Land leveler adaptive to functions of total station

Abstract

The utility model provides a land leveler adaptive to the function of a total station, which belongs to the field of land levelers, and comprises a land leveler body, the land leveler body is provided with a front rack, the front rack is provided with a traction frame and a scraper knife, the upper end of the scraper knife is provided with a mast, and the bottom of the mast is provided with a tilt angle sensor for monitoring the pose of the scraper knife; a prism rod is installed on the top of the mast, and a 360-degree prism is installed on the prism rod. The utility model has the beneficial effects that in various construction scenes, seamless collaborative operation with the total station and related equipment can be realized, and key operation parameters such as the height and the angle of a scraper knife of the land leveler can be extremely accurately adjusted according to accurate data provided by the total station, so that the construction accuracy of the land leveler is greatly improved.

Description

Technical Field

[0001] This utility model belongs to the field of graders, specifically relating to a grader adapted to the function of a total station. Background Technology

[0002] A total station, a high-tech surveying instrument integrating optics, mechanics, and electronics, is a surveying instrument system that integrates the functions of measuring horizontal angles, vertical angles, distances (slope distances and horizontal distances), and elevation differences. It boasts numerous advantages such as high measurement accuracy, fast measurement speed, and ease of operation, and is widely used in many fields including geodetic surveying, engineering surveying, and deformation monitoring.

[0003] Currently, the application of total stations in the construction machinery field is gradually expanding and playing a vital role. For example, in large-scale projects such as road construction and bridge construction, total stations can be used for topographic mapping of construction sites, positioning and setting out of engineering structures, and monitoring deformation during construction. With the high-precision measurement capabilities of total stations, construction personnel can more accurately control project progress and quality, effectively reduce construction errors, and improve construction efficiency. It provides reliable measurement data for construction machinery operations, ensuring that projects proceed precisely according to design requirements.

[0004] However, existing graders do not yet widely utilize total station technology for leveling operations. Currently, graders mainly employ traditional leveling methods, such as mechanical leveling systems based on scraper position feedback or simple laser leveling systems. However, these traditional methods often have relatively low measurement accuracy, making it difficult to meet the needs of some engineering projects with extremely high flatness requirements. In addition, some graders have begun to be equipped with high-precision satellite positioning leveling systems, which determine the equipment position and the relative height of the scraper by receiving satellite signals to achieve leveling operations. For example, Chinese Patent CN222435380U discloses a mast device for system positioning and an automatic leveling grader. However, this satellite signal-dependent mode has significant drawbacks: when the vehicle is under an overpass, under high-voltage power lines (signal shielding), or near a high-rise building, or in areas where satellite signals are easily interfered with or even interrupted, such as basements, graders with positioning base stations will be unable to use the automatic leveling function, resulting in the inability to perform leveling operations normally or a significant decrease in accuracy. Utility Model Content

[0005] The technical problem solved by this invention is to provide a grader that is compatible with total station functions, enabling seamless collaborative operation with total stations and related equipment in various construction scenarios. This allows for highly precise adjustments to key operating parameters of the grader, such as blade height and angle, based on accurate data provided by the total station, thereby significantly improving the accuracy of grader operations.

[0006] To solve the above-mentioned technical problems, the technical solution provided by this utility model is as follows: a grader adapted to the function of a total station, which includes a grader body, a front frame, a tow frame and a blade, a mast at the upper end of the blade, and an angle sensor for monitoring the blade's position and posture installed at the bottom of the mast; a prism rod is installed at the top of the mast, and a 360° prism is installed on the prism rod, with the 360° prism being higher than the driver's cab of the grader body. When this invention is used in conjunction with a total station, on the one hand, it can accurately monitor the blade's position and posture in real time through the tilt sensor at the bottom of the mast, providing crucial data support for precisely adjusting the blade's operating status; on the other hand, it can reflect the signals emitted by the total station from all directions through the 360° prism mounted on the prism rod at the top of the mast, enabling the total station to stably receive feedback at any angle. This provides the grader with high-precision position and terrain data, helping the grader to accurately control key operating parameters such as blade height and angle based on this precise data, greatly improving construction accuracy, breaking terrain limitations, effectively increasing construction efficiency, reducing construction costs, and achieving a highly efficient and precise construction process.

[0007] Furthermore, the front frame is equipped with a body sensor that can detect the body's posture. The body sensor is used to capture the tilt, vibration and other posture changes of the body (i.e., the front frame) in real time and accurately. The data obtained by the body sensor can be used to adjust the blade's operating parameters to ensure that the blade always maintains the optimal operating angle and height.

[0008] Furthermore, the tow frame is equipped with a rotation sensor that can detect the relative posture of the tow frame and the vehicle body. The rotation sensor is used to capture the relative rotation angle and posture changes between the tow frame and the vehicle body, allowing the operator to grasp the dynamic relationship between the two in real time. When driving on complex road conditions or performing special tasks, the tow frame can be precisely adjusted accordingly, making the grader drive more smoothly and the operation connection smoother, avoiding collisions or construction deviations caused by improper steering.

[0009] Furthermore, the tow frame's slewing ring is equipped with a single-slope sensor capable of detecting the relative attitude of the tow frame and the vehicle body. The single-slope sensor is used to accurately measure the slope of the tow frame in a preset direction, allowing operators to monitor the tow frame's attitude information in real time. This ensures that the slope of the working surface always meets the design standards, improves construction accuracy, and is especially suitable for engineering scenarios with strict slope requirements. It can effectively reduce the frequency of manual measurement, improve construction efficiency, reduce construction costs, and ensure project quality.

[0010] Furthermore, the grader body also includes an on-board controller, which is connected to a total station, tilt sensor, body sensor, rotation sensor, and single-slope sensor. The on-board controller acquires the prism position information output by the total station, the blade posture information output by the tilt sensor, the body posture information output by the body sensor, and the relative posture information of the tow frame and body output by the rotation sensor and single-slope sensor. This ensures that the grader's travel path and blade posture can strictly conform to the plan, avoiding construction errors caused by positioning deviations.

[0011] Furthermore, the grader's cab is equipped with a Bluetooth radio, which connects to the onboard controller via Bluetooth for real-time communication between the total station and the onboard controller. This allows the total station to transmit the 360° prism position information to the onboard controller at the vehicle end. The prism position data observed by the total station can be quickly and stably transmitted to the vehicle end via Bluetooth, ensuring that the vehicle end can instantly calculate the precise deviation between itself and the target position. This not only significantly improves construction efficiency and reduces unnecessary back-and-forth measurements and manual intervention, but also significantly enhances construction accuracy, ensuring that each operation is strictly executed according to design requirements. It is particularly suitable for high-precision grading operations on large and complex sites, laying a solid foundation for creating high-quality projects.

[0012] Furthermore, a human-machine interface (HMI) display is installed in the cab, electrically connected to the onboard controller. The HMI displays vehicle position coordinates, blade elevation, tilt angle, and travel trajectory, providing a clear visual representation of key information such as vehicle position coordinates, blade elevation, tilt angle, and travel trajectory, significantly improving the controllability and efficiency of the grader operation. Operators no longer need to rely on experience or frequently get out of the vehicle to measure; they can directly and accurately grasp the vehicle's precise position through the HMI display, quickly understand the current blade elevation and tilt angle, and clearly know whether the travel trajectory conforms to the construction plan. This allows operators to adjust the grader's various operating parameters promptly and accurately, avoiding operational deviations caused by untimely or inaccurate information acquisition, effectively improving construction accuracy and efficiency, reducing material waste and rework, lowering construction costs, and providing operators with a more convenient and comfortable working environment, facilitating more intelligent and refined construction.

[0013] Furthermore, a manual / automatic switch is installed in the cab, allowing the operator to flexibly switch the grader's operating mode.

[0014] As can be seen from the above technical solutions, this utility model has the following advantages: When this utility model is used in conjunction with a total station, on the one hand, it can accurately monitor the blade position in real time through the tilt sensor installed at the bottom of the mast, providing key data support for accurately adjusting the blade's operating state; on the other hand, it can detect the vehicle body posture in real time through the vehicle body sensor installed at the rear of the front frame, and detect the relative posture between the towing frame and the vehicle body in real time through the rotation sensor and single slope sensor installed on the slewing ring of the towing frame, providing key data support for accurately adjusting the vehicle body posture; on the other hand, it can reflect the signal emitted by the total station in all directions through the 360° prism installed on the prism rod at the top of the mast, enabling the total station to stably receive feedback at any angle, thereby providing the grader with high-precision position and terrain data, helping the grader to accurately control key operating parameters such as blade height and angle based on this precise data; thus greatly improving construction accuracy, breaking terrain limitations, effectively improving construction efficiency, reducing construction costs, and achieving high efficiency and precision in the construction process. Attached Figure Description

[0015] To more clearly illustrate the technical solution of this utility model, the drawings used in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram illustrating the interaction between this utility model and a total station;

[0017] Figure 2 This is a side view of a specific embodiment of the present utility model;

[0018] Figure 3 This is a top view of a specific embodiment of the present utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the shovel and mast in this utility model.

[0020] In the diagram: 1. Vehicle body sensor; 2. Rotation sensor; 3. Single slope sensor; 4. Tilt sensor; 5. Mast; 6. 360° prism; 7. Bluetooth radio; 8. Vehicle controller; 9. Human-machine interface display; 10. Manual / automatic switch; 11. Control hydraulic circuit; 12. Control valve; 13. Total station; 14. Electrical system; 15. Hydraulic system; 16. Power system; 17. Main frame; 18. Cab; 19. Blade; 20. Towing frame; 21. Front frame. Detailed Implementation

[0021] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0022] like Figures 1 to 4 As shown, this utility model provides a grader adapted to the function of a total station, which includes a grader body. The grader body is composed of a front frame 21, a towing frame 20, a blade 19, a cab 18, a main frame 17, a power system 16, a hydraulic system 15, an electrical system 14, and other parts.

[0023] Furthermore, this invention features a mast 5 mounted on the upper end of the blade 19 of the grader body, and a prism rod detachably mounted on the top of the mast 5 using bolts or other fasteners. A 360° prism 6 is mounted on the upper end of the prism rod. When used in conjunction with a total station 13, the total station 13 can be set up at a visible distance (unobstructed) from the grader after it arrives at the construction site. The 360° prism 6 mounted on the top of the mast 5 can reflect the signal emitted by the total station 13 from all directions, allowing the total station 13 to stably receive feedback from any angle. This provides the grader with high-precision position and terrain data, enabling it to accurately control key operating parameters such as the height and angle of the blade 19 based on this precise data. This significantly improves construction accuracy, overcomes terrain limitations, effectively increases construction efficiency, reduces construction costs, and achieves a highly efficient and precise construction process.

[0024] Meanwhile, to achieve real-time communication between the total station 13 and the vehicle-mounted controller 8, this invention also installs a Bluetooth radio 7 on the top of the driver's cab 18. The Bluetooth radio 7 wirelessly connects to both the total station 13 and the vehicle-mounted controller 8 via Bluetooth to transmit the position information acquired by the total station 13 to the vehicle-mounted controller 8. This allows the position data acquired by the total station 13 to be quickly and stably transmitted to the vehicle via the Bluetooth radio 7, ensuring that the vehicle can instantly calculate the precise deviation between itself and the target position. This not only significantly improves construction efficiency and reduces unnecessary back-and-forth measurements and manual intervention, but also significantly enhances construction accuracy, ensuring that each work step is strictly executed according to design requirements. It is particularly suitable for high-precision leveling operations on large and complex sites, laying a solid foundation for creating high-quality projects.

[0025] To ensure that the grader body can more accurately control the position and overall travel path of the blade 19, this utility model also installs an angle sensor 4 at the bottom of the mast 5 to monitor the position of the blade 19, a body sensor 1 on the front frame 21 to detect the posture of the vehicle body (i.e., the front frame 21), a rotation sensor 2 on the swivel ring of the tow frame 20 to detect the relative posture of the tow frame 20 and the vehicle body (i.e., the front frame 21), and a single slope sensor 3 on the swivel ring of the tow frame 20 to detect the relative posture of the tow frame 20 and the vehicle body (i.e., the front frame 21). The angle sensor 4, body sensor 1, rotation sensor 2, and single slope sensor 3 are electrically connected to the vehicle controller 8. In this way, the present invention can accurately monitor the position and posture of the blade 19 in real time through the tilt sensor 4, and transmit the acquired blade 19 position and posture information to the vehicle controller 8 to provide key data support for accurately adjusting the working state of the blade 19; the body sensor 1 can accurately capture the tilt, vibration and other posture changes of the body (i.e., the front frame 21) in real time, and transmit the body (i.e., the front frame 21) posture information acquired by the body sensor 1 to the vehicle controller 8 to provide data support for accurately adjusting the working state of the blade 19; the rotation sensor 2 can capture the relative rotation angle and posture changes between the tow frame 20 and the body (i.e., the front frame 21), and the single slope sensor 3 can accurately measure the slope of the tow frame 20 in a preset direction, and transmit the relative posture information of the tow frame 20 and the body (i.e., the front frame 21) acquired by the rotation sensor 2 and the single slope sensor 3 to the vehicle controller 8 to ensure that the operator can grasp the dynamic relationship between the two in real time, that is, grasp the posture information of the tow frame 20 in real time, and provide data support for adjusting the posture of the tow frame 20.

[0026] To facilitate operators' intuitive access to data acquired by the various sensors, this invention includes a human-machine interface display (HMI) 9 installed in the cab 18. The HMI 9 is electrically connected to the vehicle controller 8 and displays information such as vehicle position coordinates, blade 19 elevation, tilt angle, and travel trajectory. This intuitive presentation of key information significantly improves the controllability and efficiency of the grader operation. Operators no longer need to rely on experience or frequently disembark for measurements; they can directly and accurately grasp the vehicle's precise position through the HMI 9, quickly understand the current elevation and tilt angle of the blade 19, and clearly determine whether the travel trajectory conforms to the construction plan.

[0027] Furthermore, it should be noted that the vehicle controller 8 can obtain the blade 19 pose information from the tilt sensor 4 based on existing Kalman filtering algorithms, complementary filtering algorithms, and least squares methods, and display it through the human-machine interface display 9; the vehicle controller 8 can obtain the vehicle body posture information from the vehicle body sensor 1 based on existing mean filtering algorithms, median filtering algorithms, and wavelet analysis algorithms, and display it through the human-machine interface display 9; the vehicle controller 8 can obtain the tow frame 20 rotation information from the rotation sensor 2 based on existing angle calculation algorithms, data fusion algorithms, and motion state analysis algorithms, and display it through the human-machine interface display 9; the vehicle controller 8 can obtain the tow frame 20 slope information from the single slope sensor 3 based on existing linear regression algorithms, filtering algorithms, and state estimation and prediction algorithms, and display it through the human-machine interface display 9.

[0028] In addition, as a preferred embodiment, the present invention may also install a manual / automatic switch 10 in the cab 18, and electrically connect the manual / automatic switch 10 to the vehicle controller 8 and the control valve 12 (solenoid valve) on the control hydraulic circuit 11 used to control various components such as the blade 19 and the towing frame 20. In this way, the operator can flexibly switch the working mode of the grader by operating the manual / automatic switch 10.

[0029] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily 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 is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A grader adapted to the function of a total station, comprising a grader body, the grader body being provided with a front frame (21), a tow frame (20) and a blade (19) being provided at the front frame (21), a mast (5) being provided at the upper end of the blade (19), and an angle sensor (4) for monitoring the position and orientation of the blade (19) being installed at the bottom of the mast (5); characterized in that, A prism rod is installed at the top of the mast (5), and a 360° prism (6) is installed on the prism rod. The 360° prism (6) is higher than the cab of the grader body.

2. The grader adapted to total station functionality according to claim 1, characterized in that, The front frame (21) is equipped with a body sensor (1) capable of detecting the body posture.

3. The grader adapted to total station functionality according to claim 2, characterized in that, The tow frame (20) is equipped with a rotation sensor (2) that can detect the relative attitude of the tow frame (20) and the vehicle body.

4. The grader adapted to total station functionality according to claim 3, characterized in that, The tow frame (20) is equipped with a single-slope sensor (3) that can detect the relative attitude of the tow frame (20) and the vehicle body.

5. The grader adapted to total station functionality according to claim 4, characterized in that, The grader body also includes an on-board controller (8), which is connected to a total station (13), an inclination sensor (4), a vehicle body sensor (1), a rotation sensor (2), and a single slope sensor (3).

6. The grader adapted to total station functionality according to claim 5, characterized in that, The driver's cab (18) of the grader is equipped with a Bluetooth radio (7), which is connected to the vehicle controller via Bluetooth.

7. The grader adapted to total station functionality according to claim 5, characterized in that, A human-machine interface display (9) is installed in the driver's cab (18), and the human-machine interface display (9) is electrically connected to the vehicle controller (8).

8. The grader adapted to total station functionality according to claim 1, characterized in that, The driver’s cab (18) is equipped with a manual / automatic switch (10).

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