KR20070067743A - Excavator for moving to survey angle and range - Google Patents

Abstract

An excavator operating by measuring the angle and distance is provided to offer convenience to a worker, to shorten a period of construction and to perform the work exactly by displaying the information of a plan, reading the moving angle and distance by itself. The excavator operating by measuring the angle and distance comprises a bucket sensor sensing the location of a bucket, a horizontal sensor installed on the lower part of the excavator to sense the horizontal angle of the excavator, an excavator location sensor sensing the current location of the excavator, a plan reader inputting the file of the measured plan by survey equipment in a scale corresponding to the size of the excavator, a controller calculating the signals sensed by the bucket sensor, the horizontal sensor and the excavator location sensor and calculating the location of the excavator and the bucket correspondingly to the plan read by the plan reader, and a display displaying the location of the excavator and the bucket calculated by the controller correspondingly to the plan.

Description

Excavator which operates by measuring angle and distance {EXCAVATOR FOR MOVING TO SURVEY ANGLE AND RANGE}

1 is a front view showing an excavator operating by measuring the angle and distance according to an embodiment of the present invention.

Figure 2 is an enlarged view showing the configuration of the main portion of the excavator according to an embodiment of the present invention.

Figure 3 is a block diagram for operating by measuring the angle and distance of the excavator according to an embodiment of the present invention.

<Brief description of symbols for the main parts of the drawings>

1: Caterpillar 3: Running part

5: turning part 7: working device

9: boom 11: arm

13 bucket 15 rotation angle sensor

17: Boom inclination sensor 19: Dark inclination sensor

21: bucket inclination sensor 23: bucket sensor

25: connecting shaft 26: horizontal sensor

27: position sensor 29: laser pointer

31: excavator position sensor 32: drawing reader

33: key input unit 35: control unit

37: display unit

The present invention relates to an excavator that operates by measuring an angle and a distance, and more particularly, to display a drawing set as a reference on the driver's seat and correspondingly recognizes the angle and distance that the excavator moves by itself. The present invention relates to an excavator that operates by measuring angles and distances that are convenient to work with.

Excavators or excavators, also known as forklifts, are a type of heavy equipment widely used to excavate and load soil using buckets.

Such an excavator is divided into a driving unit in which a wheel or a caterpillar is installed, a turning unit installed at an upper portion thereof, and a work device attached to the front of the turning unit, and the turning unit includes a cabin in which the driver rides. Among them, the work device is connected to the boom and the arm, and the bucket is installed at the tip thereof, and is connected to the end of the bucket cylinder via a connecting rod and a link, and can be operated by the cylinder to perform the bucket operation.

However, conventional excavators stop the work to measure the distance of the workpiece when digging trenches of a certain depth and width, or to pile soil of a certain height, resume work after checking, or avoid the object according to the instructions of the measurer. There was a hassle to work on.

In consideration of this, in the related art, a hose is connected to a work device and a fluid is put therein to use the pressure change of the fluid, so that the height of the bucket can be measured, the front and rear excavators can be detected during the tunnel work, or Special equipment is known to check the presence of underground buried material using the installed magnetic field, but all of them have a problem in that they cannot measure the relative displacement or horizontal distance between the bucket and the cabin and thus cannot perform efficient work.

In addition, in the case of requiring precise work that requires drawings, the surveyor has to work with the surveyor after the work, so the working time is long, there was a problem that the air increases.

The present invention relates to an excavator operating by displaying a drawing set as a reference on a driver's seat and recognizing the angle and distance traveled by the excavator by itself, and measuring the angle and distance which are convenient for the excavator driver to work in response to the drawing. will be.

The present invention relates to an excavator operating by measuring an angle and a distance, a bucket sensor for detecting the position of the bucket, a horizontal sensor installed in the lower portion of the excavator to recognize the horizontal angle of the excavator, and to recognize the current position of the excavator Excavator position sensor, drawing reader which inputs the file of drawing measured by surveying equipment to the scale corresponding to the size of excavator, and calculates signals detected by bucket sensor, horizontal sensor and excavator position sensor And a control unit for calculating the position corresponding to the drawing read by the drawing reader, and a display unit for displaying the position of the excavator and the bucket calculated by the control unit corresponding to the drawing.

Hereinafter, with reference to the accompanying drawings will be described in more detail with respect to the configuration of the present invention.

1 is a front view showing an excavator operating by measuring the angle and distance according to an embodiment of the present invention, Figure 2 is an enlarged view showing the configuration of the main portion of the excavator according to an embodiment of the present invention. Figure 3 is a block diagram for operating by measuring the angle and distance of the excavator according to an embodiment of the present invention.

Referring to Figures 1 to 3, the excavator of the present invention looks like a general configuration, the traveling part 3 is provided with a wheel or caterpillar 1, and is provided on the upper portion, the turning part including a work room ( 5) and a work device 7 attached to the front of the turning part 5, among which the work device 7 has a bucket 13 at its tip via a boom 9 and an arm 11; ) Is installed.

First, a file of a drawing measured with survey equipment such as an optical wave, transit, or level, or a scanned drawing is input in a card form or other still picture format and read by the drawing reader 32. At this time, the drawing reader 32 inputs the accumulation corresponding to the size of the excavator. For example, if the excavator is accumulated 1: 300 in the figure, the accumulation of the figure is also displayed on the display unit 37 according to the scale of 1: 300 correspondingly.

The read figure is read by the control unit 35 and the contents thereof are displayed on the display unit 37. There is basically a reference point in the figure and the center of the excavator, in particular the center of the turning part 5, is located in correspondence with this reference point.

Then, when the operator of the excavator inputs the initial position of the excavator through the input device such as the key input unit 33 or other mouse to the drawing displayed on the display unit 37, the accumulation does not correspond at this time. In this case, the size of the excavator is input in the drawing, and the position of the excavator is displayed according to the accumulated information according to the input information.

In addition, in order to measure the relative displacement with respect to the reference point, the pivot axis of the swing section 5 is set as the reference point, and the pivot angle sensor 15 is installed therein, and the pivot angle sensor 15 is the pivot section 5 and the boom 9. Boom inclination sensor (17) is installed on the connecting shaft of (), arm inclination sensor (19) is installed on the connecting shaft of the boom (9) and the arm (11), and the connecting shaft of the arm (11) and the bucket (13) Bucket inclination sensor 21 is installed on the same, such as the turning angle sensor 15, the boom inclination sensor 17, the inclination angle sensor 19 and the bucket inclination sensor 21 collectively bucket sensor (23) It will be called. The bucket sensor 23 will indicate the location of the bucket in the displayed figure.

Of the bucket sensor 23, the boom tilt sensor 17, the arm tilt sensor 19 and the bucket tilt angle sensor 21 have the same structure, and are installed on the connecting shaft 25 as shown in FIG. A device such as an encoder reads the length of the expansion and contraction and transmits the extended or contracted length information to the control unit 35, or the boom tilt angle sensor 17, the arm tilt angle sensor 19, and the bucket tilt angle sensor 21 When the angle is positioned and the angle information is transmitted to the control unit 35, the control unit 35 calculates the length information or the angle information to calculate the position of the bucket 13.

In addition, when the bucket 13 is rotated by the pivoting part 5, an error may occur as much as an angle at which the pivoting part 5 rotates around the pivoting part 5, and thus, the pivot angle sensor 15. Detects the angle of rotation. The sensed rotation angle information is used by the control unit 35 to calculate the position of the bucket 13 together with the length information.

In addition, since the excavator is a heavy equipment movable by a moving wheel or caterpillar 1, it is impossible to detect the exact position of the bucket 13 only with the bucket sensor 23. Therefore, the horizontal sensor 26 and the excavator position sensor 31 are configured to measure the inclination angle, the moving distance and the rotation angle of the excavator itself.

The horizontal sensor 26 configured on the inside or one side of the excavator detects how much the excavator is inclined. The horizontal sensor 26 uses a gyro used in an aircraft or a ship, or a horizontal sensor used in surveying equipment, and information detected by the horizontal sensor 26 is connected to the display unit 37 through the control unit 35. It tells you how much and in what direction. The position of the bucket 13 is changed according to this inclination degree.

And, the excavator position sensor 31 is composed of a position sensor 27 and a laser pointer (29). The position sensor 29 is installed on the wheel of the excavator or the caterpillar 1 to recognize the direction in which the excavator proceeds and recognizes the progressed direction and the progressed distance and transmits the recognized distance information to the controller 35. In addition, the laser pointer 29 is installed in the lower portion of the excavator to detect the path to move to the left and right to detect the angle rotated to the left and right of the main body of the excavator and transmits it to the controller 35. That is, when the entire excavator rotates left and right, when the bucket is fixed to the ground and the upper portion of the caterpillar 1 is lifted and then the turning part 5 is rotated, the main body of the excavator is left and right, rather than rotating using the caterpillar 1. To rotate. In this case, since both the bucket sensor 23 and the excavator position sensor 31 read that the displacement has changed and calculate mutual positions, an error may occur according to the result. When the displacement occurs at two locations of the laser pointer 29 at the same time and the excavator position sensor 31, the rotation angle value detected by the swing sensor 5 is ignored, and only the left and right rotation values detected by the laser pointer 29 are ignored. Apply it to calculate. That is, when displacement occurs at the turning part 5 and the laser pointer 29 at the same time, the laser pointer 29 is set as the displacement value and the displacement generated at the turning part 5 is not applied.

In addition, since the inclination angle of the current ground is recognized by the horizontal sensor 26, the movement distance is moved by the distance in consideration of the inclination angle, and the position of the bucket 13 is also corrected.

As such, the position is detected by the excavator position sensor 31 including the position sensor 27 and the laser pointer 29, the horizontal sensor 26 and the bucket sensor 13, and the excavator 35 is controlled by the controller 35. The position of the bucket 13 of the excavator is calculated and the corresponding position is displayed on the display unit 37 corresponding to the drawing.

Further, by using the bucket sensor 23, the horizontal sensor 26, the excavator position sensor 31 of the present invention, the turning angle and the inclination angle of the boom 9 (or the boom () 9) its contracted and relaxed distance), the inclination angle of the arm 11 (or the contracted and relaxed distance of the arm 11 itself) and the inclination angle of the bucket 13 (or the contracted and relaxed distance of the bucket 13 itself), Since the horizontal state of the excavator, the moving distance and the rotation angle of the excavator are comprehensively measured, all of them are calculated to measure the position of the excavator and the end position displacement of the bucket 13, wherein the measured values are controlled as shown in FIG. It is transmitted to the 35 and compared with the distance between the respective preset components, is calculated, and finally displayed in the GUI method through the display of the display unit 37, or displayed on the drawing in the coordinate format.

Therefore, the operator of the excavator is able to work while accurately grasping the end position of the bucket 13, and also, since the position of the bucket of the excavator using the angle of inclination and the position of the excavator is accurately displayed, the operator of the excavator Will be able to work correctly.

The present invention allows the excavator and the excavator set as a reference to be displayed on the driver's seat, and correspondingly recognizes the angle and distance moved by the excavator itself and correspondingly displayed so that the excavator driver can conveniently work according to the information shown in the drawing.

In addition, the present invention has the effect of shortening the air in construction using an excavator because the surveying technician can work without the need.

In addition, the present invention, since the operator of the excavator can work by looking at the drawings and the excavator displayed on the display, there is an effect that can be accurate work with little error.

Claims (5)

It is divided into a traveling part in which wheels or caterpillars are installed, and a moving part installed at an upper part thereof and a work device attached to the front of the swing part including a work room, among which the work device is a tip of the work device via a boom and an arm. In an excavator equipped with a bucket installed in, A bucket sensor 23 for recognizing the position of the bucket 13; A horizontal sensor 26 installed below the excavator to recognize a horizontal angle of the excavator; An excavator position sensor 31 for recognizing a current position of the excavator; A drawing reader 32 for inputting a file of the drawing measured by the surveying device into a scale corresponding to the size of the excavator; By calculating the signals detected by the bucket sensor 23, the horizontal sensor 26 and the excavator position sensor 31, the positions of the excavator and the bucket 13 correspond to the drawings read by the drawing reader 32. A control unit 35 for calculating; Excavator operating by measuring the angle and distance, characterized in that consisting of a display unit (37) for displaying the position of the excavator and the bucket (13) calculated by the control unit in accordance with the drawing. The method of claim 1, And an input device capable of inputting the first position of the excavator in correspondence to the drawings displayed on the display unit 37. The excavator operating by measuring an angle and a distance. The method of claim 1, The bucket sensor 23 is A pivot angle sensor (15) installed to set the pivot axis of the pivot portion (5) as a reference point and detecting an angle at which the pivot portion (5) rotates; A boom tilt angle sensor (17) installed at a connecting shaft between the pivoting portion (5) and the boom (9) to measure an inclination angle of the boom (9) or a contraction-relaxed distance of the boom (9); An inclined angle sensor (19) installed at a connecting shaft between the boom (9) and the arm (11) and measuring an inclination angle of the arm (11) or a contracted and relaxed distance of the arm (11); It is installed on the connecting shaft of the arm 11 and the bucket 13, characterized in that consisting of a bucket inclination angle sensor 21 for measuring the inclination angle of the bucket 13 or the contracted and relaxed distance of the bucket 13 Excavator that operates by measuring the angle and distance. The method according to claim 1 or 3, The excavator position sensor 31, Installed on the wheel of the excavator or the caterpillar (1) to recognize the direction in which the excavator proceeds and transmits the distance information that recognizes the direction and the proceeded distance to the control unit 35 to calculate the travel distance of the excavator Position sensor 27 and; The laser pointer 29 is installed at the lower part of the excavator and detects a path moving from side to side to detect an angle rotated left and right by the main body of the excavator and transmits it to the control unit 35 so as to be calculated. Excavator that operates by measuring the angle and distance. The method of claim 4, wherein When the displacement occurs in two places at the same time between the turning part 5 and the excavator position sensor 31, the laser pointer 29 is set as the displacement value and the displacement generated at the turning part 5 is not applied. Excavator operating by measuring the angle and distance, characterized in that configured to not.

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