CN110554411A - Tree pit positioning device with automatic lofting system and positioning method thereof - Google Patents
Tree pit positioning device with automatic lofting system and positioning method thereof Download PDFInfo
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- CN110554411A CN110554411A CN201810554547.4A CN201810554547A CN110554411A CN 110554411 A CN110554411 A CN 110554411A CN 201810554547 A CN201810554547 A CN 201810554547A CN 110554411 A CN110554411 A CN 110554411A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000009412 basement excavation Methods 0.000 claims abstract description 93
- 238000012937 correction Methods 0.000 claims abstract description 26
- 238000005065 mining Methods 0.000 claims description 16
- 238000013461 design Methods 0.000 claims description 12
- 238000001467 acupuncture Methods 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000003086 colorant Substances 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000010276 construction Methods 0.000 abstract description 9
- 238000005553 drilling Methods 0.000 description 28
- 238000005259 measurement Methods 0.000 description 5
- ODINCKMPIJJUCX-UHFFFAOYSA-N Calcium oxide Chemical compound [Ca]=O ODINCKMPIJJUCX-UHFFFAOYSA-N 0.000 description 4
- 239000000284 extract Substances 0.000 description 3
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- 238000005507 spraying Methods 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 206010041591 Spinal osteoarthritis Diseases 0.000 description 1
- 208000036319 cervical spondylosis Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
A tree pit positioning device with an automatic lofting system and a positioning method thereof comprise a mobile platform, an excavation module and the automatic lofting system; the automatic lofting system comprises a GPS receiving terminal, a GPS satellite positioning antenna, a GPS satellite attitude correcting antenna and a display and control module, wherein the GPS satellite positioning antenna, the GPS satellite attitude correcting antenna and the display and control module are all connected with the GPS receiving terminal; the GPS satellite positioning antenna is arranged right above the excavation module, positions the coordinate information of the position of the excavation module and guides the coordinate information into the GPS terminal equipment; the GPS satellite attitude correction antenna is arranged in the middle of the ceiling of the mobile platform to position the coordinate information of the mobile platform. The invention realizes the digital and mechanical construction of the procedures of measuring, lofting and digging holes for planting trees, effectively improves the operating efficiency of each procedure, reduces the investment of labor force, measuring equipment and tools, solves the data of lofting points in advance through field work, and optimizes the procedure time of measuring and lofting.
Description
Technical Field
The invention relates to a tree pit positioning device with an automatic lofting system and a positioning method thereof, which are mainly suitable for measuring lofting and rapid digging of tree pits in afforestation projects in plain areas or gentle slope regions.
background
In a large-scale afforestation project, a conventional measurement lofting is to extract lofting coordinate points of trees according to a design planting drawing; establishing a measurement system on site, and retesting the control point; and (3) adopting a full drilling instrument or GPSRTK and other measuring instruments, manually spraying ash or marking a wooden pile after the coordinate data are actually sampled.
the conventional measurement lofting procedure is as follows:
1) the method comprises the following steps that (1) an interior worker extracts lofting coordinate points according to a design drawing, and a large amount of coordinate data are led into measuring instruments such as GPSRTK;
2) a professional lofting worker holds the GPSRTK or a total station to loft the tree pit points one by one;
3) After each point location lofting, a worker uses quick lime or a driving timber pile to mark the point location;
4) And (4) excavating operation is carried out by an operator of the hole excavating machine according to the mark on the ground.
The conventional measurement lofting needs a large amount of personnel, measuring instruments and tools; because the data of the lofting points is more, professional measuring personnel are required to position the lofting points point by using handheld measuring mobile equipment, the time consumption is long, the labor input is high, and the tree planting progress is greatly influenced; the manual ash spraying fixed point has offset error, and has certain influence on the tree planting project with high engineering precision or landscape effect and observation requirements.
disclosure of Invention
The invention aims to provide a tree pit positioning device with an automatic lofting system and a positioning method thereof. The invention adopts the following technical scheme.
A tree pit positioning device with an automatic lofting system comprises a mobile platform and an excavation module, wherein the mobile platform adopts walking mechanical equipment, the excavation module is used for excavating tree pits, the excavation module is connected with the mobile platform, and the tree pit positioning device further comprises the automatic lofting system;
the automatic lofting system comprises a GPS receiving terminal, a GPS satellite positioning antenna, a GPS satellite attitude correcting antenna and a display and control module, wherein the GPS satellite positioning antenna, the GPS satellite attitude correcting antenna and the display and control module are all connected with the GPS receiving terminal;
The display and control module displays the digital acupuncture point data of the coordinate points of each tree pit to be lofted in the design and planting drawing, so as to display the position marks of each tree pit to be lofted on a map;
The GPS satellite positioning antenna is arranged right above the mining module, positions the coordinate information of the current position of the mining module and sends the coordinate information to the GPS receiving terminal;
The GPS satellite attitude correction antenna is arranged on the mobile platform and sends the current coordinate information positioned by the GPS satellite attitude correction antenna to the GPS receiving terminal; and the display and control module displays the current position of the mining module as a directed icon according to the current coordinate information positioned by the GPS satellite attitude correction antenna and the current coordinate information positioned by the GPS satellite positioning antenna.
preferably, the current coordinate information of the positioning of the GPS satellite positioning antenna and the GPS satellite attitude correction antenna further comprises Z-axis coordinate information, and when the excavation module excavates, the display and control module determines whether the excavation depth of the excavation module reaches a standard or not according to the change of the Z-axis coordinate information.
Preferably, the tree pit positioning device further comprises a first driving module for driving the excavating module to move, and the excavating module is connected with the first driving module through a transmission structure to obtain excavating and lifting power.
Preferably, the tree pit positioning device further comprises a first driving module which is arranged on the movable platform and drives the excavating module to move, and the excavating module is connected with the first driving module through a connecting frame to obtain lifting power; the excavation module is connected with the first driving module through a transmission structure to obtain excavation power.
Preferably, the excavation module or the connecting frame is connected with an antenna platform, and the GPS satellite positioning antenna is arranged on the antenna platform.
preferably, the excavation module is disposed on an axis of the mobile platform, and the GPS satellite attitude correction antenna is also disposed on the axis of the mobile platform.
Preferably, the pit positioning device further comprises a first driving module for driving the excavation module to move, and the display and control module is connected with the first driving module to control the operation of the first driving module, or the display and control module is connected with the first driving module and the driving module of the mobile platform to control the operation of the first driving module and the driving module of the mobile platform.
A method of pit location with an automated lofting system, the method comprising:
Step 1, displaying images of digital acupuncture point data of simulation lofting tree acupuncture point coordinate points in a design planting drawing on a display and control module, wherein the simulation lofting tree acupuncture point coordinate points displayed on the display and control module have equivalence, and a starting point is not set, and the sequence planning is not carried out; the information displayed on the image comprises tree pit position marks, tree pit position coordinates, the number of dug pits and the number of pits to be dug;
Step 2, a first coordinate of the position of the antenna positioning and mining module of the GPS satellite positioning is converted into first coordinate data A (x1, y1 and z1), a second coordinate of the position of the antenna positioning and moving platform is corrected by the attitude of the GPS satellite, the antenna positioning result is converted into second coordinate data B (x2, y2 and z2), the display and control module displays images according to the first coordinate and the second coordinate, the image displays the current position mark of the mining module, and the position mark of the mining module is a directed icon;
Step 3, driving the mobile platform to move, enabling the digging module position mark on the display and control module to coincide with the tree pit position mark, updating the first coordinate data and the second coordinate data and transmitting the first coordinate data and the second coordinate data to the display and control module in the moving process of the mobile platform, and enabling the display and control module to display the current position mark of the digging module; after the position mark of the excavation module is superposed with the position mark of the tree pit, controlling the excavation module to carry out excavation on the lofted tree pit, after the excavation is finished, marking the excavated point position by the display and control module, and updating the excavated pit number and the pit number to be excavated;
And 4, repeating the steps 2-3, and digging other lofting tree pit positions.
Preferably, the step 3 further comprises that in the excavation process of the lofting tree pit, the GPS satellite positioning antenna and the GPS satellite attitude correction antenna have vertical relative displacement, and when the vertical distance between the two antennas reaches the designed excavation depth h, namely z1-z2 is more than or equal to h, the excavation is judged to be implemented; when the horizontal distance between the actual excavation point and the designed excavation point meets the error requirement delta, namely x ^2+ y ^2 is not more than delta, judging that the excavation point is qualified; and after the excavation points are qualified, the display and control module automatically counts the total excavation number of the tree pit, and marks the actual excavation points on the GPS control panel by using the patterns with specific colors.
Preferably, the information displayed on the image further includes a closest point ID, and the closest point ID is updated after the current tree hole is dug.
The invention has the beneficial effects that: (1) manual and semi-mechanized construction is promoted to digital and mechanized construction: by the invention, the work of measuring and lofting can be fully integrated into the process of automatic mechanical digging of tree pits, the digital and mechanical construction of the process of measuring and lofting and digging the pits for planting trees is realized, the operating efficiency of each process is effectively improved, and the investment of labor force, measuring equipment and tools is reduced.
(2) Improving the occupational health of the operator: in the process of digging the tree pits by the operator for mechanically digging the pits, the operator does not need to frequently turn around to look back at the positions of the tree pits, so occupational diseases such as cervical spondylosis are avoided, and the occupational health of the operator is greatly improved.
(3) Guarantee the planting progress of trees: the data of the lofting points can be solved through interior work in advance, the process time of measuring lofting is optimized, time is striven for forestation progress, and engineering progress is guaranteed.
Drawings
FIG. 1 is a schematic view of an automatic lofting system and a mechanical assembly of a pit digging machine.
FIG. 2 is a schematic diagram of an automated lofting system connection.
FIG. 3 is a diagram of a display of a GPS control panel.
Description of reference numerals: 1. a GPS control panel; 2. a GPS receiving terminal; 3. a GPS satellite positioning antenna; 4. a GPS satellite attitude correction antenna; 5. a mobile platform; 6. rotary excavating a drill bit; 7. a hydraulic shaft; 8. a ceiling; 9. marking the position of the rotary drilling bit; 10. marking the positions of the tree pits; 11. a connecting frame; 12. a drive shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, a pit positioning device with an automatic lofting system comprises a mobile platform 1 and an excavation module, and further comprises an automatic lofting system.
The moving platform 5 adopts walking mechanical equipment, the excavating module can be a rotary excavating drill bit 6, the moving platform 5 comprises wheels for walking and a second driving module for driving the moving platform to move, and the moving platform is provided with a corresponding setting position and a corresponding supporting structure so as to be provided with a mechanical device connected with the rotary excavating drill bit, a device for controlling the rotary excavating drill bit to work and a first driving module for driving the excavating module to ascend and descend and rotate.
The moving platform 5 is used for carrying other modules to work, and moves the rotary drilling bit to a point position to be excavated. The rotary drilling bit is used for excavating tree pits and is connected with a moving platform through a connecting frame 11 and a transmission shaft 12, the connecting frame, the transmission shaft and a hydraulic shaft are all connected with a first driving module, the connecting frame 11 is used for supporting and connecting the rotary drilling bit, the connecting frame 11 can only move up and down relative to the moving platform and cannot move horizontally, the transmission shaft 12 drives the rotary drilling bit to rotate, and the hydraulic shaft 7 drives the rotary drilling bit to move up and down.
The automatic lofting system comprises a GPS receiving terminal 2, a GPS satellite positioning antenna 3, a GPS satellite attitude correcting antenna 4 and a display and control module, wherein the GPS satellite positioning antenna, the GPS satellite attitude correcting antenna and the display and control module are all connected with the GPS receiving terminal. The GPS receiving terminal 2, the GPS satellite positioning antenna 3 and the GPS satellite attitude correction antenna 4 form a GPS positioning module, and the GPS satellite positioning antenna is arranged right above the rotary drilling bit through a support frame, so that no obstacle is shielded above the receiving antenna. The GPS satellite attitude correction antenna is arranged in the middle position of the upper end of the cab ceiling 8, and no obstacle is covered above the GPS satellite attitude correction antenna. The two GPS antennae are arranged on the middle axial plane of the mobile platform. The GPS receiving terminal equipment is arranged in the cab, and the terminal equipment is connected with the GPS satellite positioning antenna and the GPS attitude correction antenna through lines.
The GPS satellite positioning antenna is arranged right above the rotary drilling bit, positions the coordinate information of the position of the excavating module and sends the coordinate information to the GPS receiving terminal. The GPS satellite positioning antenna can be fixed right above the rotary drilling bit in a hinged mode and moves along with the movement of the rotary drilling bit. The GPS satellite attitude correction antenna is arranged in the middle of the ceiling of the mobile platform, is arranged on the axis of the mobile platform, positions the coordinate information of the mobile platform and sends the coordinate information to the GPS receiving terminal. The GPS satellite attitude correction antenna can be fixed in the middle position of the ceiling of the mobile platform in an articulated mode and moves along with the movement of the mobile platform.
The GPS positioning module adopts a positioning principle based on double antennas. As shown in fig. 1, the GPS satellite positioning antenna 3 is installed right above the rotary drill bit 6, coordinates of the position of the rotary drill bit 6 are positioned and sent to the GPS receiving terminal, and the antenna positioning result is converted into three-dimensional coordinates (x1, y1, z1) through preliminary processing, so that the positioning accuracy reaches the centimeter level.
The GPS satellite attitude correction antenna 4 is installed in the middle of the ceiling of the mobile platform 5, and performs positioning at the same time. The GPS satellite attitude correction antenna 4 locates another set of position coordinate data (x2, y2, z2), the direction of the displacement vector (x 1-x2, y1-y2, 0) of the two points in the horizontal direction is the direction of the axis of the mobile platform, the mobile platform is a four-wheel vehicle, the vehicle has a longitudinal symmetry plane, the horizontal straight line on the symmetry plane is the axis of the mobile platform, and the direction is displayed in a direction marking mode in fig. 3, so that an operator can conveniently obtain the direction through the control panel to adjust the machine. The rotary drilling bit 6 moves along with the moving platform 1, the rotary drilling bit is arranged on the axis of the moving platform, and a connecting line between the rotary drilling bit 6 and the middle position of the ceiling of the moving platform 1 is always in the direction of the axis of the moving platform. The rotary drilling bit 6 can be arranged in front of the movable platform 5 or behind the movable platform 5.
The double-antenna positioning by adopting the GPS satellite positioning antenna 3 and the GPS satellite attitude correction antenna 4 has certain function in the aspect of hole marking and recording. In the excavation process, the GPS satellite attitude correction antenna erected on the excavation equipment has vertical displacement, so that the vertical distance between the two antennas changes, and when the vertical distance between the two antennas reaches the designed excavation depth (z 1-z2 is not less than h), the system judges that excavation is performed. Meanwhile, the horizontal distance (x ^2+ y ^2 is not more than delta) between the actual excavation point and the designed excavation point meets the error requirement, and the excavation point is judged to be qualified. And after the excavation points are qualified, the GPS control panel automatically counts the total excavation number of the tree pit, and the GPS control panel marks the actual excavation points by using the graphs with different colors. Adopt two antennas to fix a position for the drill bit position mark 9 is dug soon that shows on the demonstration and control module has the direction indicator, and the operator can move to waiting to dig the tree cave point according to direction indicator control moving platform, can adjust moving platform's direction of operation, makes moving platform's removal more accurate effective.
The positioning update frequency of the GPS antenna can be adjusted according to the operation requirement, and the update frequency of the present embodiment is 2HZ, that is, 2 position updates are performed per second. The real-time positioning updating is beneficial to an operator to accurately align the hole digging equipment with the points to be dug, the digging precision is ensured, and the operation implementation effect is improved.
The positioning module has the following functions: 1. accurately positioning the position coordinates of the digging drill bit; 2. calculating the direction angle of the mobile platform through the double antennas; 3. the position information is transmitted to the display and control module in the form of three-dimensional coordinates (x, y, z), so that the superposition of the plane positions of the excavation bit and the planned excavation point is ensured, and the excavation precision is improved.
As shown in fig. 3, the image data provided by the display and control module is an image represented by position coordinates, that is, a large batch of seedling planting point locations, and the image includes a tree pit position mark 10, tree pit position coordinates, a closest point ID, the number of dug pits, and the number of pits to be dug. The display and control module can be a tablet computer.
The display and control module can be a GPS control panel, is arranged beside a driving panel in the cab and is connected with a GPS receiving terminal through a line. The display and control module calculates the vertical distance between the two antennas, the distance between the position mark of the excavation module and the position mark of the tree pit, and the horizontal distance between the actual excavation point and the designed excavation point, and judges whether the tree pit which can be excavated and can be excavated meets the design requirements or not according to the calculation results. When the display and control module needs to interact with the manual work, the display and control module also has an interaction function, namely, the manual work can be operated on the display and control module to control the work of the rotary drilling bit.
The display and control module displays the coordinate positions of the tree pits on the design planting drawing: an external computer extracts the point coordinate points of the trees to be lofted according to the point coordinates of the trees on the design and planting drawing, converts the extracted point coordinate points of the trees to be lofted into digital data, and then guides the extracted digital point data into the GPS control panel 1, and the GPS control panel 1 can display the points graphically. Different from the image of a common navigation device, all the tree pit coordinate points on the control panel have equivalence, namely, a starting point is not set, and no sequence planning is carried out, so that the operator can randomly select points and dig pits according to actual working requirements and field conditions, and the excavated pits on the screen can be marked and recorded in different colors. The display and control module can acquire digital acupuncture point data from an external computer in a wired or wireless mode.
The display and control module displays the coordinate position of the positioning point of the rotary drilling bit processed by the GPS receiving terminal: and the coordinate information processed by the GPS receiving terminal 2 is transmitted to the GPS control panel 1 in real time, so that the coordinate position of the rotary drilling bit 6 is ensured to be updated in real time, and the precise drilling by an operator is facilitated.
When the rotary drilling bit 6 excavates a tree pit position, the relative positions (vertical positions) of the GPS satellite positioning antenna 3 carried on the excavating equipment and the GPS attitude correction antenna 4 on the ceiling of the mobile platform change. At this time, the GPS receiving terminal 2 records the positioning information of the GPS satellite positioning antenna 3 and displays the information on the GPS control panel 1 in a circular pattern of different colors.
The display and control module has the following functions: 1. receiving tree pit design coordinates and presenting the tree pit design coordinates in the form of an operation drawing; 2. displaying positioning points of the excavation module; 3. and issuing a command to the digging equipment to realize automatic hole digging.
The digging module is connected with the movable platform through a connecting frame 11 and a transmission shaft 12, and then the hydraulic shaft 7 controls the rotary digging drill bit 6 to move downwards to adjust the punching depth.
In one embodiment, the display and control module can be connected with a first driving module for driving the rotary drilling bit to move, so that the rotary drilling bit is controlled to work according to the coordinate information of the display and control module, and the automation of hole digging is realized. In another embodiment, the display and control module can also be connected with a first driving module for driving the rotary drilling bit to move and a driving device of the mobile platform to control the rotary drilling bit and the mobile platform to work, the display and control module starts the mobile platform, the position of the mobile platform is adjusted to enable the rotary drilling bit position mark on the display and control module to coincide with the tree pit position mark, and after the rotary drilling bit position mark coincides with the tree pit position mark, the display and control module controls the rotary drilling bit to perform drilling so as to realize full-automatic operation.
The invention also provides a tree pit positioning method of the automatic lofting system, which can be applied to the positioning device and comprises the following steps.
step 1, acquiring digital acupuncture point data of a simulation lofting tree cave coordinate point in a design planting drawing, and displaying the digital acupuncture point data on a display and control module in an image mode, wherein the simulation lofting tree cave coordinate point displayed on the display and control module has equivalence, a starting point does not need to be set, and sequential planning is not carried out; the information displayed on the image comprises tree pit position marks, tree pit position coordinates, the number of dug pits and the number of pits to be dug.
And 2, positioning a first coordinate of the position of the mining module by the GPS satellite positioning antenna, converting an antenna positioning result into first coordinate data A (x1, y1 and z1), correcting a second coordinate of the position of the antenna positioning mobile platform by the GPS satellite attitude, converting an antenna positioning result into second coordinate data B (x2, y2 and z2), displaying an image by the display and control module according to the first coordinate and the second coordinate, displaying a position mark of the mining module by the image, and marking the position mark of the mining module as a directed icon.
And 3, starting the mobile platform, updating the first coordinate data and the second coordinate data, transmitting the first coordinate data and the second coordinate data to the display and control module, and adjusting the position of the mobile platform to enable the position mark of the mining module on the display and control module to be overlapped with the position mark of the pit. And after the position mark of the excavation module is superposed with the position mark of the tree pit, the display and control module calculates the distance between the position mark of the excavation module and the position mark of the tree pit, and controls the excavation module to implement the construction and excavation of the lofted tree pit if the distance between the position mark of the excavation module and the position mark of the tree pit meets a first error requirement. And if the first error requirement is not met, continuing to adjust the position of the mobile platform until the first error requirement is met.
And for the condition that the movement of the mobile platform and the excavation of the excavation module need to be manually controlled, a constructor controls the movement of the mobile platform according to the content displayed on the display and control module, the distance between the position mark of the excavation module and the position mark of the pit is calculated by operating the display and control module after the position mark of the excavation module is observed to be superposed with the position mark of the pit, and the excavation module is manually controlled to implement the construction and excavation of the lofted pit after the first error requirement is met.
for the condition that the mobile platform needs to be manually controlled to move and the excavation module can be automatically controlled to excavate, a constructor controls the movement of the mobile platform according to coordinate information displayed on the display and control module, the distance between the position mark of the excavation module and the position mark of the tree pit is calculated by operating the display and control module after the position mark of the excavation module is observed to be overlapped with the position mark of the tree pit, and the display and control module controls the first driving module to implement the construction and excavation of the lofted tree pit after the first error requirement is met.
For the conditions that the mobile platform can be automatically controlled to move and the excavation module can be automatically controlled to excavate, the display and control module controls the mobile platform to move according to the displayed coordinate information, the distance between the position mark of the excavation module and the position mark of the pit is calculated, and after the first error requirement is met, the display and control module controls the first driving module to implement the construction and excavation of the lofted pit, so that complete automation is achieved.
In the process of digging a lofted tree pit, the GPS satellite positioning antenna and the GPS satellite attitude correction antenna have vertical displacement, and when the vertical distance between the two antennas reaches the designed digging depth h, namely z1-z2 is not less than h, the display and control module judges that the digging is implemented; when the horizontal distance between the actual excavation point and the designed excavation point meets a second error requirement delta, namely x ^2+ y ^2 is not more than delta, the display and control module judges that the excavation point is qualified; and after the excavation points are qualified, the display and control module automatically counts the total excavation number of the tree pit, and marks the actual excavation points on the GPS control panel by using the patterns with specific colors so as to distinguish the actual excavation points from the non-excavation points. And the information displayed on the image also comprises the ID of the closest point, and after the current tree hole is dug, the ID of the closest point, the number of dug holes and the number of holes to be dug are updated. The nearest ID can be a set of tree pit coordinates, and when the display and control module calculates that the distance between the tree pit to be dug and the digging module is within a certain range, the tree pit to be dug meeting the conditions can be added into the set.
and 4, repeating the steps 2-3, and digging other lofting tree pit positions.
All the tree pit position coordinate points on the display and control module have construction convenience and randomness, and are different from images of general navigation equipment, all the tree pit position points on the display and control module have equivalence, namely, a starting point does not need to be set, sequential planning is not carried out, an operator can randomly select the tree pit position coordinate points to be lofted according to a mechanical equipment driving route to carry out pit digging according to actual working requirements and field conditions, the GPS receiving terminal does not need to store a digging route, the driving route does not need to be calculated, and the storage and calculation capacity of a system is saved.
The invention extracts the point location coordinate data of the tree pits through the homework and guides the data into the measurement lofting system, the operator controls the panel through the GPS to adjust the attitude and the position of the excavation equipment and accurately excavate the coordinates of the tree pits, the automatic lofting system is combined with the digging mechanical equipment, the specialized measuring personnel are not needed to hold the equipment for measuring lofting, and a large number of worker are not needed to mark the point location after lofting by quicklime.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A tree pit positioning device with an automatic lofting system comprises a mobile platform and an excavation module, wherein the mobile platform adopts walking mechanical equipment, the excavation module is used for excavating tree pits, and the excavation module is connected with the mobile platform;
The automatic lofting system comprises a GPS receiving terminal, a GPS satellite positioning antenna, a GPS satellite attitude correcting antenna and a display and control module, wherein the GPS satellite positioning antenna, the GPS satellite attitude correcting antenna and the display and control module are all connected with the GPS receiving terminal;
The display and control module displays the digital acupuncture point data of the coordinate points of each tree pit to be lofted in the design and planting drawing, so as to display the position marks of each tree pit to be lofted on a map;
The GPS satellite positioning antenna is arranged right above the mining module, positions the coordinate information of the current position of the mining module and sends the coordinate information to the GPS receiving terminal;
the GPS satellite attitude correction antenna is arranged on the mobile platform and sends the current coordinate information positioned by the GPS satellite attitude correction antenna to the GPS receiving terminal; and the display and control module displays the current position of the mining module as a directed icon according to the current coordinate information positioned by the GPS satellite attitude correction antenna and the current coordinate information positioned by the GPS satellite positioning antenna.
2. The apparatus as claimed in claim 1, wherein the GPS satellite positioning antenna and the GPS satellite attitude correction antenna further include Z-axis coordinate information, and the display and control module determines whether the digging depth of the digging module meets the standard according to the change of the Z-axis coordinate information when the digging module digs the tree.
3. The pit positioning device with the automatic lofting system of claim 1, further comprising a first driving module for driving the digging module to move, wherein the digging module is connected with the first driving module through a transmission structure to obtain the power for digging and lifting.
4. The pit positioning device with the automatic lofting system of claim 1, further comprising a first driving module arranged on the mobile platform and driving the excavation module to move, wherein the excavation module is connected with the first driving module through a connecting frame to obtain lifting power; the excavation module is connected with the first driving module through a transmission structure to obtain excavation power.
5. the pit positioning device with the automatic lofting system of claim 4, wherein an antenna station is connected to the digging module or the connecting frame, and the GPS satellite positioning antenna is arranged on the antenna station.
6. The pit positioning apparatus with automated lofting system of claim 1, wherein the excavation module is disposed on an axis of the mobile platform, and the GPS satellite attitude correction antenna is also disposed on the axis of the mobile platform.
7. The pit positioning device with the automatic lofting system of claim 1, further comprising a first driving module for driving the digging module to move, wherein the display and control module is connected with the first driving module to control the operation thereof, or the display and control module is connected with the first driving module and the driving module of the mobile platform to control the operation thereof.
8. a method for pit location with an automated lofting system, the method comprising:
Step 1, displaying images of digital acupuncture point data of simulation lofting tree acupuncture point coordinate points in a design planting drawing on a display and control module, wherein the simulation lofting tree acupuncture point coordinate points displayed on the display and control module have equivalence, and a starting point is not set, and the sequence planning is not carried out; the information displayed on the image comprises tree pit position marks, tree pit position coordinates, the number of dug pits and the number of pits to be dug;
step 2, a first coordinate of the position of the antenna positioning and mining module of the GPS satellite positioning is converted into first coordinate data A (x1, y1 and z1), a second coordinate of the position of the antenna positioning and moving platform is corrected by the attitude of the GPS satellite, the antenna positioning result is converted into second coordinate data B (x2, y2 and z2), the display and control module displays images according to the first coordinate and the second coordinate, the image displays the current position mark of the mining module, and the position mark of the mining module is a directed icon;
step 3, driving the mobile platform to move, enabling the digging module position mark on the display and control module to coincide with the tree pit position mark, updating the first coordinate data and the second coordinate data and transmitting the first coordinate data and the second coordinate data to the display and control module in the moving process of the mobile platform, and enabling the display and control module to display the current position mark of the digging module; after the position mark of the excavation module is superposed with the position mark of the tree pit, controlling the excavation module to carry out excavation on the lofted tree pit, after the excavation is finished, marking the excavated point position by the display and control module, and updating the excavated pit number and the pit number to be excavated;
And 4, repeating the steps 2-3, and digging other lofting tree pit positions.
9. The method as claimed in claim 8, wherein the step 3 further comprises that during the excavation of the lofted tree pit, the GPS satellite positioning antenna and the GPS satellite attitude correction antenna have vertical relative displacement, and when the vertical distance between the two antennas reaches the designed excavation depth h, i.e. z1-z2 is greater than or equal to h, it is determined that excavation has been performed; when the horizontal distance between the actual excavation point and the designed excavation point meets the error requirement delta, namely x ^2+ y ^2 is not more than delta, judging that the excavation point is qualified; and after the excavation points are qualified, the display and control module automatically counts the total excavation number of the tree pit, and marks the actual excavation points on the GPS control panel by using the patterns with specific colors.
10. The method of claim 8, wherein the information displayed on the image further comprises a nearest point ID, and the nearest point ID is updated after the current hole is excavated.
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