CN112031052B - Bulldozer construction management and control system and method - Google Patents
Bulldozer construction management and control system and method Download PDFInfo
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- E—FIXED CONSTRUCTIONS
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Abstract
The invention provides a bulldozer construction management and control system and a bulldozer construction management and control method, which belong to the technical field of bulldozers and are used for collecting position data, course angles and elevation data of the bulldozers; collecting a vertical inclination angle, a left inclination angle and a right inclination angle of the push broach and an included angle between a push rod of the push broach and a horizontal plane; calculating the actual elevation of the push broach in real time; and calculating a state adjusting instruction of the bulldozer in real time according to the actual elevation of the push broach and the preset elevation of the push broach, and controlling the construction action of the bulldozer according to the state adjusting instruction to realize the state adjustment of the push broach. The invention realizes three-dimensional guide and automatic control of the position and the posture of the push broach, and quickly and accurately realizes the bulldozing design requirement; the method can display the design control loose paving thickness and the actual loose paving thickness of the pavement layer of the bulldozing area, and display the area with the excessive loose paving thickness; the device can display information such as model of bulldozer, and can select position and provide corresponding coordinate information according to requirement.
Description
Technical Field
The invention relates to the technical field of bulldozers, in particular to a bulldozer construction management and control system and method capable of adjusting the elevation of a push broach of a bulldozer in real time.
Background
The bulldozer is an engineering vehicle, a large-sized metal bulldozer is arranged in front of the bulldozer, when the bulldozer is used, the bulldozer puts down the bulldozer, shovels and pushes mud, sand, stones and the like forwards, and the position and the angle of the bulldozer can be adjusted.
The bulldozer can independently complete the work of digging, transporting and unloading soil, and can perform shallow digging and short transporting, such as site cleaning or leveling, excavation of foundation pits with small depth, backfilling, construction of roadbed with small height and the like. However, the traditional bulldozer has low automation degree and lacks of planning of construction tasks and supervision of construction quality. For example, in a flat ground, a bulldozer can observe only by human eyes which region is low and which region is high, and subjectively push earth from a high place to a low place. The height of the actual construction horizontal plane is difficult to accurately know how to meet the construction requirement. And bulldozer blade angle and height adjustments lack navigation and some auxiliary control systems.
Disclosure of Invention
The invention aims to provide a bulldozer construction management and control system and a bulldozer construction management and control method which can perform three-dimensional guidance and automatic control on the position and the posture of a push knife of the bulldozer, so as to solve at least one technical problem in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
in one aspect, the present invention provides a bulldozer construction management and control system, comprising:
the device comprises a first positioning unit arranged right above a bulldozer push broach and a second positioning unit connected with the first positioning unit by a line serving as a central axis of the bulldozer, wherein the first positioning unit and the second positioning unit are used for acquiring position data, course angle and elevation data of the bulldozer;
the attitude sensor is used for acquiring a vertical inclination angle, a left inclination angle and a right inclination angle of the push broach and an included angle between a push rod of the push broach and a horizontal plane;
the calculation unit is used for calculating the actual elevation of the push broach in real time according to the data acquired by the first positioning unit and the second positioning unit and the data acquired by the attitude sensor;
the main control unit is used for storing the preset elevation of the push broach, calculating a state adjustment instruction of the bulldozer in real time according to the actual elevation of the push broach and the preset elevation of the push broach and sending the state adjustment instruction to the hydraulic control module;
and the hydraulic control module is used for receiving the state adjustment instruction and controlling the construction action of the bulldozer according to the state adjustment instruction so as to realize the adjustment of the push broach state.
Preferably, the method further comprises the following steps:
and the display terminal is used for displaying the position data, the course angle and the elevation data of the bulldozer, the vertical inclination angle, the left inclination angle and the right inclination angle of the push broach and the included angle between the push rod of the push broach and the horizontal plane.
Preferably, the first positioning unit is mounted above the middle support of the push broach through an L-shaped support.
Preferably, the first positioning unit and the second positioning unit are both GNSS antennas.
Preferably, the attitude sensor is mounted on an L-shaped bracket of the first positioning unit.
Preferably, the attitude sensor is a nine-axis tilt sensor.
In a second aspect, the present invention provides a method for performing construction management and control on a bulldozer by using the bulldozer construction management and control system, comprising:
collecting position data, course angle and elevation data of the bulldozer; collecting a vertical inclination angle, a left inclination angle and a right inclination angle of the push broach and an included angle between a push rod of the push broach and a horizontal plane;
calculating the actual elevation of the push broach in real time according to the position data, the course angle and the elevation data of the bulldozer, the vertical inclination angle, the left inclination angle and the right inclination angle of the push broach and the included angle between the push rod of the push broach and the horizontal plane;
calculating a state adjustment instruction of the bulldozer according to the actual elevation of the push broach and the preset elevation of the push broach, and sending the state adjustment instruction to the hydraulic control module; and the hydraulic control module controls the construction action of the bulldozer according to the state adjustment instruction, so that the state adjustment of the push broach is realized.
Preferably, the real-time calculation of the actual elevation of the push broach includes:
constructing a push broach state model; calculating an included angle between the front end of the push broach and the ground in the push broach state model according to the vertical inclination angle of the push broach; and calculating the actual elevation of the push broach according to the included angle between the front end of the push broach and the ground.
Preferably, constructing the push broach state model includes determining model calculation key points: the first positioning unit is positioned at the point A, the corner of the L-shaped support is positioned at the point B, the central point of the joint of the L-shaped support and the push broach is positioned at the point C, the point C vertically extends to the bottom of the push broach along the rear side surface of the push broach and is positioned at the point D, and the point D vertically extends to the front end of the push broach along the inclined side surface of the push broach and is positioned at the point E;
then, the included angle between the front end of the push broach and the ground, i.e. the included angle γ between the oblique side surface of the push broach and the ground is:
and gamma is alpha-90-beta, wherein alpha represents the included angle between the back side surface and the oblique side surface of the push broach, and beta represents the included angle between the A point and the vertical line.
Preferably, calculating the actual elevation of the push broach according to the included angle between the front end of the push broach and the ground comprises determining the three-dimensional space coordinates of the model calculation key points; wherein,
the coordinates of the point A are as follows: (X) 0 ,Y 0 ,Z 0 ) Measured by a first positioning unit, X 0 、Y 0 、Z 0 Respectively representing coordinate values on an X axis, a Y axis and a Z axis;
the coordinates of the point B are as follows:
the coordinates of the point C are as follows:
the coordinates of the point D are as follows:
the coordinates of the point E are:
wherein h is 1 Denotes the distance from point A to point B, l 1 Denotes the distance from point B to point C,/ 2 Denotes the distance from point C to point D, l 3 The distance from point D to point E is indicated and head indicates the heading angle.
The invention has the beneficial effects that: sequentially creating a horizontal alignment, a vertical alignment and a template according to designed original environment data (mapping acquisition), and finally generating a required three-dimensional design; the three-dimensional electronic design file is used as a construction guide, and the bulldozing design requirement is quickly and accurately realized; the method can display the design control loose paving thickness and the actual loose paving thickness of the pavement layer of the bulldozing area, and display the area with the excessive loose paving thickness; the device can display the model and other information of the bulldozer, and can select the position and provide corresponding coordinate information as required.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of a connection structure of a bulldozer push blade and a first positioning unit according to an embodiment of the present invention.
FIG. 2 is a schematic view of a blade status model of a bulldozer according to an embodiment of the present invention.
FIG. 3 is a simplified schematic diagram of a bulldozer blade model according to an embodiment of the present invention.
FIG. 4 is a schematic view of a bulldozer blade detail model according to an embodiment of the present invention.
FIG. 5 is a schematic view of the positioning unit and the attitude sensor of the bulldozer according to the embodiment of the present invention.
Wherein: 1-a first positioning unit; 2-L-shaped stents; 3, pushing the rear side surface of the cutter; 4-oblique side surface of the push broach; 5-push broach; 6-a second positioning unit; 7-attitude sensor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by way of the drawings are illustrative only and are not to be construed as limiting the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
For the convenience of understanding, the present invention will be further explained by the following embodiments with reference to the drawings, and the embodiments are not to be construed as limiting the embodiments of the present invention.
It should be understood by those skilled in the art that the drawings are merely schematic representations of embodiments and that the elements shown in the drawings are not necessarily required to practice the invention.
Example 1
As shown in fig. 5, embodiment 1 of the present invention provides a bulldozer construction management and control system, including:
the automatic positioning device comprises a first positioning unit 1 arranged right above a bulldozer push broach and a second positioning unit, wherein the connection line of the first positioning unit 1 and the second positioning unit is positioned on the symmetrical plane of the bulldozer, and the first positioning unit 1 and the second positioning unit are used for acquiring the position data, the course angle and the elevation data of the bulldozer;
the attitude sensor 7 is used for acquiring a vertical inclination angle, a left inclination angle and a right inclination angle of the push broach 5 and an included angle between a push rod of the push broach and a horizontal plane;
the calculation unit is used for calculating the actual elevation of the push broach in real time according to the data acquired by the first positioning unit 1 and the second positioning unit 6 and the data acquired by the attitude sensor;
the main control unit is used for storing the preset elevation of the push broach, calculating a state adjustment instruction of the bulldozer in real time according to the actual elevation of the push broach and the preset elevation of the push broach and sending the state adjustment instruction to the hydraulic control module;
and the hydraulic control module is used for receiving the state adjustment instruction and controlling the construction action of the bulldozer according to the state adjustment instruction so as to realize the adjustment of the push broach state.
Further comprising: and the display terminal is used for displaying the position data, the course angle and the elevation data of the bulldozer, the vertical inclination angle, the left inclination angle and the right inclination angle of the push broach and the included angle between the push rod of the push broach and the horizontal plane.
As shown in fig. 5, the first positioning unit 1 is mounted above the middle support of the push broach through the L-shaped support 2. The first positioning unit 1 and the second positioning unit 6 are both GNSS antennas. The attitude sensor 7 is mounted on the L-shaped bracket 2 of the first positioning unit. The attitude sensor 7 is a nine-axis tilt sensor.
In this embodiment 1, the method for performing construction control on a bulldozer by using the bulldozer construction control system includes:
collecting position data, course angle and elevation data of the bulldozer; collecting a vertical inclination angle, a left inclination angle and a right inclination angle of the push broach and an included angle between a push rod of the push broach and a horizontal plane;
calculating the actual elevation of the push broach in real time according to the position data, the course angle and the elevation data of the bulldozer, the vertical inclination angle, the left inclination angle and the right inclination angle of the push broach and the included angle between the push rod of the push broach and the horizontal plane;
calculating a state adjustment instruction of the bulldozer according to the actual elevation of the push broach and the preset elevation of the push broach, and sending the state adjustment instruction to the hydraulic control module; and the hydraulic control module controls the construction action of the bulldozer according to the state adjustment instruction, so that the state adjustment of the push broach is realized.
Example 2
The embodiment 2 of the invention provides a bulldozer construction control method, which comprises the following steps:
a GNSS antenna is arranged right above a bulldozer push broach to serve as a first positioning unit 1, a GNSS antenna is arranged right above a cab of the bulldozer to serve as a second positioning unit 6, a connecting line of the first positioning unit 1 and the second positioning unit 6 is located on a symmetrical plane of the bulldozer, and an attitude sensor 7 is arranged on an L-shaped support 2. Acquiring position data, a course angle and elevation data of the bulldozer through the first positioning unit 1, the second positioning unit 6 and the attitude sensor 7; and acquiring the vertical inclination angle, the left inclination angle and the right inclination angle of the push broach and the included angle between a push rod of the push broach and the horizontal plane.
And calculating the actual elevation of the push broach in real time according to the position data, the course angle and the elevation data of the bulldozer, the vertical inclination angle, the left inclination angle and the right inclination angle of the push broach and the included angle between the push rod of the push broach and the horizontal plane.
Calculating a state adjusting instruction of the bulldozer according to the actual elevation of the push broach and the preset elevation of the push broach, and sending the state adjusting instruction to a hydraulic control module; and the hydraulic control module controls the construction action of the bulldozer according to the state adjustment instruction, so that the state adjustment of the push broach is realized.
Calculating the actual elevation of the push broach in real time comprises the following steps:
constructing a push broach state model; calculating an included angle between the front end of the push broach and the ground according to the vertical inclination angle of the push broach in the push broach state model; and calculating the actual elevation of the push broach according to the included angle between the front end of the push broach and the ground.
With reference to fig. 1 and 2, constructing the push broach state model includes determining model calculation key points: the first positioning unit is positioned at a point A, a corner of the L-shaped support is positioned at a point B, the central point of the joint of the L-shaped support and the push broach is a point C, the point C vertically extends to the bottom of the push broach along the rear side surface 3 of the push broach and is a point D, and the point D vertically extends to the front end of the push broach along the inclined side surface 4 of the push broach and is a point E;
then, the included angle between the front end of the push broach and the ground, i.e. the included angle γ between the oblique side surface of the push broach and the ground is:
and gamma is alpha-90-beta, wherein alpha represents the included angle between the back side surface and the oblique side surface of the push broach, and beta represents the included angle between the A point and the vertical line.
Calculating the actual elevation of the push broach according to the included angle between the front end of the push broach and the ground, wherein the actual elevation of the push broach comprises determining three-dimensional space coordinates of key points calculated by a model; wherein,
the coordinates of the point A are as follows: (X) 0 ,Y 0 ,Z 0 ) Measured by a first positioning unit, X 0 、Y 0 、Z 0 Respectively representing coordinate values on an X axis, a Y axis and a Z axis;
the coordinates of the point B are as follows:
the coordinates of the point C are as follows:
the coordinates of the point D are as follows:
the coordinates of point E are:
wherein h is 1 Denotes the distance from point A to point B, l 1 Denotes the distance from point B to point C, l 2 Denotes the distance from point C to point D, l 3 The distance from point D to point E is indicated and head indicates the heading angle.
The coordinates of all the points can be calculated and displayed through three-dimensional software, and the actual elevation is compared with the design elevation to know how to adjust the height of the push broach.
Example 3
The embodiment 3 of the invention provides a bulldozer construction management and control system, which can be used for realizing three-dimensional guidance and automatic control of the position and the posture of a push broach. The system sequentially creates a horizontal alignment line, a vertical alignment line and a template according to the designed original environment data (mapping acquisition), and finally generates the required three-dimensional design. And 3, taking the three-dimensional electronic design file as a construction guide to quickly and accurately meet the bulldozing design requirement. The method can display the design of the pavement layer of the bulldozing area, control the loose pavement thickness and the actual loose pavement thickness and display the area with the excessive loose pavement thickness; the device can display information such as model of bulldozer, and can select position and provide corresponding coordinate information according to requirement.
In example 3, the bulldozer construction management and control system is composed of:
(1) a display terminal: and displaying the construction task data in a graphical display and digital display mode, providing construction task data and real-time construction data for an operator, and guiding the operator to construct according to task planning and task parameters.
(2) Positioning the antenna: the positioning antennas are respectively arranged above the push broach middle support and above the cab. The position data, the course angle and the elevation data of the vehicle can be obtained through a double-antenna positioning technology;
(3) the main control unit: the data transmission is responsible for transmitting the construction data back to the platform; providing high-precision positioning data; GNSS data and sensor data are analyzed in real time through a built-in intelligent system and a related system algorithm, and the depth of the plugboard is calculated.
In this embodiment 3, EPEC3724 serves as a master control unit, and EPEC3724 is a compact, robust control unit. The control unit has a 16-bit processor and powerful computing power. In a CAN control system, different sensors and actuators CAN be connected as a controller, for example: proportional valve, servo motor, electro-hydraulic component.
(4) An attitude sensor: the attitude sensor is a nine-axis tilt sensor and is arranged on the antenna upright post. The device aims to measure the included angle between the push rod and the horizontal plane and the vertical inclination angle and the left-right inclination angle of the push broach.
(5) A hydraulic control module: the hydraulic drive system is provided with a double-pump double-motor loop system, an A4VG pump and A6VM and A6VE motors are adopted, a microcontroller realizes the control of the limit load of a diesel engine, the control of the drive speed, the control of steering and the control of running stability, and data processing and the display of the working state parameters (engine power, torque, rotating speed, the running speed of the bulldozer, the climbing angle and the like) of the bulldozer are carried out. The device is suitable for running machines with certain requirements on running speed and stability. The main control unit sends instructions to the hydraulic control module, so that the action adjustment and unmanned driving of the bulldozer can be realized.
In this embodiment 3, the main functions of the bulldozer construction management and control system are as follows:
and (4) elevation prompting: the elevation data acquired and designed by the cloud can be acquired, the design elevation and the real-time elevation of the push broach are displayed by the navigation end, and construction assistance is performed on an operator; the bulldozer is positioned by high-precision three-dimensional positioning, and design data and the blade attitude information acquired by a sensor are combined, such as: the push broach realizes automatic control and adjustment by the vertical, front-back and left-right angles of the push broach, thereby ensuring that the system obtains better operation effect under the condition of high-speed operation.
Area display: acquiring cloud design data and displaying the boundary of a construction area;
data returning: the construction data are transmitted back to the server for processing and analysis by the server;
vehicle data: displaying data such as vehicle ID designed by a cloud;
and (3) data recording: and recording all data in the construction process and storing the data into the machine.
In this embodiment 3, the method for performing elevation and attitude operation analysis by using a bulldozer construction management and control system mainly includes:
(1) establishment of bulldozer mathematical model
The mathematical model is established mainly by calculating the height of the push broach key point and the angle between the push broach key point and the horizontal plane and dynamically simulating the push broach key point in real time through three-dimensional animation.
As shown in fig. 1, the calculation of the elevation attitude is performed at the point on the bulldozer: and (B) point A: a primary antenna position; and B, point: corner points of the L-shaped metal antenna posts; and C, point: a welding point at the center of the L-shaped metal column and the push broach; and D, point: the point C of the push broach hangs down to the bottom; e, point: the front part of the push broach has different points E. AB is perpendicular to BC.
The schematic diagram of the connection of the push broach of fig. 1 with the GNSS antenna through the L-shaped bracket is converted into a mathematical model, as shown in fig. 2.
Because the CDE is connected with the position of the push broach, the angle alpha and the size of the push broach can be measured according to actual conditions. And the model can be simplified into the model shown in fig. 3 when the set model is established, the model is converted into the position of the point E after the calculation is completed, the point a is a GNSS antenna, the coordinate and the course angle of the GNSS antenna are known, and the angle beta is measured by the attitude sensor. h is a total of 1 、l 1 、l 2 Can be measured as a known quantity.
As shown in fig. 4, an included angle between the front end of the push broach and the ground, i.e., an included angle γ between the oblique side surface of the push broach and the ground is: gamma is alpha-90-beta, wherein alpha represents the included angle between the back side surface and the oblique side surface of the push broach, and beta represents the included angle between the A point and the vertical line.
And setting the coordinates of the point A as follows: (X) 0 ,Y 0 ,Z 0 ) The course angle is head and is measured by the first positioning unit GNSS antenna and the second positioning unit GNSS antenna, namely, the included angle between the connecting line of the first positioning unit GNSS antenna and the second positioning unit GNSS antenna and the horizontal X axis.
And calculating the coordinates of each point, displaying the coordinates through three-dimensional software, and comparing the actual elevation with the designed elevation to obtain how to adjust the height of the push broach.
The coordinates of the point B are as follows:
the coordinates of the point C are as follows:
the coordinates of the point D are as follows:
the coordinates of the point E are:
wherein h is 1 Denotes the distance from point A to point B, l 1 Denotes the distance from point B to point C,/ 2 Denotes the distance from point C to point D,/ 3 The distance from point D to point E is indicated and head indicates the heading angle.
In summary, the bulldozer construction management and control system provided by the embodiment of the invention realizes three-dimensional guidance and automatic control of the position and the posture of the push broach. The system sequentially creates a horizontal alignment line, a vertical alignment line and a template according to the designed original environment data, and finally generates the required three-dimensional design. And 3, taking the three-dimensional electronic design file as a construction guide to quickly and accurately meet the bulldozing design requirement. The method can display the design control loose paving thickness and the actual loose paving thickness of the pavement layer of the bulldozing area, and display the area with the excessive loose paving thickness; the device can display the model and other information of the bulldozer, and can select the position and provide corresponding coordinate information as required.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to the specific embodiments shown in the drawings, it is not intended to limit the scope of the present disclosure, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive faculty based on the technical solutions disclosed in the present disclosure.
Claims (8)
1. The utility model provides a bull-dozer construction management and control system which characterized in that includes:
the automatic positioning device comprises a first positioning unit (1) arranged right above a bulldozer push broach and a second positioning unit, wherein the connection line of the first positioning unit (1) and the second positioning unit is positioned on the symmetrical plane of the bulldozer, and the first positioning unit (1) and the second positioning unit are used for collecting position data, course angle and elevation data of the bulldozer;
the attitude sensor is used for acquiring the vertical inclination angle, the left inclination angle and the right inclination angle of the push broach (5) and the included angle between a push rod of the push broach and the horizontal plane;
the calculation unit is used for calculating the actual elevation of the push broach in real time according to the data acquired by the first positioning unit and the second positioning unit and the data acquired by the attitude sensor;
the main control unit is used for storing the preset elevation of the push broach, calculating a state adjustment instruction of the bulldozer in real time according to the actual elevation of the push broach and the preset elevation of the push broach and sending the state adjustment instruction to the hydraulic control module;
the hydraulic control module is used for receiving the state adjusting instruction and controlling the construction action of the bulldozer according to the state adjusting instruction to realize the adjustment of the push broach state;
calculating the actual elevation of the push broach in real time comprises the following steps:
constructing a push broach state model; calculating an included angle between the front end of the push broach and the ground in the push broach state model according to the vertical inclination angle of the push broach; calculating the actual elevation of the push broach according to the included angle between the front end of the push broach and the ground;
constructing the push broach state model includes determining model calculation key points: the first positioning unit is positioned at the point A, the corner of the L-shaped support is positioned at the point B, the central point of the joint of the L-shaped support and the push broach is the point C, the point C vertically extends to the bottom of the push broach along the rear side surface (3) of the push broach and is the point D, and the point D vertically extends to the front end of the push broach along the inclined side surface (4) of the push broach and is the point E;
then, the included angle between the front end of the push broach and the ground, i.e. the included angle γ between the oblique side surface of the push broach and the ground is:
gamma is alpha-90-beta, wherein alpha represents an included angle between the rear side surface of the push broach and the inclined side surface, and beta represents an included angle between the A point and the vertical line;
the three-dimensional positioning information is combined with design data and the push broach attitude information such as the up-down, front-back and left-right angles of the push broach, so that the push broach is automatically controlled and adjusted, and the operation effect under the high-speed operation condition is ensured.
2. The bulldozer construction management and control system according to claim 1, further comprising:
and the display terminal is used for displaying the position data, the course angle and the elevation data of the bulldozer, the vertical inclination angle, the left inclination angle and the right inclination angle of the push broach and the included angle between the push rod of the push broach and the horizontal plane.
3. The bulldozer construction management and control system according to claim 1, characterised in that:
the first positioning unit is arranged above the middle support of the push broach through an L-shaped support (2).
4. The bulldozer construction management and control system according to claim 3, characterised in that:
the first positioning unit and the second positioning unit are both GNSS antennas.
5. The bulldozer construction management and control system according to claim 4, characterised in that:
the attitude sensor is mounted on the L-shaped bracket of the first positioning unit.
6. The bulldozer construction management and control system according to claim 5, characterised in that:
the attitude sensor is a nine-axis inclination angle sensor.
7. A method of construction management and control of a bulldozer by means of a bulldozer construction management and control system according to any one of claims 1 to 6, comprising:
collecting position data, course angle and elevation data of the bulldozer; collecting a vertical inclination angle, a left inclination angle and a right inclination angle of the push broach and an included angle between a push rod of the push broach and a horizontal plane;
calculating the actual elevation of the push broach in real time according to the position data, the course angle and the elevation data of the bulldozer, the vertical inclination angle, the left inclination angle and the right inclination angle of the push broach and the included angle between the push rod of the push broach and the horizontal plane;
calculating a state adjusting instruction of the bulldozer according to the actual elevation of the push broach and the preset elevation of the push broach, and sending the state adjusting instruction to a hydraulic control module; and the hydraulic control module controls the construction action of the bulldozer according to the state adjustment instruction, so that the state adjustment of the push broach is realized.
8. The method of claim 7, wherein:
calculating the actual elevation of the push broach according to the included angle between the front end of the push broach and the ground, wherein the three-dimensional space coordinates of the key points of model calculation are determined; wherein,
the coordinates of the point A are as follows: (X) 0 ,Y 0 ,Z 0 ) Measured by a first positioning unit, X 0 、Y 0 、Z 0 Respectively representing coordinate values on an X axis, a Y axis and a Z axis;
the coordinates of the point B are as follows:
the coordinates of the point C are:
the coordinates of the point D are as follows:
the coordinates of the point E are:
wherein h is 1 Denotes the distance from point A to point B, l 1 Denotes the distance from point B to point C,/ 2 Denotes the distance from point C to point D, l 3 The distance from point D to point E is indicated and head indicates the heading angle.
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| US5987371A (en) * | 1996-12-04 | 1999-11-16 | Caterpillar Inc. | Apparatus and method for determining the position of a point on a work implement attached to and movable relative to a mobile machine |
| CN107514022A (en) * | 2017-07-07 | 2017-12-26 | 南京天辰礼达电子科技有限公司 | A kind of bull-dozer guides system |
| CN107905275B (en) * | 2017-11-15 | 2020-08-25 | 山东天星北斗信息科技有限公司 | Digitlization auxiliary construction system of excavator and auxiliary construction method thereof |
| CN107933282B (en) * | 2017-11-23 | 2019-12-06 | 齐鲁工业大学 | hydraulic auxiliary drive control method, device and system for semi-trailer train |
| CN108549771A (en) * | 2018-04-13 | 2018-09-18 | 山东天星北斗信息科技有限公司 | A kind of excavator auxiliary construction system and method |
| CN110409530B (en) * | 2019-08-13 | 2020-07-31 | 中国水利水电第五工程局有限公司 | Automatic control system and control method for bulldozer |
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