CN108951750A - A kind of excavator construction operation method, system and excavator - Google Patents
A kind of excavator construction operation method, system and excavator Download PDFInfo
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- CN108951750A CN108951750A CN201810897575.6A CN201810897575A CN108951750A CN 108951750 A CN108951750 A CN 108951750A CN 201810897575 A CN201810897575 A CN 201810897575A CN 108951750 A CN108951750 A CN 108951750A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The embodiment of the invention discloses a kind of excavator construction operation method, system and excavators.Wherein, excavator includes presetting device in the angular transducer group of the tilt angle of corresponding preset direction in construction operation for acquiring excavator, the differential signal that GPS signal and GPS reference station are sent based on the received, the positioning direction finding sensor of excavation direction when the three dimensional local information and construction operation of calculating excavator and angle in real time, the elevation information of excavator is calculated with the laser sensor of the elevation coordinate value for substituting the three dimensional local information that positioning direction finding sensor is calculated and calculates bucket three dimensional local information, and by comparing bucket three dimensional local information and pre-stored three-dimensional references model, to determine that bucket needs the thickness that excavates in operation side, the processor of direction and angle.The application can effectively promote the excavation accuracy and precision of excavator, and the out break bring in earth work is avoided to do over again, and effectively shorten the duration, improve the digging efficiency of excavator.
Description
Technical field
The present embodiments relate to construction engineering technical fields, more particularly to a kind of excavator construction operation method, are
System and excavator.
Background technique
Excavator or excavating machinery, also known as excavator are higher or lower than the object for holding machine side for a kind of excavated with scraper bowl
Material, and be packed into haulage vehicle or unload to the earthmoving machinery of rickyard.Excavator excavate material be mainly soil, coal, silt with
And soil and rock after pre- pine.From the point of view of the development of engineering machinery in recent years, the development of excavator is relatively fast,
As one of engineering machinery most important in engineering construction.
Traditional excavator construction operation fully relies on the working experience of excavator manipulator after assigning work order,
It needs manipulator that can judge the operating environment of the working faces such as road foundation, side slope, river, manipulator's operation level is wanted
Ask higher, when to operate horizontal not high or experience insufficient or when playing not normal by manipulator, it may appear that once excavate it is not in place or
Person is to need to carry out repeated measurement to work surface, Site quality control difficulty is big, and work efficiency is low the phenomenon that backbreaking.
Summary of the invention
The purpose of the embodiment of the present invention is that providing method, system and the excavator of excavator and excavator construction operation, have
The excavation precision for improving excavator and digging efficiency of effect.
In order to solve the above technical problems, the embodiment of the present invention the following technical schemes are provided:
On the one hand the embodiment of the present invention provides a kind of excavator, including angular transducer group, positioning direction finding sensor, swash
Optical sensor and processor；
The angular transducer group presets device inclining in corresponding preset direction in construction operation for acquiring excavator
Rake angle；
The differential signal that the positioning direction finding sensor is sent for GPS signal based on the received and GPS reference station, in real time
Excavation direction and angle when calculating the three dimensional local information and construction operation of the excavator；The laser sensor is according to connecing
The elevation information of the excavator is calculated in the measuring signal that the high-precision laser elevation signal projector of receipts is sent, for replacing
The elevation coordinate value in three dimensional local information calculated for the positioning direction finding sensor；
The angle information and the excavation that the processor is acquired according to angular transducer each in the angular transducer group
The three dimensional local information of machine calculates bucket three dimensional local information；By comparing the bucket three dimensional local information and being stored in advance
Three-dimensional references model, determine the bucket current operation side target excavate parameter, with described in guiding in real time excavate
Machine carries out construction operation；
Wherein, it includes excavating thickness, direction and angle that the target, which excavates parameter, and the three-dimensional references model is according to institute
Two-dimentional place data, mining task, operation mode and the excavator parameter for stating operation side generate, for indicating described
Real-time target location information during excavator construction operation, the target position information include three dimensional space coordinate, excavate
Thickness, direction and angle.
Optionally, the angular transducer group includes the vehicle body sensor being arranged on the excavation railcar body, is located at institute
It states the small arm sensor on small arm of digger, the big arm sensor on the big arm of digger and is located at the forearm and institute
State the bucket sensor of bucket junction；
Wherein, the car body sensor is used to acquire the tilt angle of the vertical and horizontal for excavating railcar body；It is described
Small arm sensor is used to acquire the longitudinal inclination of the forearm；The big arm sensor is used to acquire the longitudinal direction of the large arm
Tilt angle；The bucket sensor is used to acquire the longitudinal inclination of the bucket.
Optionally, the positioning direction finding sensor includes GPS receiver and positioning direction-finder antenna；The positioning direction-finder antenna
It is arranged in the GPS receiver, including master positioning antenna and auxiliary direction-finder antenna；The GPS receiver is for receiving GPS signal
The differential signal sent with GPS reference station；The master positioning antenna is used to determine the real-time three-dimensional location information of the excavator,
Excavation direction and angle of the auxiliary direction-finder antenna for assisting the master positioning antenna, when determining the excavator construction operation
Degree.
Optionally, the body rear end of the excavator is arranged in the GPS receiver；The master positioning antenna with it is described auxiliary
The line of direction-finder antenna and the central axes of the big arm of digger are perpendicular.
Optionally, the construction operation is slope trimming, further includes the bucket steel plate that the bucket shovel tip is arranged in.
Optionally, the bucket steel plate is welded on the shovel tip of the bucket.
It optionally, further include display, the display is used to show the current three-dimensional position letter of the power shovel
Breath, the objective location information on the operation side, and the display current three-dimensional position information and the mesh
The difference information of cursor position information.
It optionally, further include indicator light, for showing data radio station signal and satellite number；The data radio station is located at institute
It states in GPS reference station.
On the other hand the embodiment of the present invention provides a kind of excavator construction operation system, including GPS reference station, high-precision
Laser height signal projector and the excavator as described in preceding any one；
The position that the GPS reference station is set up is no more than pre-determined distance threshold value at a distance from excavator construction site；It is described
GPS reference station includes data radio station, and the data radio station is used in the GPS reference station and is arranged in the excavator base machine
GPS receiver between carry out data transmission；
The high-precision laser elevation signal projector is erected at the construction site of the excavator, the institute for that will acquire
The elevation signal for stating excavator is sent to the laser sensor of the excavator.
The embodiment of the present invention finally additionally provides a kind of excavator construction operation method, comprising:
Real-time three-dimensional location information and default device of the excavator during construction operation are obtained in corresponding preset direction
Tilt angle information；
According to the three dimensional local information of each tilt angle information and the excavator, bucket is calculated in the three-dimensional at corresponding moment
Location information；
Judge the bucket three dimensional local information whether with corresponding target position in the three-dimensional references model of built in advance
Information is identical；
If it is not, the difference information of the current three-dimensional position information and the target position information is then shown, so that operation
Position to the target position of the whole bucket of hand adjustment；
Wherein, the real-time three-dimensional location information is by utilizing positioning direction finding sensor GPS signal and GPS based on the received
The differential signal that base station is sent calculates the two-dimensional position information of the excavator and the excavator of laser sensor measurement in real time
Elevation information constitute three dimensional local information；The three-dimensional references model is the two-dimentional place number according to the operation side
According to, mining task, operation mode and the excavator parameter generate, for indicating the reality during the excavator construction operation
When target position information, the target position information includes three dimensional space coordinate, excavates thickness, direction and angle.
The embodiment of the invention provides a kind of excavators, including exist for acquiring excavator default device in construction operation
The angular transducer group of the tilt angle of corresponding preset direction, the difference sent for GPS signal based on the received and GPS reference station
The positioning direction finding of sub-signal, excavation direction and angle when calculating the three dimensional local information and construction operation of excavator in real time senses
Device calculates the elevation information of excavator for substituting in the bucket three dimensional local information that positioning direction finding sensor is calculated
The laser sensor and calculating bucket three dimensional local information of elevation coordinate value, and by comparison bucket three dimensional local information and in advance
The three-dimensional references model of storage, to determine thickness, direction and angle that needs of the bucket on current operation side excavate
Processor.
The advantages of technical solution provided by the present application is, by setting angular transducer group, positioning direction finding sensor and
Laser sensor can obtain the three dimensional local information of excavator bucket in real time, by comparing the three-dimensional of bucket at the construction field (site)
Target position information in location information and three-dimensional references model, it may be determined that whether the current construction behavior of bucket is accurate, thus
Can real-time monitoring bucket construct on operation side the accuracy in behavior (construction location and excavating depth, angle, direction), have
Conducive to the construction behavior of timely correction excavator mistake, and then the excavation accuracy and precision of excavator are effectively promoted, can also had
The phenomenon that effect avoids the out break bring in earth work from doing over again is not necessarily to repeated measurement, and can uninterruptedly construct within 24 hours, has
Effect shortens the construction period, and improves the digging efficiency of excavator.
In addition, the embodiment of the present invention provides corresponding application method and system also directed to excavator, further such that institute
It states excavator and has more feasibility, the method and system have the advantages that corresponding.
Detailed description of the invention
It, below will be to embodiment or existing for the clearer technical solution for illustrating the embodiment of the present invention or the prior art
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of specific embodiment structure chart of excavator provided in an embodiment of the present invention；
Fig. 2 is a kind of distribution schematic diagram of angular transducer group provided in an embodiment of the present invention on board a dredger；
Fig. 3 is a kind of three-dimensional coordinate transforming principle schematic diagram provided in an embodiment of the present invention；
Fig. 4 is another specific embodiment structure chart of excavator provided in an embodiment of the present invention；
Fig. 5 is a kind of connection relationship diagram figure of each component of excavator provided in an embodiment of the present invention；
Fig. 6 is a kind of flow diagram of excavator construction operation method provided in an embodiment of the present invention；
Fig. 7 is a kind of process flow diagram of excavator construction operation method provided in an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiments are only a part of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
The description and claims of this application and term " first ", " second ", " third " " in above-mentioned attached drawing
Four " etc. be for distinguishing different objects, rather than for describing specific sequence.Furthermore term " includes " and " having " and
Their any deformations, it is intended that cover and non-exclusive include.Such as contain a series of steps or units process, method,
System, product or equipment are not limited to listed step or unit, but may include the step of not listing or unit.
After describing the technical solution of the embodiment of the present invention, the various non-limiting realities of detailed description below the application
Apply mode.
Referring first to Fig. 1, Fig. 1 is that a kind of structure of the excavator provided in an embodiment of the present invention under specific embodiment is shown
It is intended to, the embodiment of the present invention may include the following contents:
A kind of excavator includes excavator main body, includes car body, bucket, large arm, forearm and tire in excavator main body, also
Including angular transducer group 1, positioning direction finding sensor, laser sensor 4 and the processor 5 being arranged in excavator main body.
Direction finding sensor is positioned for the differential signal that GPS signal based on the received and GPS reference station are sent, is calculated in real time
Excavation direction and angle when the three dimensional local information and construction operation of the excavator.Optionally, positioning direction finding sensor can
Include GPS receiver 2, positioning direction-finder antenna 3.Certainly, positioning direction finding sensor can also can be realized for other determines excavation in real time
The sensor of machine three-dimensional position, the application do not do any restriction to this.
Wherein, angular transducer group 1, laser sensor 4 are connected with processor 5, GPS receiver 2 and positioning direction-finder antenna 3
It is connected, positioning direction-finder antenna 3 is connected with processor 5.
Angular transducer group 1 presets device at the inclination angle of corresponding preset direction in construction operation for acquiring excavator
Degree.Namely include multiple angle measuring sensors in angular transducer group 1, each angular transducer acquires on corresponding excavator
Some device or position are during excavator construction operation in the tilt angle of respective direction.
It in a kind of specific embodiment, please refers to shown in Fig. 2, angular transducer group 1 includes that locomotive is being excavated in setting
Vehicle body sensor 11 on body, the small arm sensor 12 on small arm of digger, the sensing of the large arm on big arm of digger
Device 13 and bucket sensor 14 (namely dog bone sensor) positioned at forearm Yu bucket junction.Wherein, car body sensor 11
For acquiring the tilt angle for excavating the vertical and horizontal of railcar body；Small arm sensor 12 is used to acquire the fore-and-aft tilt angle of forearm
Degree；Big arm sensor 13 is used to acquire the longitudinal inclination of large arm；Bucket sensor 14 is used to acquire the fore-and-aft tilt of bucket
Angle.It should be noted that bucket sensor 14 may be provided at any one position of forearm and bucket junction, the application couple
This is not limited in any way.Each angular transducer in angular transducer group 1 is (comprising vehicle body sensor 11, small arm sensor 12, big
Arm sensor 13 and bucket sensor 14) tilt angle information of the corresponding device on preset direction how is specifically acquired, it can join
Read the prior art.
GPS receiver 2 is used to receive the differential signal that GPS signal and GPS reference station are sent.The position that GPS reference station is set up
It sets and is no more than pre-determined distance threshold value (such as 15KM) at a distance from excavator construction site；GPS reference station includes data radio station, number
The platform that conducts electricity can pass through for carrying out data transmission between GPS reference station and the GPS receiver being arranged on excavator base machine 2
Predetermined channel (GPS signal and differential signal) and construction site digging machine are wirelessly connected to carry out data transmission.In view of it is safe because
Element, base station is generally erected at project management department, base station working radius 10-15km, therefore excavator is within base station 15km
It can.
For GPS receiver 2 primarily to receiving satellite positioning signal, the satellite positioning signal used is not limited to GPS, also
Other kinds of satellite positioning signal, such as the Big Dipper can be used, satellite-signal is consistent with receiver type.
It positions direction-finder antenna 3 to be arranged in GPS receiver 2, including master positioning antenna and auxiliary direction-finder antenna, master positioning antenna
For determining that the real-time three-dimensional location information of excavator, auxiliary direction-finder antenna determine that excavator is constructed for assisting master positioning antenna
Excavation direction and angle when operation.
Position direction-finder antenna 3 can for GNSS position direction-finder antenna, GNSS position direction-finder antenna be subjected to GPS satellite signal,
GNSS satellite signal, the Big Dipper satellite-signal etc..
GPS receiver 2 receives signal by major-minor positioning direction-finder antenna.GPS receiver 2, which may be provided at, excavates railcar body
Rear end, such as tail portion.The installation requirement of major-minor positioning direction-finder antenna is that the distance of major-minor positioning direction-finder antenna is remote as far as possible, welding position
Set require it is smooth as far as possible, optionally, master positioning antenna and the line of auxiliary direction-finder antenna and the central axes of big arm of digger are perpendicular.
And be used in conjunction with to obtain the real-time three-dimensional location information of excavator as GPS receiver 2 and positioning direction-finder antenna 3,
Three dimensional local information includes the three dimensional space coordinate of excavator and the current direction and angle of excavator, this is in known
Hold, herein, just repeats no more.
It please refers to shown in Fig. 3, by being mounted on the longitudinal inclination of several angular transducers and crucial axis on vehicle body
Between length the elevation (i.e. the current elevation of GPS receiver) of characteristic point is transmitted on the tooth tip of bucket, to complete
The whole process that GPS three-dimensional coordinate is transmitted to bucket.Wherein, crucial axis can be the connecting shaft of vehicle body and large arm, large arm and small
The connecting shaft of the connecting shaft of arm, forearm and bucket.
Laser sensor 4 is the corresponding signal reception of Precision Elevation signal projector and processing unit, may be provided at digging
Any position on the scraper bowl of pick machine, based on the measuring signal that high-precision laser elevation signal projector based on the received is sent
Calculation obtains the elevation information of excavator, the elevation information being calculated, for substituting the three-dimensional position that positioning direction finding sensor calculates
Elevation coordinate value in confidence breath.Specifically, the working principle of laser sensor and high-precision laser elevation signal projector is (i.e.
How to measure and calculate the elevation information of excavator) it can be found in the prior art, details are not described herein again, the device class of laser sensor
Type can be selected according to the parameter of actual excavation machine, engineering demand and project funds, and the application does not do any restriction to this.
The three dimensional local information and laser sensor 4 for the excavator being calculated by positioning direction finding sensor are in synchronization
The elevation information of measurement generates the current three-dimensional position information of excavator.For example, excavator positions direction finding and passes in t moment
The three-dimensional location coordinates value for the excavator that sensor is calculated is (x, y, z), and laser sensor 4 is sat in the elevation that the moment measures
Scale value is z1, then the current three-dimensional position information of the excavator generated is (x, y, z1)。
Since GPS positioning vertical error is larger, be difficult to meet high accuracy positioning and construction, for three-dimensional coordinate z value (i.e.
Reflect the elevation coordinate of excavator elevation information), it using laser controlling, i.e., is laser sensing in the sensor of position of bucket installing
Device is arranged high-precision laser transmitter in excavator operation face direction of advance, supports 360 ° of Plane Rotations and 170 ° (i.e. ± 85 °)
Elevation scanning, effective operation distance 300m, scanning accuracy reach 1mm, thus the difference information of elevation can be transmitted to system, mend
Charging system elevation coordinate value.Hereby it is achieved that the real-time control of the 3D coordinate exact value of system.
The three-dimensional position of angle information and excavator that processor 5 is acquired according to angular transducer each in angular transducer group 1
Confidence breath calculates bucket and is in the three dimensional local information on current operation side, angle information and digging in angular transducer 1
The three dimensional local information of the three dimensional local information of pick machine and the bucket being calculated is the data of synchronization, is specifically calculated
Journey can be found in the prior art and basic mathematical knowledge, herein, just repeat no more, wherein bucket three dimensional local information includes space
Three-dimensional coordinate, the direction of bucket and angle.
The principle that GPS RTK technology is utilized in determination a part of bucket three dimensional local information obtains known coordinate point, digs
Pick machine is equipped with GNSS receiving device, Radio Data-transmission system and the software system for supporting real time dynamic differential in vehicle body position
It unites three and partially forms.Specific practice is: reference station is set on datum mark, continuously receives the satellite-signals such as visible Beidou, and
By survey station coordinate and data transmission is observed to rover station in real time by data-link radio station.Rover station is receiving the same of satellite-signal
When, according to the principle that reference station transmission come data, by software systems according to relative positioning carry out difference resolving, obtain in real time
The three-dimensional coordinate and precision of rover station；I.e. by Beidou high accuracy positioning data and base station (reference station) differential data to vehicle body
GNSS device receiving point carries out high accuracy positioning.
Then according to digging machine mechanical model feature, according to being mounted on default device (large arm, forearm, scraper bowl, vehicle body equipotential
Set) data of upper angle sensor transmissions (such as the axle center to the axle center of large arm and forearm connecting shaft of vehicle body and large arm connecting shaft
Projector distance, large arm and forearm connecting shaft axle center to bucket and the axle center of forearm connecting shaft projector distance), utilize error
Calibration algorithm can accurately calculate the real-time posture of digging machine and location information.According to the real-time attitude of excavator, and combine three-dimensional
The transformation model of coordinate system, car body coordinate is converted to engineering three-dimensional coordinate, and (engineering three-dimensional coordinate reflects that digging machine excavates operation
The design three-dimensional coordinate in face determines whether to reach design requirement by the specific data of the advance of scraper bowl, retrogressing, lower digging), then
According to each part dimension of the angle information of each sensor transmissions and three-dimensional references model, from known point (the three of GNSS receiving point
Dimension coordinate) calculate the real-time three-dimensional coordinate of shovel tip.
By comparing bucket three dimensional local information and pre-stored three-dimensional references model, determine that bucket is made in current construction
Excavation thickness, direction and angle on industry face carry out construction operation with guiding in real time excavator.
Three-dimensional references model is according to parameter (such as excavator of the two-dimentional place data of operation side, excavator itself
Angle, distance between each component), mining task and operation mode generate, for indicating the reality during excavator construction operation
When target position information, target position information includes excavating thickness, direction and angle.Different brands, different types of excavator
Parameters have differences, and survey and relevant parameter is input in model.Two-dimentional place data are construction operation
Some architectural modulus data, such as vertical curve, horizontal curve, the elevation coordinate of work surface in face etc..The operation mode of excavator is
The type of excavator operating specification and construction operation determines, such as the operation mode of stage excavation, mining task are from bottom to top
Presentation shape after operation side is mined is to reach effect desired by user, such as excavate the target area of operation side
Thickness, every layer of excavation thickness etc. are always excavated in domain.Three-dimensional references model can integrally be shown from starting to excavate operation side to completion
In whole process of constructing, bucket excavates thickness, excavation direction and excavation in the real-time three dimensional space coordinate of operation side, bucket
Angle.
Pass through location information (three dimensional space coordinate, bucket excavation thickness, excavation direction and the digging by bucket at the construction field (site)
Dig angle) compared with target position information pair, it is possible to find whether current location information is identical with target position information, if not
Together, then illustrate current excavation behavior either construction behavior error, determine different places, and by the difference information of the two
It is prompted with various ways such as machine simulation figure, numerical value and voice signals, guides manipulator by the position tune of practical scraper bowl
Whole value and target position, thus realize the accurate construction of excavator, the reachable ± 3cm of accuracy.
In technical solution provided in an embodiment of the present invention, by setting angular transducer group, positioning direction finding sensor and
Laser sensor can obtain the three dimensional local information of excavator bucket in real time, by comparing the three-dimensional of bucket at the construction field (site)
Target position information in location information and three-dimensional references model, it may be determined that whether the current construction behavior of bucket is accurate, thus
Can real-time monitoring bucket construct on operation side the accuracy in behavior (construction location and excavating depth, angle, direction), have
Conducive to the construction behavior of timely correction excavator mistake, and then the excavation accuracy and precision of excavator are effectively promoted, can also had
The phenomenon that effect avoids the out break bring in earth work from doing over again is not necessarily to repeated measurement, and can uninterruptedly construct within 24 hours, has
Effect shortens the construction period, and improves the digging efficiency of excavator.
In a kind of specific embodiment, referring to Fig. 4, existing to be clearer and more clear, visualize excavator
Construction behavior when construction operation, further, excavator further include display 6.
Display 6 can be used for showing the current three-dimensional position information of power shovel, the three-dimensional mesh on operation side
Cursor position information, and the difference information of display the current three-dimensional position information and the target position information.For example, construction
When distance difference (mainly height value) of the shovel tip from three-dimensional references model arbitrary point can be shown by display screen.
In a kind of specific embodiment, the information such as required position for excavating the gradient and bucket can be with graphical
Mode clearly indicate on the screen, excavation and filling information instructs manipulator to go to operate in a manner of color.Red represents
Deficient digging, green representative meet the requirements, blue representative backfills, in addition, multiple information can also be shown on the screen of display 6, it is interior
Appearance can be customized according to the habit of manipulator, such as bilateral light target is shown etc..
By the way that display is arranged, the real-time position information of three-dimensional visualization excavator advantageously reduces mining effect inspection
Frequency, do not need even to check, system can constantly go monitoring work quality, improve Mining Quality, be conducive to protect
The safe operation of card project.
In a kind of specific embodiment, the connection relationship of each component of excavator can be as shown in figure 5, processor 5 can be set
It sets in host, host is furnished with a set of TC-Office desktop data Software for producing, and host and display may be provided at excavator
In driver's cabin, also built-in in host to have receiver, radio station receiver receives satellite and GPS reference station radio signals.In addition,
It is also built-in to have indicator light 7, can real-time display data radio station signal, the information such as satellite number, to facilitate user to judge,
In, power pack can play duplicate protection, not only protected the excavator system of each device composition of excavator but also protection digging machine is mechanical originally
Body.
In a kind of specific work progress, when construction operation is slope trimming, itself carried since digging machine is mechanical
Bucket has bucket tooth (zigzag) structure, and 5-10cm is deep, is affected to excavation and filling homework precision, accurately feels for the ease of sensor
Bucket shovel tip coordinate is answered, increases working face control and repairs slope quality, bucket steel plate, bucket can be set on excavator bucket shovel tip
Steel plate is solderable to be connected on the shovel tip of bucket, can ensure that homework precision by welding steel (level).
The embodiment of the present invention provides corresponding construction operation system also directed to excavator, further such that the excavator
Method has more practicability.Excavator construction operation system provided in an embodiment of the present invention is introduced below, it is described below
Excavator construction operation system can correspond to each other reference with above-described excavator.
A kind of excavator construction operation system may include GPS reference station, high-precision laser elevation signal projector and as above
Excavator described in any one excavator embodiment.
Excavator is carried out data transmission with GPS reference station by the wireless connection of data radio station.
The position that GPS reference station is set up is no more than pre-determined distance threshold value at a distance from excavator construction site；GPS reference station
Including data radio station, data radio station is used to be counted in GPS reference station and being arranged between the GPS receiver on excavator base machine
According to transmission.
High-precision laser elevation signal projector is erected at the construction site of excavator, high-precision laser elevation signal and swashs
Maximum distance between optical sensor (excavator) can not exceed laser sensor signal range of receiving, the excavation for will acquire
The elevation signal of machine is sent to the laser sensor of excavator, the elevation information of excavator is calculated.
The system completes construction operation when system works by GPS reference station and excavator jointly and is mounted on excavator machine
The GPS receiver and data radio station of body obtain excavator real-time three by receiving the differential signal of GPS signal and base station transmission
Position is tieed up, power shovel essence is then calculated by the sensor position being mounted on excavator big and small arms and revolution in real time
True three-dimensional coordinate, and coordinate information is passed into CPU, system is by comparing locating for Digital Three-Dimensional benchmark model and current scraper bowl
Location information indicates the phase of practical scraper bowl and target operation face with various ways such as machine simulation figure, numerical value and voice signals
To position, manipulator is guided accurately to construct, the reachable ± 3cm of accuracy.
The embodiment of the present invention provides corresponding construction operation method also directed to excavator, further such that the excavator
Method has more feasibility.Excavator construction operation method provided in an embodiment of the present invention is introduced below, it is described below
Excavator construction operation method can correspond to each other reference with above-described excavator.
S601: real-time three-dimensional location information and default device of the excavator during construction operation are obtained corresponding pre-
The tilt angle information of set direction.
S602: according to the three dimensional local information of each tilt angle information and excavator, bucket is calculated the three of the corresponding moment
Tie up location information.
S603: judge bucket three dimensional local information whether with corresponding target position in the three-dimensional references model of built in advance
Information is identical, if it is not, then executing S604.Three-dimensional references model is according to the two-dimentional place data of operation side, mining task
It is generated with the operation mode of excavator, for indicating the real-time target location information during excavator construction operation, target position
Confidence breath includes three dimensional space coordinate, excavates thickness, direction and angle.
S604: the difference information of display current three-dimensional position information and target position information, so that manipulator adjusts bucket
Position to target position.
Wherein, real-time three-dimensional location information is by utilizing positioning direction finding sensor GPS signal and GPS benchmark based on the received
The differential signal sent of standing calculates the elevation letter of the two-dimensional position information of excavator and the excavator of laser sensor measurement in real time
Cease the three dimensional local information constituted.
In order to enable technical solution provided by the present application is more clearly understood in those skilled in the art, the application is with specific
For construction operation (roadbed earth excavation and side slope shaping), the construction operation process of entire excavator is introduced, Fig. 7 institute is please referred to
Show, it may include site clearing, scene cut pumping equipment build → excavator operating condition inspection, quality controls guidance system installation fitting
Inventory verification → excavator construction operation system installation, debugging → excavator parameter importing → two dimension place data preparation (two dimension
Place data 2D turns 3D) → open excavator construction operation system → two dimension place data import system → road excavation → self-unloading
Vehicle earthwork outward transport → digging to design altitude → slot bottom compacting → road slot trimming and intelligence repair slope → stage detection examination → lower road work
Sequence construction.
For roadbed site clearing construction operation, the site clearing stage is mainly that excavator provides work surface, according to
Traditional handicraft carries out.Wherein, roadbed earth excavation can include:
It is installed excavator construction operation system before excavation, and imports road work region vertical curve, horizontal curve, elevation
The places such as coordinate data, the operation mode of stage excavation from top to bottom are taken according to code requirement, and setting every layer from the background
The thickness value of excavation excavates thickness according to the height value control of display prompts in specific excavate, disorderly must not dig or backbreak.Institute
The information such as the position of the excavation gradient and bucket that need will be clearly indicated on the screen in a manner of patterned, excavation and filling information
Manipulator is instructed to go to operate in a manner of color.Red represent owe dig, green represent meet the requirements, blue represent back
It fills out, and can show multiple information on screen, content can be customized according to the habit of manipulator, and bilateral light target is shown
Deng, to reduce the frequency of gradient inspection, gradient inspection is not needed even, system can constantly go the quality of monitoring work,
Improve quality safety.It should be noted that arrangement and method for construction and excavation should be modified when changing when excavating such as discovery soil layer property
Side slope ratio, and and Times supervising engineer approval.
Traditional handicraft need to reserve 30cm soil thickness hand excavation, need to restore in stake, skirt piles check elevation repeatedly, avoid surpassing
It digs.After excavator construction operation system, it can disposably be excavated to design altitude, error ± 3cm.
It is repaired for the construction operation of slope for the compacting of roadbed slot bottom and intelligence, concrete construction method can include:
1) bucket shovel tip coordinate is accurately incuded for the ease of each angular transducer, increase working face control and repair slope quality, make
Before industry one block of bucket steel plate can be welded in bucket shovel tip position.
2) each device for including in excavator construction operation system is installed on the basis of original excavator.
3) system boot, and require to carry out system debug according to job instruction.
4) it can be used that Road Editor road software for editing is vertical to design, horizontal curve, the two-dimensional parameters such as height value, slope ratio
Be converted to three-dimensional data.
5) it for job contents such as the roadbed of excavated-in t4, the grooves excavated using slope, is inputted in human-computer interaction main interface
The operation mode of two-dimentional place data, mining task and excavator after conversion starts operation.
6) each operating area uses the slope trimming operation of excavator construction operation systematic direction, can after qualified by inspection
Carry out the construction of next operating area.
7) slope trimming should determine the need for classification slope according to slope height, such as carry out classification slope, number of coordinates
It according to importing should be layered, constructs step by step, and there are enough working faces according to code requirement.
From the foregoing, it will be observed that compared with former excavator construction technology, the embodiment of the present invention can the control of real-time process quality, it is effectively anti-
Only the out break bring in earth work is done over again, and is not necessarily to repeated measurement, and can uninterruptedly construct within 24 hours, is improved efficiency, contracts
Casual labourer's phase.With 3 axle sensor technologies, it can be achieved that the high-precision digging operation within 3cm.Without piling, setting-out, without artificial
Carry out process inspection reduces measurement cost and mechanical service efficiency, reduces and repeats to be bulldozed, reduces oil plant and material consumption.
The embodiment of the invention also provides a kind of excavator construction operation devices, specifically can include:
Data obtaining module, for obtaining real-time three-dimensional location information of excavator during construction operation, and it is default
Tilt angle information of the device in corresponding preset direction.
Computing module calculates bucket corresponding for the three dimensional local information according to each tilt angle information and excavator
The three dimensional local information at moment.
Whether judgment module, the three dimensional local information for judging bucket are corresponding in the three-dimensional references model of built in advance
Target position information is identical.
Visualization model, for corresponding target position in the three dimensional local information of bucket and the three-dimensional references model of built in advance
Confidence breath is not identical, then shows the difference information of current three-dimensional position information and target position information, digs so that manipulator adjusts
The position of bucket to target position.
Wherein, real-time three-dimensional location information is by utilizing positioning direction finding sensor GPS signal and GPS benchmark based on the received
The differential signal sent of standing calculates the height of the two-dimensional position information of the excavator and the excavator of laser sensor measurement in real time
The three dimensional local information that journey information is constituted, three-dimensional references model are to be joined according to the two-dimentional place data of operation side, excavator
Number, mining task and excavator operation mode generate, for indicating the real-time target position during excavator construction operation
Information, target position information include three dimensional space coordinate, excavate thickness, direction and angle.
From the foregoing, it will be observed that the embodiment of the present invention effectively raises the excavation precision and digging efficiency of excavator.
The embodiment of the invention also provides a kind of excavator construction operation equipment, specifically can include:
Memory, for storing computer program；
Processor realizes excavator construction operation method described in any one embodiment as above for executing computer program
The step of.
The function of each functional module of excavator construction operation equipment described in the embodiment of the present invention can be according to above method reality
The method specific implementation in example is applied, specific implementation process is referred to the associated description of above method embodiment, herein no longer
It repeats.
From the foregoing, it will be observed that the embodiment of the present invention effectively raises the excavation precision and digging efficiency of excavator.
The embodiment of the invention also provides a kind of computer readable storage mediums, are stored with excavator construction operation program,
As above excavator construction operation method described in any one embodiment when the excavator construction operation program is executed by processor
Step.
The function of each functional module of computer readable storage medium described in the embodiment of the present invention can be according to above method reality
The method specific implementation in example is applied, specific implementation process is referred to the associated description of above method embodiment, herein no longer
It repeats.
From the foregoing, it will be observed that the embodiment of the present invention effectively raises the excavation precision and digging efficiency of excavator.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
Detailed Jie has been carried out to a kind of excavator construction operation method provided by the present invention, system and excavator above
It continues.Used herein a specific example illustrates the principle and implementation of the invention, and the explanation of above embodiments is only
It is to be used to help understand method and its core concept of the invention.It should be pointed out that for those skilled in the art
For, it without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention, these improve and repair
Decorations are also fallen within the protection scope of the claims of the present invention.
Claims (10)
1. a kind of excavator, which is characterized in that including angular transducer group, positioning direction finding sensor, laser sensor and processing
Device；
The angular transducer group presets device at the inclination angle of corresponding preset direction in construction operation for acquiring excavator
Degree；
The differential signal that the positioning direction finding sensor is sent for GPS signal based on the received and GPS reference station, calculates in real time
Excavation direction and angle when the three dimensional local information and construction operation of the excavator；The laser sensor is based on the received
The elevation information of the excavator is calculated in the measuring signal that high-precision laser elevation signal projector is sent；
Angle information that the processor is acquired according to angular transducer each in the angular transducer group and the excavator
Three dimensional local information calculates bucket three dimensional local information；By comparing the bucket three dimensional local information and pre-stored three
Tie up benchmark model, determine the bucket current operation side target excavate parameter, with excavator described in guiding in real time into
Row construction operation；
Wherein, it includes excavating thickness, direction and angle that the target, which excavates parameter, and the three-dimensional references model is to apply according to
Two-dimentional place data, mining task, operation mode and the excavator parameter of work work surface generate, for indicating the excavation
Real-time target location information during machine construction operation, the target position information include three dimensional space coordinate, excavate thickness,
Direction and angle.
2. excavator according to claim 1, which is characterized in that the angular transducer group includes being arranged in the excavation
Vehicle body sensor on railcar body, the small arm sensor on the small arm of digger, on the big arm of digger
Big arm sensor and the bucket sensor positioned at the forearm and the bucket junction；
Wherein, the car body sensor is used to acquire the tilt angle of the vertical and horizontal for excavating railcar body；The forearm
Sensor is used to acquire the longitudinal inclination of the forearm；The big arm sensor is used to acquire the fore-and-aft tilt of the large arm
Angle；The bucket sensor is used to acquire the longitudinal inclination of the bucket.
3. excavator according to claim 1, which is characterized in that the positioning direction finding sensor include GPS receiver and
Position direction-finder antenna；The positioning direction-finder antenna is arranged in the GPS receiver, including master positioning antenna and auxiliary direction finding day
Line；The GPS receiver is used to receive the differential signal that GPS signal and GPS reference station are sent；The master positioning antenna is for true
The real-time three-dimensional location information of the fixed excavator, the auxiliary direction-finder antenna for assisting the master positioning antenna, determine described in
Excavation direction and angle when excavator construction operation.
4. excavator according to claim 2, which is characterized in that the vehicle of the excavator is arranged in the GPS receiver
Body rear end；The central axes of the master positioning antenna and the line and the big arm of digger of the auxiliary direction-finder antenna are perpendicular.
5. excavator according to any one of claims 1 to 4, which is characterized in that the construction operation is slope trimming,
It further include the bucket steel plate that the bucket shovel tip is set.
6. excavator according to claim 5, which is characterized in that the bucket steel plate is welded in the shovel tip of the bucket
On.
7. excavator according to claim 6, which is characterized in that further include display, the display is for showing institute
State the current three-dimensional position information of power shovel, the objective location information on the operation side, and display
The difference information of the current three-dimensional position information and the target position information.
8. excavator according to claim 7, which is characterized in that further include indicator light, for showing data radio station signal
And satellite number；The data radio station is located in the GPS reference station.
9. a kind of excavator construction operation system, which is characterized in that emit including GPS reference station, high-precision laser elevation signal
Device and the excavator as described in claim 1-8 any one；
The position that the GPS reference station is set up is no more than pre-determined distance threshold value at a distance from excavator construction site；The GPS base
Quasi- station includes data radio station, and the data radio station is used in the GPS reference station and the GPS being arranged on the excavator base machine
Carry out data transmission between receiver；
The high-precision laser elevation signal projector is erected at the construction site of the excavator, the digging for that will acquire
The elevation signal of pick machine is sent to the laser sensor of the excavator.
10. a kind of excavator construction operation method characterized by comprising
Obtain real-time three-dimensional location information and default device inclining in corresponding preset direction of excavator during construction operation
Rake angle information；
According to the three dimensional local information of each tilt angle information and the excavator, bucket is calculated in the three-dimensional position at corresponding moment
Information；
Judge the bucket three dimensional local information whether with corresponding target position information in the three-dimensional references model of built in advance
It is identical；
If it is not, the difference information of the current three-dimensional position information and the target position information is then shown, so that operation hand adjustment
Position to the target position of the whole bucket；
Wherein, the real-time three-dimensional location information is by utilizing positioning direction finding sensor GPS signal and GPS benchmark based on the received
The differential signal sent of standing calculates the height of the two-dimensional position information of the excavator and the excavator of laser sensor measurement in real time
The three dimensional local information that journey information is constituted；The three-dimensional references model be according to the two-dimentional place data of the operation side,
Mining task, operation mode and the excavator parameter generate, for indicating real-time during the excavator construction operation
Target position information, the target position information include three dimensional space coordinate, excavate thickness, direction and angle.
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| CN201810897575.6A CN108951750A (en) | 2018-08-08 | 2018-08-08 | A kind of excavator construction operation method, system and excavator |
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| CN109577413A (en) * | 2018-12-25 | 2019-04-05 | 中铁四局集团第工程有限公司 | A kind of roadbed brush slope construction method and system |
| CN109903337A (en) * | 2019-02-28 | 2019-06-18 | 北京百度网讯科技有限公司 | Method and apparatus for determining the pose of the scraper bowl of excavator |
| CN110939135A (en) * | 2019-11-19 | 2020-03-31 | 中交疏浚技术装备国家工程研究中心有限公司 | Positioning and orientation method and system applied to slope paving engineering machinery operation |
| CN111708067A (en) * | 2020-08-04 | 2020-09-25 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Automatic guide system of excavator |
| CN111749243A (en) * | 2020-06-09 | 2020-10-09 | 中国一冶集团有限公司 | Semi-automatic excavator digital earthwork site elevation control construction method |
| CN112030835A (en) * | 2019-06-03 | 2020-12-04 | 郑州宇通重工有限公司 | Sanitation vehicle, and sanitation vehicle operation reminding method and system |
| CN112302093A (en) * | 2020-11-06 | 2021-02-02 | 河北跃进信息技术有限公司 | Excavator construction guide and analysis equipment |
| CN113123390A (en) * | 2021-05-24 | 2021-07-16 | 北京三一智造科技有限公司 | Engineering machinery control system |
| CN113186996A (en) * | 2021-05-06 | 2021-07-30 | 上海三一重机股份有限公司 | Foundation pit excavation monitoring method and system |
| CN113240733A (en) * | 2021-04-02 | 2021-08-10 | 北京拓疆者智能科技有限公司 | Method, system, equipment and storage medium for assisting in driving excavator |
| CN113700062A (en) * | 2021-08-25 | 2021-11-26 | 徐州徐工矿业机械有限公司 | Control method and device of excavator, excavator and computer equipment |
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| CN111749243B (en) * | 2020-06-09 | 2022-07-15 | 中国一冶集团有限公司 | Semi-automatic excavator digital earthwork site elevation control construction method |
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| CN113240733A (en) * | 2021-04-02 | 2021-08-10 | 北京拓疆者智能科技有限公司 | Method, system, equipment and storage medium for assisting in driving excavator |
| CN113186996A (en) * | 2021-05-06 | 2021-07-30 | 上海三一重机股份有限公司 | Foundation pit excavation monitoring method and system |
| CN113123390A (en) * | 2021-05-24 | 2021-07-16 | 北京三一智造科技有限公司 | Engineering machinery control system |
| CN113700062A (en) * | 2021-08-25 | 2021-11-26 | 徐州徐工矿业机械有限公司 | Control method and device of excavator, excavator and computer equipment |
| CN113700062B (en) * | 2021-08-25 | 2022-08-05 | 徐州徐工矿业机械有限公司 | Control method and device of excavator, excavator and computer equipment |
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