CN110939135A - Positioning and orientation method and system applied to slope paving engineering machinery operation - Google Patents
Positioning and orientation method and system applied to slope paving engineering machinery operation Download PDFInfo
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- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
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Abstract
A positioning and orientation method and system applied to slope paving engineering machinery operation. The method is used for developing a high-precision directional fixed-point riprap paving operation system, the paving precision is improved, and waste of stones is avoided. The method comprises the following steps: installing two RTKs on the paving engineering machinery as a flow station, and calculating the geodetic coordinates of the rotation center of the engineering machinery; secondly, laying a sensor acquisition network, and acquiring respective angles of three joints of a movable arm, a bucket rod and a paver; presetting the sizes of a movable arm, a bucket rod and a paver of the excavator; step four, orienting the engineering machinery according to the change of the orientation of the middle point of the connecting line of the two RTKs and the rotation center point of the engineering machinery; and fifthly, positioning of the paver is realized. The positioning and orienting system comprises a riprap boat, a paving engineering machine and an orienting and positioning system, wherein the riprap boat is positioned in a task execution water area, the paving engineering machine is fixed on the riprap boat, and the orienting and positioning system is arranged on the paving engineering machine body.
Description
Technical Field
The invention belongs to the field of engineering construction, and particularly relates to precise construction of underwater thin layer broken and block stone slope protection.
Background
At present, the underwater laying engineering at home and abroad mainly adopts a laying ship to finish underwater soft laying and geotextile laying. Measuring underwater topography before stone throwing, dividing construction grids according to measurement results, and after measurement lofting, putting a stone throwing ship in place to throw stones. After the riprap is finished, underwater topography measurement is carried out, and an underwater leveler is generally adopted to carry out leveling on engineering projects with high construction precision requirements. The positioning of a riprap boat usually positions the hull of the boat by means of a GPS installed on the boat, but does not allow precise positioning of the paved stone.
For underwater bank protection projects with higher requirements on laying precision, if divers lay underwater, the construction precision can generally meet the design requirements, but the efficiency is seriously low, and extremely high safety risks exist. If a construction process of firstly laying and then leveling by using common mechanical equipment is adopted, the construction efficiency is high, but the laying precision required by the design is difficult to achieve.
Closest to the prior art
The invention discloses a Chinese patent application (publication number CN107816045A) published in 12.12.2017, which discloses a dam material slope paving device and a method, and the structure of the device is as follows: two parallel I-steel rails are fixed above and below the dam body; the two ends of the mechanical driver are respectively provided with a driving wheel, one group of driving wheels are arranged on a high-position track, the other group of driving wheels are arranged on a low-position I-shaped steel track, the lower part of the frame is provided with a traction chain which moves circularly, a plurality of scraping plates are fixed on the outer side of the traction chain at certain intervals, the traction chain is driven by a driving chain wheel fixed at the high position of the frame, and a collecting hopper used for flowing out fillers is fixed at the high position of the frame. The construction method provided by the invention has the advantages that the traditional construction efficiency and construction time are obviously improved, the fixed-point stone throwing can be realized for the paved area, but the method is only suitable for land slope construction with a short slope length, and for a slope with a long slope length, the I-shaped steel rail is too long and is difficult to install and move.
Disclosure of Invention
The invention aims to provide a high-precision positioning and orienting method and a high-precision positioning and orienting system suitable for slope paving engineering machinery, which are used as technical basic reserves to take one step for finally developing a high-precision orienting fixed-point riprap paving operation system, so that the paving precision is improved, and waste of stones is avoided.
The invention is realized by the following technical scheme:
technical scheme of method
A positioning and orientation method applied to slope paving engineering machinery operation is characterized by comprising the following steps
Installing two RTKs on the paving engineering machinery as a rover, calculating the geodetic coordinates of the current rover by carrying out signal difference with a base station, and calculating the geodetic coordinates of the rotation center of the engineering machinery according to the relative position relationship between the rover and the rotation center of the engineering machinery;
secondly, laying a sensor acquisition network which is respectively arranged on three joints of a movable arm, a bucket rod and a paver of the paving engineering mechanical operation and is used for acquiring respective angles of the three joints of the movable arm, the bucket rod and the paver;
presetting the sizes of a movable arm, a bucket rod and a paver of the excavator;
step four, orienting the engineering machinery according to the change of the orientation of the middle point of the connecting line of the two RTKs and the rotation center point of the engineering machinery;
and step five, calculating the position of the spreader according to the geodetic coordinates of the rotation center of the engineering machinery in the step one and the sensor angle acquired by the sensor acquisition network in the step two and the sizes of the movable arm, the bucket rod and the spreader of the excavator in the step three, thereby realizing the positioning of the spreader.
Technical scheme of system
The utility model provides a be applied to slope paving engineering machine tool operation's location orientation system, its characterized in that, includes the riprap ship, paves engineering machine tool, orientation positioning system, the riprap ship is located the execution task waters, the engineering machine tool that paves is fixed in on the riprap ship, orientation positioning system arranges on the engineering machine tool body that paves.
The paving engineering machine comprises a walking mechanism, a body, a slewing mechanism and an operating mechanism; the displacement on the deck of the riprap boat is completed through the traveling mechanism, the body is regarded as a boat body, and the slewing mechanism is arranged on the body; controlling the rotation action of the operation mechanism through the rotation mechanism, and forming a rotation center; the operation mechanism comprises a movable arm, a bucket rod and a stone throwing paver which are sequentially connected in series and movably, wherein the movable arm is in a first stage, the bucket rod is in a second stage for connecting the movable arm and the bucket rod, the stone throwing paver is an operation terminal, and three movement joints are integrally formed.
The directional positioning system comprises a sensing acquisition network, an RTK positioning system and an upper computer;
the sensing acquisition network comprises three angle measurement sensors, and the sensors are distributed on a movable arm, a bucket rod and a paver terminal and are used for acquiring and acquiring included angles between the movable arm, the bucket rod and a stone throwing paver of the current paver engineering machinery and a horizontal plane; the state data of the paver engineering machinery, which are acquired by the sensing acquisition network, are all provided to an upper computer.
The RTK positioning system comprises two flowing measuring point stations and a reference station; the two mobile stations are arranged on the paving engineering machinery and are used for acquiring two real-time RTK information; the reference station is arranged on a shore near a construction area; two RTKs are installed on the engineering machinery and used as a rover, the current geodetic coordinates of the rover are calculated through signal difference with a base station, the rotation center coordinates of the engineering machinery are calculated according to the relative position relation between the rover and the rotation center of the engineering machinery, and the current geodetic coordinates of the spreader are calculated in an upper computer by combining the sensor angle acquired by a sensor acquisition network and the sizes of a movable arm, a bucket rod and the spreader of the excavator.
RTK positioning information obtained by the two mobile measuring stations, namely GPS1 coordinates (x2, y2, z2) and GPS2 coordinates (x3, y3, z3) are provided for the upper computer, and the upper computer calculates the real-time position coordinates and orientation of the spreader terminal.
The upper computer comprises a positioning module and an orientation module.
The positioning module has the algorithm that when the paver engineering machine is in an initial state, the coordinates of a rotary central point O of the paver engineering machine are measured manually to obtain the coordinates of a GPS1 (x1, y1 and z1) and the coordinates of the GPS1 (x1, y1 and z1) through an upper computer, the coordinates of the intermediate point M between the GPS1 and the GPS1 are calculated according to the coordinates of the GPS1 and the GPS1, the coordinates of the intermediate point M between the GPS1 and the GPS1 are calculated to be (x1 + x 1/2, (y 1 + y 1)/2, (z 1 + y 1)/2), the line connecting the rotary central point O of the paver engineering machine (x1, y1 and z1) and the positive rotary direction 1/2, when the paver engineering machine is rotated to a certain angle, the new intermediate point M 'is connected with the rotary central point O (x1, y1, z1 and the rotary central point M' is calculated to be the positive rotary north direction 1, and the final north direction connecting line connecting the rotary angle between the new intermediate point M and the rotary engineering machine 1 is calculated to be the north direction, and the north direction 1, when the paver engineering machine is changed into a new intermediate point M1-1, the north-1, the final angle between the north-36.
The positioning module adopts the algorithm that: according to the length l of a movable arm of the paver engineering machinery2Length l of bucket rod3Length of the stone spreader is l4And the horizontal distance l from the center point O0 of the excavator to the bottom O1 of the movable arm1Perpendicular distance d1And three tilt sensor angles theta2、θ3、θ4And then calculating the rotation angle theta of the engineering machinery by using the two RTKs1Substituting the parameters into a formula (1.6) to calculate the O4 coordinate (x, y, z) of the riprap spreader, thereby completing the positioning calculation of the riprap spreader in real time; the formula (1.6) is:
the system and the method of the invention are used for developing a high-precision directional fixed-point riprap paving operation system, improving the paving precision and avoiding waste of stones.
Drawings
The technical solution of the present application will be described in further detail with reference to the accompanying drawings and detailed description.
FIG. 1 is a schematic view of an application scenario of paving engineering machinery
FIG. 2 is a schematic view of a paving engineering machine
FIG. 3 is a block diagram of the entire positioning and orientation system
FIG. 4 initial state of paver engineering machine at positioning
FIG. 5 post-rotation state of paver engineering machine at positioning
FIG. 6 excavator mechanism operating coordinate system
FIG. 7 scene diagram of experimental and simulation embodiments
Detailed Description
Example 1
The system comprises a riprap boat, a paving engineering machine and a directional positioning system, wherein the riprap boat is positioned in a water area for executing tasks, the paving engineering machine is fixed on the riprap boat, and the directional positioning system is arranged on a paving engineering machine body;
as shown in fig. 1, the paving engineering machine comprises a walking mechanism, a body, a slewing mechanism and an operating mechanism; the displacement on the deck of the riprap boat is completed through the traveling mechanism, the body is taken as a boat body, and the slewing mechanism is arranged on the body; controlling the rotation action of the operation mechanism through the rotation mechanism, and forming a rotation center; the operation mechanism comprises a movable arm, a bucket rod and a stone throwing paver which are sequentially connected in series and movably, wherein the movable arm is in a first stage, the bucket rod is in a second stage for connecting the movable arm and the bucket rod, the stone throwing paver is an operation terminal, and three movement joints are integrally formed.
The directional positioning system comprises a sensing acquisition network, an RTK positioning system and an upper computer;
the sensing acquisition network comprises three angle measurement sensors, and the sensors are distributed on a movable arm, a bucket rod and a paver terminal and are used for acquiring and acquiring included angles between the movable arm, the bucket rod and a stone throwing paver of the current paver engineering machinery and a horizontal plane; the state data of the paver engineering machinery, which are acquired by the sensing acquisition network, are all provided to an upper computer.
The RTK positioning system comprises two flowing measuring point stations and a reference station; the two mobile stations are arranged on the paving engineering machinery and are used for acquiring two real-time RTK information; the reference station is arranged on a shore near a construction area;
fig. 3 is a block diagram of the whole positioning and orientation system, two RTKs are installed on the excavator as a rover, the geodetic coordinates of the rover are calculated by performing signal difference with a base station, the rotation center coordinates of the engineering machinery are calculated according to the relative position relationship between the rover and the rotation center of the paving engineering machinery, and the current geodetic coordinates of the paver are calculated in an upper computer by combining the sensor angle acquired by a sensor acquisition network and the sizes of a movable arm, a bucket rod and a paver of the excavator.
Any one of the mobile station stations comprises a GPS receiver, a GPS receiving antenna and a power supply, wherein: the GPS receiver is used for obtaining a GPS observation value of the measuring point, and the GPS receiving antenna obtains the GPS observation value sent by the reference station and the station coordinate information thereof for signal difference; the power supply is connected with the GPS receiver and the GPS receiving antenna so as to supply power to the GPS receiver and the GPS receiving antenna; the GPS receiver carries out real-time joint calculation on the acquired data of the reference station and the GPS observation data of the mobile station to obtain the coordinate increment between the reference station and the mobile station, thereby obtaining the real-time three-dimensional positioning result of the station under test in the specified coordinate system.
The RTK positioning technique is a real-time dynamic positioning technique based on carrier phase observations. The reference station is installed on the shore near a construction area and is known; GPS satellite signals received by the reference station are provided to a wireless receiving antenna of the rover station in real time through wireless communication; any one rover station not only receives data (GPS observation values and reference station coordinate information) from a reference station through a data chain, but also collects GPS observation data, and the rover station jointly calculates the data of the reference station and the GPS observation data of the rover station in real time to obtain coordinate increment between the reference station and the rover station, so that a real-time three-dimensional positioning result of the survey station in a specified coordinate system is obtained.
RTK positioning information obtained by the two mobile measuring stations, namely GPS1 coordinates (x2, y2, z2) and GPS2 coordinates (x3, y3, z3) are provided for the upper computer, and the upper computer calculates the real-time position coordinates and orientation of the spreader terminal. The involved algorithm principle is as follows:
one, how to orient:
as shown in fig. 4, in the initial state of the paver working machine, the geodetic coordinates (x1, y1, z1) of the turning center point O of the paver working machine are manually measured, the GPS1 coordinates (x2, y2, z2) and the GPS2 coordinates (x3, y3, z3) are acquired by the upper computer, and the geodetic coordinates [ (x2+ x3/2, (y2+ y 3)/2), (z2+ z3)/2] of the intermediate point M between the GPS1 and the GPS2 are calculated from the two coordinates.
As is known, the included angle between the connecting line of two known points and the true north direction can be calculated through the geodetic coordinates of the two known points (O, M) (which is a conventional mathematical algorithm).
Therefore, an included angle ∠ 1 between a connecting line of the intermediate point M [ (x2+ x3/2, (y2+ y3)/2, (z2+ z3)/2] and the swing center point O (x1, y1, z1) of the paver engineering machine and the north direction is calculated, when the paver engineering machine rotates to a certain angle, as shown in fig. 5, an included angle between a connecting line of a new intermediate point M' coordinate and the swing center point O coordinate of the paver engineering machine and the north direction is updated to be ∠ 2, and Δ ∠ is ∠ 2- ∠ 1, namely the degree θ 1 of the rotation of the paver engineering machine, which is usually negative left and positive right, and the calculation of the in-plane orientation of the paver engineering machine is completed in real time.
Note: the paver engineering machine rotates around the paver engineering machine rotation central point O, so that the central point O coordinate is unchanged as long as the paver engineering machine does not walk.
Secondly, positioning:
without considering the traveling mechanism, the working and slewing mechanism of the paving engineering machine can be simplified into a four-bar mechanism with four degrees of freedom. For the multi-degree-of-freedom open chain type mechanical arm structure, a coordinate system is generally established by a D-H method to perform kinematics modeling solution, and the paving engineering machine can be simplified into a four-degree-of-freedom mechanical arm structure, so that a working coordinate system meeting the D-H method can be established, as shown in FIG. 6.
Firstly, according to relevant parameters and variables of a working coordinate system of the paving engineering machinery, and by combining a joint coordinate general conversion relation in a D-H method, a conversion matrix of a connected coordinate system among the rotation, the movable arm, the arm and the bucket can be obtained as shown in formulas (1.1) to (1.4).
Subsequently, from the recursion relationship between the coordinate transformation matrices of the open-chain manipulator in the kinematics, a transformation matrix between the relative paver coordinate system and the rotation base coordinate system can be obtained, and the matrix is obtained by multiplying the four transformation matrices, as shown in formula (1.5).
Wherein s and c respectively represent sin and cos values, and the subscript ij or ijk represents the joint angle value thetai+θjOr thetai+θj+θk。
And the upper left 3 x3 sub-matrix of the matrix part in equation (1.5) represents the spreader coordinate system O4{X4,Y4,Z4Relative to a rotation base coordinate system O0{X0,Y0,Z0Attitude in, spreader work center O represented by column 4 3 × 1 submatrix4Three-dimensional coordinates in a rotating base coordinate system. Therefore, the conversion relation between the three-dimensional coordinates (x, y, z) and the joint coordinates in the positive motion equation of the engineering machinery can be obtained, as shown in the formula (1.6). The base coordinate system refers to a coordinate system of a revolution center point.
From the equation 1.6, it can be derived that the length l of the boom of the paver-engineering machine2Length l of bucket rod3Length of the stone spreader is l4And the horizontal distance l from the center point O0 of the excavator to the bottom O1 of the movable arm1Perpendicular distance d1And three tilt sensor angles theta2、θ3、θ4And then calculating the rotation angle theta of the engineering machinery by using the two RTKs1And calculating the O4 coordinate (x, y, z) of the riprap spreader by using the parameters, thereby completing the positioning calculation of the riprap spreader in real time.
Example 2
The application of the technical scheme of the invention is as follows:
the positioning and orienting system disclosed in embodiment 1 can calculate the current position coordinates of the riprap spreader in real time, provide the coordinates to the path planning system and the automatic control system, and automatically riprap when the spreader reaches the designated target point, namely, the throwing of stone is completed.
Neither the path planning system nor the automatic control system are part of the present solution.
Example 3
Experiment and simulation
As shown in fig. 7, in an experimental stage scene, land is regarded as a riprap hull deck, and a walking mechanism of the paving engineering machine is not moved, so that a rotation center point is not moved, and only a moving body is above a blue mark line.
The paving engineering machinery does 360-degree rotary motion through a rotary central point O below the green marking line, and meanwhile, a movable arm, a bucket rod and a paver of the paving engineering machinery can stretch out and retract.
The two mushroom head objects indicated by the red marked lines are installation positions of the flow station on the vehicle body.
The installation positions of 3 horizontal inclination angle sensors indicated by yellow arrows on the paving engineering machinery are respectively installed on a movable arm, a bucket rod and a paver, and the angle values of the sensors are provided for a computer.
The relative position relation between the two mobile stations and the rotation center point O can be obtained through the size of the paving engineering machinery, then the space coordinate system of the engineering machinery can be established through the size length of the movable arm, the bucket rod and the paver and the angle of the current sensor, the relative position relation between the rotation center point O and the movable arm, the bucket rod and the paver can be obtained, and therefore the relative position relation between the mobile stations and the movable arm, the bucket rod and the paver can be obtained.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions that fall under the spirit of the present invention fall within the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (7)
1. A positioning and orientation method applied to slope paving engineering machinery operation is characterized by comprising the following steps:
installing two RTKs on the paving engineering machinery as a rover, calculating the geodetic coordinates of the current rover by carrying out signal difference with a base station, and calculating the geodetic coordinates of the rotation center of the engineering machinery according to the relative position relationship between the rover and the rotation center of the engineering machinery;
secondly, laying a sensor acquisition network which is respectively arranged on three joints of a movable arm, a bucket rod and a paver of the paving engineering mechanical operation and is used for acquiring respective angles of the three joints of the movable arm, the bucket rod and the paver;
presetting the sizes of a movable arm, a bucket rod and a paver of the excavator;
step four, orienting the engineering machinery according to the change of the orientation of the middle point of the connecting line of the two RTKs and the rotation center point of the engineering machinery;
and step five, calculating the position of the spreader according to the geodetic coordinates of the rotation center of the engineering machinery in the step one and the sensor angle acquired by the sensor acquisition network in the step two and the sizes of the movable arm, the bucket rod and the spreader of the excavator in the step three, thereby realizing the positioning of the spreader.
2. A positioning and orienting system applied to the operation of slope paving engineering machinery is characterized by comprising a riprap boat, the paving engineering machinery and an orienting and positioning system, wherein the riprap boat is positioned in a water area for executing tasks, the paving engineering machinery is fixed on the riprap boat, and the orienting and positioning system is arranged on a paving engineering machinery body;
the paving engineering machine comprises a walking mechanism, a body, a slewing mechanism and an operating mechanism; the displacement on the deck of the riprap boat is completed through the traveling mechanism, the body is regarded as a boat body, and the slewing mechanism is arranged on the body; controlling the rotation action of the operation mechanism through the rotation mechanism, and forming a rotation center; the operation mechanism comprises a movable arm, a bucket rod and a stone throwing paver which are sequentially connected in series and movably, wherein the movable arm is in a first stage, the bucket rod is in a second stage for connecting the movable arm and the bucket rod, the stone throwing paver is an operation terminal, and three movement joints are integrally formed.
3. The positioning and orientation system applied to the slope paving engineering machinery operation is characterized in that the orientation and orientation system comprises a sensing acquisition network, an RTK positioning system and an upper computer;
the sensing acquisition network comprises three angle measurement sensors, and the sensors are distributed on a movable arm, a bucket rod and a paver terminal and are used for acquiring and acquiring included angles between the movable arm, the bucket rod and a stone throwing paver of the current paver engineering machinery and a horizontal plane; the state data of the engineering machinery of the paver, which are acquired by the sensing acquisition network, are all provided to an upper computer;
the RTK positioning system comprises two flowing measuring point stations and a reference station; the two mobile stations are arranged on the paving engineering machinery and are used for acquiring two real-time RTK information; the reference station is arranged on a shore near a construction area; two RTKs are installed on the engineering machinery and used as a rover, the current geodetic coordinates of the rover are calculated through signal difference with a base station, the rotation center coordinates of the engineering machinery are calculated according to the relative position relation between the rover and the rotation center of the engineering machinery, and the current geodetic coordinates of the spreader are calculated in an upper computer by combining the sensor angle acquired by a sensor acquisition network and the sizes of a movable arm, a bucket rod and the spreader of the excavator.
4. A positioning and orientation system applied to slope paving engineering machinery operation as claimed in claim 3, characterized in that RTK positioning information obtained by two flowing station stations, namely GPS1 coordinates (x2, y2, z2) and GPS2 coordinates (x3, y3, z3) are provided for the upper computer, and the real-time position coordinates and orientation of the paver terminal are calculated by the upper computer.
5. The positioning and orientation system applied to the slope paving engineering machinery operation is characterized in that the upper computer comprises a positioning module and an orientation module.
6. The positioning and orientation system applied to the slope paving engineering machinery operation as claimed in claim 5, wherein the algorithm of the positioning module is that when the paver engineering machinery is in an initial state, the coordinates of a rotary central point O of the paver engineering machinery are measured manually (x1, y1, z1), the coordinates of GPS1 (x1, y1, z1) and the coordinates of GPS1 (x1, y1, z1) are obtained through an upper computer, the coordinates of an intermediate point M between the GPS1 and the GPS1 are calculated according to the two coordinates of the GPS1 and the GPS1 (x1 + x 1/2, (y 1 + y 1)/2, and z1 + z 1)/2, firstly, the intermediate point M [ (x1 + x 1/2), (y 1 + y 1)/2, (z 1 + z 1)/2 ], the rotary line between the rotary central point O of the paver engineering machinery (x1, y1, z1) and the rotary central point O (x1, y1, z1) is connected with a positive engineering machine direction, and a rotary central point of the paver is calculated as a new angle between the rotary central point O and the rotary central point of the rotary central point 1 and a new working plane is a new working plane, when the rotary angle between the rotary central point is calculated in a new working machine 1 and a new working direction is a new working angle between the working machine 1.
7. The positioning and orientation system applied to the slope paving engineering machinery operation is characterized in that the positioning module adopts the algorithm that: according to the length l of a movable arm of the paver engineering machinery2Length l of bucket rod3Length of the stone spreader is l4And the horizontal distance l from the center point O0 of the excavator to the bottom O1 of the movable arm1Perpendicular distance d1And three tilt sensor angles theta2、θ3、θ4And then calculating the rotation angle theta of the engineering machinery by using the two RTKs1Substituting the parameters into a formula (1.6) to calculate the O4 coordinate (x, y, z) of the riprap spreader, thereby completing the positioning calculation of the riprap spreader in real time; the formula (1.6) is:
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| CN111913204A (en) * | 2020-07-16 | 2020-11-10 | 西南大学 | Mechanical arm guiding method based on RTK positioning |
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| CN109614743A (en) * | 2018-12-26 | 2019-04-12 | 广州海达安控智能科技有限公司 | Excavator and its scraper bowl localization method, electronic equipment, storage medium |
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