sensor, an angle sensor and a force sensor. The control unit is used to process the data of the sensor devices, execute data analysis and algorithm calculation, and is integrated with BIM software at the same time;

[0007] A scraper mechanism, which is detachably connected to the control chassis and is controlled by the control unit.

[0008] The intelligent control grader of the utility model integrates a positioning and measuring module, an obstacle avoidance module, a traveling mechanism, a control unit, a communication module and a number of sensors through the control chassis, enables the control unit to process the data of the sensor devices, execute data analysis and algorithm calculation, and is integrated with BIM software at the same time, controls the coordinated operation of each component, and obtains the working state of the grader in real time, ensuring that the grader can work according to the preset leveling parameters. At the same time, the position data of the grader can be obtained in real time through the positioning and measuring module, and the obstacle avoidance path planning of the grader can be supported through the obstacle avoidance module, which can improve the degree of automation of the grader and improve the leveling precision and efficiency.

[0009] Preferably, it further includes a remote control mechanism which is communicatively connected to the control unit and is provided with a display module. The working status, working parameters, leveling effect and other data of the grader can be obtained in real time through the remote control mechanism, and the remote control and adjustment of the grader can be realized. The working data of the grader can be stored and analyzed to provide data support for subsequent projects, which is beneficial to further improving the leveling effect of the grader.

[0010] Preferably, the control unit is connected to an alarm module which is linked with the obstacle avoidance module and is communicatively connected to the remote control mechanism. When the obstacle avoidance module detects an obstacle, it can timely adjust the operation of the control chassis, re-plan the operation path and give an intuitive prompt to the operator.

[0011] Preferably, a screwing screw is provided on the top of the control chassis. The positioning and measuring module is threadedly connected to the screwing screw, and the obstacle avoidance module is embedded in the side wall of the control chassis. The positioning and measuring module is located at the top of the grader, which can realize the timely transmission of the positioning information of the grader and improve the positioning accuracy. The obstacle avoidance module is located on the side of the grader, which can accurately obtain the obstacle situation in front of the running grader and improve the accuracy of the obstacle avoidance path planning.

[0012] Preferably, the positioning and measuring module includes a GPS positioning module, and the obstacle avoidance module includes a laser ranging and obstacle avoidance instrument.

[0013] Preferably, the two traveling mechanisms are oppositely arranged on both sides of the control chassis. The traveling mechanism includes crawler wheels which are detachably connected to the control chassis through a suspension mechanism. The crawler wheels are provided with motors and differentials, and the motors are controlled and connected to the control unit. The two crawler wheels can achieve independent speed regulation through independently arranged motors and differentials, and can adapt to different terrains such as slopes and muddy lands.

[0014] Preferably, the scraper mechanism includes an adjusting bracket and a scraper blade which are hingedly connected. The adjusting bracket is connected to a driving mechanism, the adjusting bracket is connected to the control chassis, and the driving mechanism is controlled and connected to the control unit. By controlling the driving mechanism through the control unit, the driving mechanism drives the adjusting bracket to move, changing the relative state between the scraper blade and the control chassis, realizing different leveling effects and improving the automation degree of the grader.

[0015] Preferably, the control chassis is provided with a lateral sliding frame, and the adjusting bracket is slidably matched with the lateral sliding frame. By laterally moving the adjusting bracket, the left-right position adjustment of the scraper blade relative to the control chassis is realized.

[0016] Preferably, the adjusting bracket includes a connecting rod and a hydraulic telescopic rod. The connecting rod and the hydraulic telescopic rod are respectively hinged to the scraper plate. The hydraulic telescopic rod is connected to the driving mechanism, and the connecting rod is slidably matched with the transverse sliding frame. By adjusting the extension and retraction of the hydraulic telescopic rod, the flat ground angle adjustment of the scraper plate relative to the control chassis is realized.

[0017] Preferably, a marking nozzle is provided at the bottom of the control chassis, and the marking nozzle is controlled and connected to the control unit. The working points are marked by the marking nozzle, so that the grader can synchronously complete the marking work of information such as points and boundary lines while grading, reducing the work of secondary marking measurement and improving the corresponding work efficiency.

[0018] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0019] 1. The present utility model provides an intelligent control grader. By integrating a positioning and measuring module, an obstacle avoidance module, a traveling mechanism, a control unit, a communication module and a number of sensors in the control chassis, the control unit processes the data of the sensor devices, executes data analysis and algorithm calculations, and at the same time integrates with BIM software to control the coordinated operation of each component, and obtains the working state of the grader in real time, which can ensure that the grader can work according to the preset leveling parameters;

[0020] 2. The present utility model provides an intelligent control grader. The position data of the grader can be obtained in real time through the positioning and measuring module, and the obstacle avoidance path planning of the grader can be supported through the obstacle avoidance module;

[0021] 3. The present utility model provides an intelligent control grader, which can improve the automation degree of the grader, and improve the leveling accuracy and efficiency. Description of the Drawings

[0022] Figure 1 It is a side view of an intelligent control grader according to Embodiment 1.

[0023] Figure 2 It is a front view of an intelligent control grader according to Embodiment 1.

[0024] Figure 3 It is a schematic diagram of the device connection of an intelligent control grader according to Embodiment 1.

[0025] Markings in the figure:

[0026] 1 - control chassis, 11 - screwing screw, 12 - transverse sliding frame,

[0027] 2 - positioning and measuring module, 3 - obstacle avoidance module, 4 - traveling mechanism, 41 - suspension mechanism, 5 - control unit, 6 - communication module,

[0028] 7 - Sensor device, 71 - Position sensor, 72 - Angle sensor, 73 - Force sensor,

[0029] 8 - Scraper mechanism, 81 - Adjusting bracket, 811 - Connecting rod, 812 - Hydraulic telescopic rod, 82 - Scraper blade,

[0030] 9 - Remote control mechanism, 91 - Alarm module,

[0031] 10 - Marking nozzle. Detailed implementation manners

[0032] The following further describes the present utility model in detail with reference to specific embodiments. However, this should not be construed as limiting the scope of the above - mentioned subject matter of the present utility model to the following embodiments. All technologies implemented based on the content of the present utility model belong to the scope of the present utility model.

[0033] In the description of the specific embodiments of the present utility model, without special instructions, the expression terms of the orientation or position relationship such as "upper", "lower", "left", "right", "center", "inner", "outer", etc. are all based on the orientation or position relationship shown in the drawings, or the orientation or position relationship when the product / device / equipment of the present utility model is commonly used. These terms of orientation or position relationship are only for the convenience of describing the solution of the present utility model or simplifying the description in the specific embodiments, facilitating technicians to quickly understand the solution, rather than indicating or implying that a specific device / component / element must have a specific orientation or be constructed and operated in a specific position relationship. Therefore, it should not be construed as a limitation to the present utility model.

[0034] In addition, for terms such as "horizontal", "vertical", "hanging", "parallel", etc., it does not mean that the corresponding device / component / element is required to be absolutely horizontal or vertical or hanging or parallel, but it can be slightly inclined or have a deviation. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and it does not mean that the structure must be completely horizontal, but it can be slightly inclined. Or, it can be simply understood that the corresponding device / component / element is set in the "horizontal", "vertical", "hanging", "parallel" and other directions, and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably within ±8% of the error / deviation, more preferably within ±6% of the error / deviation, more preferably within ±5% of the error / deviation, more preferably within ±4% of the error / deviation. As long as the corresponding device / component / element is within the error / deviation range, it can still play its role in the solution of the present utility model.

[0035] In addition, the expressions such as "first", "second", "third", etc. in the terms are only used to distinguish the description of the same or similar components, and should not be construed as emphasizing or implying the relative importance of specific components.

[0036] In addition, in the description of the embodiments of the present utility model, "several", "multiple", and "a number of" represent at least two. It can be any situation such as 2, 3, 4, 5, 6, 7, 8, 9, etc., and even more than 9.

[0037] In addition, in the description of the technical solution of the present utility model, unless otherwise clearly specified / defined / restricted, when terms such as "set", "installed", "connected", "connected", "provided with", "laid", "arranged" appear, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be connection means commonly used in the art such as welding, riveting, bolting, and threaded connection. Such a connection can be a mechanical connection, an electrical connection, or a communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components.

[0038] Embodiment 1

[0039] As Figures 1 - 3 shown, an intelligent control grader includes a control chassis 1, a sensor device 7, and a scraper mechanism 8. The control chassis 1 is provided with a positioning and measuring module 2, an obstacle avoidance module 3, a traveling mechanism 4, a control unit 5, and a communication module 6. The sensor device 7 includes a position sensor 71, an angle sensor 72, and a force sensor 73. The scraper mechanism 8 is detachably connected to the control chassis 1, and the scraper mechanism 8 is controlled and connected to the control unit 5.

[0040] The control chassis 1 is used for integrally installing various related devices. The control chassis 1 has an embedded controller built therein as the control unit 5. The sensor device 7 is adapted to the control unit 5. Each sensor device 7 is installed at an appropriate position according to the monitoring requirements to realize the real-time acquisition of parameters such as the position, angle, and acting force of the scraper mechanism 8. The control unit 5 is used for processing the data of the sensor device 7, performing data analysis and algorithm calculation, and at the same time integrating with BIM software to enable the grader to perform obstacle avoidance path planning and work according to the preset leveling parameters.

[0041] In an optional implementation manner, the BIM software may include a pre-established leveling parameter model, which can be stored in the control unit 5 in advance and can be viewed through a computer-connected device control.

[0042] In an optional implementation manner, the control chassis 1 may be a cubic box-shaped structural member.

[0043] In an optional implementation manner, the control unit 5 may be connected to an alarm module 91, and the alarm module 91 may be linked with the obstacle avoidance module 3. When the obstacle avoidance module 3 detects an obstacle, the control unit 5 can timely adjust the operation of the control chassis 1 and re-plan the operation path.

[0044] In an alternative embodiment, a screwing screw 11 can be provided at the top of the control chassis 1. The positioning and measuring module 2 can be threadedly connected to the screwing screw 11. The obstacle avoidance module 3 can be embedded in the side wall of the control chassis 1, so that the positioning and measuring module 2 is located at the top of the grader, enabling the timely transmission of the grader's positioning information, improving the positioning accuracy. The obstacle avoidance module 3 is located on the side of the grader, capable of accurately obtaining the situation of obstacles in front of the grader during operation, and improving the accuracy of obstacle avoidance path planning.

[0045] Specifically, the positioning and measuring module 2 can be an RTK / GPS positioning module, adopting a dual-frequency RTK receiver, which can be used to obtain the position data of the grader in real time.

[0046] Specifically, the obstacle avoidance module 3 can be a laser ranging and obstacle avoidance instrument, integrated with a laser sensor, which can scan the construction area in real time, and can accurately measure the distance and angle between the grader and the preset parameters, generate an obstacle map, and realize obstacle avoidance path planning.

[0047] In an alternative embodiment, two traveling mechanisms 4 are oppositely arranged on both sides of the control chassis 1. The traveling mechanisms 4 can adopt crawler wheels, and the crawler wheels are detachably connected to the control chassis 1 through a suspension mechanism 41. The crawler wheels are provided with motors and differentials, and the motors are controlled and connected to the control unit 5. The two crawler wheels achieve independent speed regulation through independently arranged motors and differentials, can stably move on different terrains, and ensure that the grader can accurately control the moving speed and direction.

[0048] In an alternative embodiment, the suspension mechanism 41 can be a double-wishbone independent suspension, which can achieve the smooth operation of the traveling mechanism 4 through its movable multi-link structural characteristics.

[0049] Specifically, the crawler wheels can adopt wide-width rubber tracks, equipped with a dual-motor differential, to achieve independent speed regulation of the left and right track wheels, and can stably move on different terrains such as slopes and muddy lands.

[0050] In an alternative embodiment, the scraping mechanism 8 may include an adjustable bracket 81 and a scraper plate 82 that are hingedly connected. The adjustable bracket 81 may include a connecting rod 811 and a hydraulic telescopic rod 812. The connecting rod 811 and the hydraulic telescopic rod 812 are respectively hingedly connected to the scraper plate 82. The control chassis 1 is provided with a lateral sliding frame 12. The connecting rod 811 may be slidably engaged with the lateral sliding frame 12. The hydraulic telescopic rod 812 is connected to a driving mechanism, and the driving mechanism is controlled and connected to the control unit 5. During use, the driving mechanism can be controlled by the control unit 5 to actuate, thereby realizing the telescoping of the hydraulic telescopic rod 812, adjusting the lifting and angle of the scraper plate 82, and the left and right translation of the adjustable bracket 81 can be achieved in combination with the lateral sliding frame 12 to adjust the left and right positions of the scraper plate 82, enabling the grader to automatically adjust the working state of the scraping mechanism 8 according to preset parameters, complete the land leveling work, achieve different leveling effects, and improve the automation level of the grader.

[0051] In an alternative embodiment, the driving mechanism may include a hydraulic system adapted to the hydraulic telescopic rod 812, and may further include a ball screw power structure adapted to the lateral sliding frame 12. The connection between the adjustable bracket 81 and the lateral sliding frame 12 is achieved through the ball screw. By driving the ball screw to rotate, the lateral position of the adjustable bracket 81 relative to the control chassis 1 can be realized, and the position adjustment of the scraping mechanism 8 can be achieved.

[0052] In one or several embodiments, a remote control mechanism 9 may further be included. The remote control mechanism 9 is communicatively connected to the control unit 5, and the remote control mechanism 9 is provided with a display module.

[0053] In an alternative embodiment, the remote control mechanism 9 may be a remote monitoring center for real-time obtaining data such as the working state, working parameters, and leveling effect of the grader through a wireless network, and realizing remote control and adjustment of the grader. Through the display module of the remote control mechanism 9, the staff can view the working conditions of the grader in real time and perform remote control and adjustment on the grader. At the same time, the remote control mechanism 9 can also store and analyze the obtained working data of the grader to provide data support for subsequent projects and ensure that the leveling effect of the grader reaches the best.

[0054] In an alternative embodiment, the alarm module 91 may be communicatively connected to the remote control mechanism 9 to achieve remote alarm and give an intuitive prompt to the operators.

[0055] In one or several embodiments, a marking nozzle 10 may be provided at the bottom of the control chassis 1. The marking nozzle 10 is controlled and connected to the control unit 5.

[0056] In an alternative embodiment, the marking nozzle 10 can be arranged at the bottom of the control cabinet 1. In cooperation with the marking material bucket, pipeline and power output mechanism, the marking nozzle 10 can perform the marking work of the working point according to the point position and data information received by the top positioning measurement module 2. It can be used for the positions that need to be marked, such as pile points, pier body points, road center lines, side lines, etc., so that the grader can synchronously complete the marking work of information such as point positions and boundary lines while grading, reducing the work of secondary marking measurement and improving the corresponding work efficiency.

[0057] For an intelligent control grader of this embodiment, during use, first, the BIM model data signal is received by the positioning measurement module 2 to complete positioning calibration. Then, the construction area is scanned by the laser ranging obstacle avoidance instrument to mark the positions of obstacles and plan the obstacle avoidance path. Next, the attitude of the scraper blade 82 is adjusted, and the traveling mechanism 4 is driven to move along the obstacle avoidance path. When an obstacle is encountered again, the control cabinet 1 pauses the operation, re-plans the bypass path and alarms to the remote control mechanism 9.

[0058] For an intelligent control grader of this embodiment, by integrating the positioning measurement module 2, obstacle avoidance module 3, traveling mechanism 4, control unit 5, communication module 6 and several sensors in the control cabinet 1, the control unit 5 processes the data of the sensor device 7, executes data analysis and algorithm calculation, and at the same time is integrated with the BIM software to control the coordinated operation of each component, and obtains the working state of the grader in real time, ensuring that the grader can work according to the preset leveling parameters. At the same time, the position data of the grader can be obtained in real time through the positioning measurement module 2, and the obstacle avoidance path planning of the grader can be supported through the obstacle avoidance module 3, which can improve the automation level of the grader, realize the high-precision and high-efficiency automatic leveling of the land, improve the leveling accuracy and efficiency. For an intelligent control grader of this embodiment, through the introduction of BIM technology, accurate modeling and data analysis of the land leveling construction process can be realized. Through the combination of BIM technology and the positioning measurement module 2, the precise positioning and adjustment of the scraper blade 82 can be realized, ensuring that the land leveling meets the design requirements, avoiding errors caused by manual operation, improving the construction quality, and realizing continuous and stable automatic grading operation, reducing the complexity and errors of manual operation, significantly improving the construction efficiency, shortening the construction period, reducing the construction cost, and improving the construction environment and safety.

[0059] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent control grader, characterized in that, Including: A control chassis (1), which is provided with a positioning and measuring module (2), an obstacle avoidance module (3), a traveling mechanism (4), a control unit (5) and a communication module (6); A number of sensor devices (7), the sensor devices (7) are adapted to the control unit (5), the sensor devices (7) include a position sensor (71), an angle sensor (72) and a force sensor (73), and the control unit (5) is used to process the data of the sensor devices (7), execute data analysis and algorithm calculation, and at the same time integrate with BIM software; A scraper mechanism (8), the scraper mechanism (8) is detachably connected to the control chassis (1), and the scraper mechanism (8) is controlled and connected to the control unit (5).

2. An intelligent control grader according to claim 1, wherein, It also includes a remote control mechanism (9), the remote control mechanism (9) is communicatively connected to the control unit (5), and the remote control mechanism (9) is provided with a display module.

3. The intelligent control grader according to claim 2, wherein The control unit (5) is connected to an alarm module (91), the alarm module (91) is linked with the obstacle avoidance module (3), and the alarm module (91) is communicatively connected to the remote control mechanism (9).

4. An intelligent control grader according to claim 2, characterized in that, A screwing screw (11) is provided on the top of the control chassis (1), the positioning and measuring module (2) is threadedly connected to the screwing screw (11), and the obstacle avoidance module (3) is embedded in the side wall of the control chassis (1).

5. An intelligent control grader according to claim 4, characterized in that, The positioning and measuring module (2) includes a GPS positioning module, and the obstacle avoidance module (3) includes a laser ranging and obstacle avoidance instrument.

6. An intelligent control grader according to claim 1, characterized in that, Two of the traveling mechanisms (4) are oppositely arranged on both sides of the control chassis (1), the traveling mechanism (4) includes crawler wheels, the crawler wheels are detachably connected to the control chassis (1) through a suspension mechanism (41), the crawler wheels are provided with a motor and a differential, and the motor is controlled and connected to the control unit (5).

7. An intelligent control grader according to claim 1, characterized in that, The scraper mechanism (8) includes an adjusting bracket (81) and a scraper blade (82) connected by a hinge, the adjusting bracket (81) is connected to a driving mechanism, the adjusting bracket (81) is connected to the control chassis (1), and the driving mechanism is controlled and connected to the control unit (5).

8. An intelligent control grader according to claim 7, characterized in that, The control chassis (1) is provided with a lateral sliding frame (12), and the adjusting bracket (81) is slidably matched with the lateral sliding frame (12).

9. An intelligent control grader according to claim 8, characterized in that, The adjusting bracket (81) includes a connecting rod (811) and a hydraulic telescopic rod (812), the connecting rod (811) and the hydraulic telescopic rod (812) are respectively hinged to the scraper blade (82), the hydraulic telescopic rod (812) is connected to the driving mechanism, and the connecting rod (811) is slidably matched with the lateral sliding frame (12).

10. An intelligent control grader according to any one of claims 1-9, characterized in that, A marking nozzle (10) is provided at the bottom of the control chassis (1), and the marking nozzle (10) is controlled and connected to the control unit (5).

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