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伸缩臂挖掘机挖掘的深度测量系统!

日期:2019-04-04   来源:/
1.系统的整体构造
  1. The overall structure of the system
  硬件系统整体设计框图如图1所示,系统由主控模块、加速度模块、A/D转换模块和显现模块组成。其中加速度模块主要用来实时检测发掘机伸缩臂的转动角度;A/D转换模块主要用来将加速度模块实时检测到的发掘机伸缩臂转动角度模仿量转化为数字量;显现模块主要用来实时显现所挖深度值。
  The overall design block diagram of the hardware system is shown in Figure 1. The system consists of the main control module, acceleration module, A/D conversion module and display module. Acceleration module is mainly used to detect the rotation angle of the telescopic arm of excavator in real time; A/D conversion module is mainly used to convert the simulation value of the rotation angle of the telescopic arm of excavator detected in real time by acceleration module into digital value; and display module is mainly used to display the excavated depth value in real time.
  因51单片机[2]具有外围电路简单,硬件设计便当的特性,系统采用STC89c51单片机系统作为本系统的主控模块。系统软件主流程图如图2所示,系统首先停止初始化,由于STC89C51单片机内部没有集成A/D转换模块,无法采集发掘机伸缩臂转动[3、4、5]角度信息,所以在单片机外部外接一个A/D转换模块,用于完成模仿量到数字量的转换。单片机读取转换后的数字量数据,停止数据剖析计算后在数码管上显现发掘的深度,此软件系统不时的循环,完成伸缩臂发掘机智能丈量发掘深度。
  Because 51 single-chip computer [2] has the characteristics of simple peripheral circuit and convenient hardware design, the system uses STC89c51 single-chip computer system as the main control module of the system. The main flow chart of the system software is shown in Figure 2. The initialization of the system is stopped at first. Because there is no integrated A/D conversion module in STC89C51 MCU, and it is impossible to collect the angle information of the telescopic arm rotation of excavator, an A/D conversion module is attached to the outside of the MCU to complete the conversion from analog quantity to digital quantity. The single chip computer reads the converted digital data, stops the data analysis and calculation, and shows the depth of excavation on the digital tube. The software system cycles from time to time to complete the intelligent measurement of excavation depth by telescopic boom excavator.
  2.系统的设计
  2. System Design
  (1)发掘深度检测原理
  (1) Detection principle of excavation depth
  (2)数据采集的完成
  (2) Completion of data acquisition
加长臂挖掘机租赁
  A/D转换器就是将输入的模仿的电信号转换成单片机能够辨认的数字信号。依据系统精度的请求和采集数据的特性,本系统采用8位的ADC0804模块,它是全MOS中速A/D转换器,片内有三态数据输出锁存器,能够与单片机直接相连。当芯片的CS管脚信号为零时,芯片才干正常工作,WR由低到高时,A/D开端转换,一次转换的时间大约是66~73个时钟周期。
  A/D converter is to convert the input analog electrical signal into digital signal which can be recognized by single chip computer. According to the requirement of system accuracy and the characteristics of data acquisition, the system uses an 8-bit ADC 0804 module, which is an all-MOS medium-speed A/D converter. It has three-state data output latches in the chip, and can be directly connected with the single chip computer. When the CS pin signal of the chip is zero, the chip can work normally. When the WR is from low to high, the A/D converts at the beginning. The time of one conversion is about 66-73 clock cycles.
  图4为数据采集硬件电路原理图。图中MMA7361为检测机械臂转动的角度传感器,由于机械臂在左右方向是固定不变,所以只采用了角度传感器X轴上输出的数据。将采集回来的转动角度经过A/D转换就取得与之对应的数字量,单片机读取该数字量并经过数据处置,就能够取得伸缩臂发掘机当前所发掘的深度。
  Fig. 4 is the schematic diagram of data acquisition hardware. MMA7361 is an angle sensor to detect the rotation of the manipulator. Since the manipulator is fixed in the left and right directions, only the data output from the X axis of the angle sensor is used. The rotation angle acquired is converted by A/D to obtain the corresponding digital quantity. The single chip computer reads the digital quantity and disposes of the data, so that the current excavation depth of the telescopic boom excavator can be obtained.
  (3)数据处置的软件完成
  (3) Software completion of data processing
  为数据处置的软件流程图,单片机读取数据并停止处置。依据实践状况判别,当计算出的数据为负值时,标明伸缩臂发掘机铲位于程度线上方,阐明伸缩臂发掘机没有发掘,所以数码管显现为0;当计算出数据为正值时,标明伸缩臂发掘机铲位于程度线下方,阐明发掘机曾经发掘了一定的深度,数码管显现计算出的深度值。
  For the software flow chart of data processing, MCU reads data and stops processing. According to the judgment of practice, when the calculated data is negative, indicate that the shovel of telescopic boom excavator is above the level line, clarify that telescopic boom excavator has not been excavated, so the digital tube appears to be 0; when the calculated data is positive, indicate that telescopic boom excavator shovel is below the level line, clarify that the excavator has excavated a certain depth, and the depth calculated by digital tube display.

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