CN117306617B - Device for positioning working device of engineering machinery and positioning method thereof - Google Patents
Device for positioning working device of engineering machinery and positioning method thereof Download PDFInfo
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- CN117306617B CN117306617B CN202311594685.2A CN202311594685A CN117306617B CN 117306617 B CN117306617 B CN 117306617B CN 202311594685 A CN202311594685 A CN 202311594685A CN 117306617 B CN117306617 B CN 117306617B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007306 turnover Effects 0.000 claims abstract description 21
- 238000013519 translation Methods 0.000 claims description 58
- 230000036339 tooth positioning Effects 0.000 claims description 15
- 230000009467 reduction Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims 3
- 230000008569 process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a device for positioning an engineering mechanical working device and a positioning method thereof, wherein the device comprises a rear loader body, a front loader body, a lifting cylinder, a turnover cylinder and a bucket, wherein the rear loader body is hinged with the front loader body; the front loader body is connected with the lifting cylinder; the lifting cylinder is used for controlling the lifting and the descending of the bucket, and is connected with the overturning cylinder; the overturning cylinder is used for controlling the inclination angle of the bucket, and is connected with the bucket; the system also comprises a global positioning sensor, a gyroscope, an angle sensor, a lifting motor encoder, a turnover motor encoder and an industrial computer; the high-precision positioning is carried out on the position of the relieved tooth while the engineering machinery works, the working process of the engineering machinery is guided, and the engineering machinery automation is truly realized.
Description
Technical Field
The invention relates to the technical field of engineering machinery working devices, in particular to a device for positioning an engineering machinery working device and a positioning method thereof.
Background
With the development of technology, more and more original manually operated instruments enter an automatic production stage. For example, the work machine may include a loader, and by using automation technology and control systems, the work machine may be used to perform tasks autonomously to some extent without continuous manual intervention. By using an automated engineering machine, efficiency, safety and accuracy can be improved. The existing automatic working engineering machinery is generally an automatic driving device related to the engineering machinery, and the current environment information of the engineering machinery in a target working scene is obtained; after determining the target application scene, determining a target service scene corresponding to the current environmental information based on the corresponding relation between the environmental information and the service scene; when the target service scene is inconsistent with the current service scene, inquiring service operation logic of the target service scene in a global configuration file, wherein the global configuration file comprises at least one service scene under the target operation scene, service operation logic of each service scene and logic relations among the service scenes; generating a target application program in the target service scene based on the service operation logic of the target service scene; and performing automatic driving control on the engineering machinery based on the target application program. However, the prior art only designs for the overall automated positioning of the work machine, but the work machine cannot be used in a specific operation.
In view of the above, the present invention provides a device and a method for positioning a working device of an engineering machine, so as to perform high-precision positioning on the position of a relieved tooth while the engineering machine works, guide the working process of the engineering machine, and actually realize the automation of the engineering machine.
Disclosure of Invention
The invention aims to provide a device for positioning an engineering mechanical working device, which comprises a rear loader body, a front loader body, a lifting cylinder, a turnover cylinder and a bucket, wherein the rear loader body is hinged with the front loader body; the front loader body is connected with the lifting cylinder; the lifting cylinder is used for controlling the lifting and the descending of the bucket, and is connected with the overturning cylinder; the overturning cylinder is used for controlling the inclination angle of the bucket, and is connected with the bucket; the system also comprises a global positioning sensor, a gyroscope, an angle sensor, a lifting motor encoder, a turnover motor encoder and an industrial computer; the global positioning sensor comprises a vehicle-mounted global positioning receiving station and a local global positioning base station; the global positioning sensor is used for acquiring global RTK positioning signals so as to acquire orientation information and global positioning signals of a rear vehicle body of the loader; the vehicle-mounted global positioning receiving station is used for receiving satellite positioning signals and local global positioning base station RTK signals so as to acquire orientation signals of a rear vehicle body of the loader; the local global positioning base station is used for sending base station RTK signals to each global positioning sensor and the vehicle-mounted global positioning receiving station; the gyroscope is used for acquiring a roll angle and a pitch angle of the loader; the angle sensor is used for acquiring an included angle between the rear loader body and the front loader body; the lifting motor encoder is used for calculating the telescopic length of the lifting electric cylinder; the turnover motor encoder is used for calculating the telescopic length of the turnover electric cylinder; the industrial computer is used for collecting data signals of the global positioning sensor, the vehicle-mounted global positioning receiving station, the local global positioning base station, the gyroscope, the angle sensor, the lifting motor encoder and the turnover motor encoder, and calculating the positions of all parts of the loader in real time.
Further, the vehicle-mounted global positioning receiving station is arranged on the loader; the local global positioning base station is arranged near the working environment of the loader; the gyroscope is arranged on the rear car body of the loader; the angle sensor is arranged at a hinge point of the rear loader body and the front loader body; the lifting motor encoder is arranged in the lifting motor; the turnover motor encoder is arranged inside the turnover motor.
The invention also aims to provide a positioning method applied to the device for positioning the working device of the engineering machinery, which comprises the following steps: acquiring rear vehicle body positioning information O and first rear vehicle body orientation information at a rear vehicle body positioning point O through a vehicle-mounted global positioning receiving station; acquiring the rotation quantity of the rear vehicle body through a gyroscopeThe method comprises the steps of carrying out a first treatment on the surface of the Acquiring a first position translation amount OA between a rear vehicle body positioning point o and a front and rear vehicle body hinge point a, and based on the rear vehicle body rotation amount +.>The rear vehicle body positioning information O and the first position translation amount OA are calculated to obtain hinge point positioning information A at a hinge point a of the front vehicle body and the rear vehicle body through a first formula a; acquiring a body included angle theta between a rear body of the loader and a front body of the loader through an angle sensor; based on the rear body rotation amount +.>And the included angle theta of the vehicle body, calculating the front vehicle body rotation quantity +.>The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a second position translation amount AB between the front and rear vehicle body hinge points a and a loader front vehicle body positioning point b, and based on the front vehicle body rotation amount +.>Calculating front vehicle body positioning information B through the first formula B according to the hinge point positioning information A and the second position translation amount AB; acquiring the telescopic length L1 of the lifting cylinder and the telescopic length L2 of the overturning cylinder; calculating the lifting height H of the lifting cylinder based on the telescopic length L1, and calculating the bucket rotation amount +.>The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a third position translation quantity BC between a front truck body positioning point b of the loader and a connecting point c, and based on the bucket rotation quantity +.>The front vehicle body positioning information B and the third position translation quantity BC, and the connecting point is calculated through the first formula cBucket positioning information C at C; based on the telescopic length L1 and the telescopic length L2, determining a bucket angle of the connecting point c relative to a plane of the loader>And based on the fourth formula, calculating the tooth rotation amount +.>The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a fourth position translation CD between the connecting point c and the bucket tooth positioning point d and based on the tooth rotation amount +.>And calculating the tooth positioning information D through the first formula D according to the bucket positioning information C and the fourth position translation quantity CD.
Further, the expression of the first formula a is:
wherein,、/>、/>x, Y, Z coordinates respectively representing the front and rear vehicle body hinge points a; />、/>、/>Respectively are provided withThe roll angle, the pitch angle and the orientation angle of the front and rear vehicle body hinge points a are shown; />、/>、/>Respectively representing the X coordinate translation amount, the Y coordinate translation amount and the Z coordinate translation amount of the front and rear vehicle body hinge points a; />、/>、/>X, Y, Z coordinates of the rear vehicle body positioning points o are respectively represented;
the expression of the first formula b is:
wherein,、/>、/>x, Y, Z coordinates of a front vehicle body positioning point b of the loader are respectively represented; />、/>、/>Respectively representing the roll angle, the pitch angle and the orientation angle of a front vehicle body locating point b of the loader; />、/>、/>Respectively representing X coordinate translation amount, Y coordinate translation amount and Z coordinate translation amount of a front vehicle body positioning point b of the loader;
the expression of the first formula c is:
wherein,、/>、/>x, Y, Z coordinates each representing a connection point c of the lift cylinder; />、/>、/>Respectively representing the roll angle, pitch angle and orientation angle of the connection point c of the lifting cylinder; />、/>、/>Respectively representing X coordinate translation amount, Y coordinate translation amount and Z coordinate translation amount of a connection point c of the lifting cylinder;
the expression of the first formula d is:
wherein,、/>、/>x, Y, Z coordinates respectively representing a bucket tooth positioning point d; />、/>、/>Respectively representing the roll angle, the pitch angle and the orientation angle of a bucket tooth positioning point d; />、/>、/>Respectively representing X coordinate translation amount of a bucket tooth positioning point d,Y-coordinate translation amount, Z-coordinate translation amount.
Further, the expression of the second formula is:
wherein,indicating the front body rotation amount +.>The method comprises the steps of carrying out a first treatment on the surface of the θ represents the body angle between the rear body of the loader and the front body of the loader; />Indicating the rotation amount of the rear vehicle body->。
Further, the expression of the third formula is:
wherein,indicating the bucket rotation amount +.>；/>；/>Representing the measured length, H representing the lifting height; />Indicating the front body rotation amount +.>。
Further, the expression of the fourth formula is:
wherein,indicating the rotation amount of the relieved tooth->；/>Indicating the bucket angle at point c relative to the plane of the loader; />Indicating the bucket rotation amount +.>。
Further, the rear vehicle body rotation amountComprises second rear body orientation information, and further comprises the step of taking the orientation information with higher precision in the first rear body orientation information and the second rear body orientation information as rear body orientation information in a new rear body rotation amount->。
Further, based on the number of turns of the motor, the reduction ratio of the gear connecting the electric cylinder and the motor bearing, and the electric cylinder lead, which are obtained by the lifting motor encoder and the overturning motor encoder, respectively, the telescopic length L1 of the lifting cylinder and the telescopic length L2 of the overturning cylinder are calculated.
Further, acquiring, by the vehicle-mounted global positioning receiving station, the rear vehicle body positioning information O at the rear vehicle body positioning point O and the first rear vehicle body orientation information, including: the local global positioning base station transmits a base station RTK signal to the vehicle-mounted global positioning receiving station; the vehicle-mounted global positioning receiving station receives the base station RTK signal and acquires the rear vehicle body positioning information O and the first rear vehicle body orientation information based on the base station RTK signal.
The technical scheme of the embodiment of the invention has at least the following advantages and beneficial effects:
the invention can realize high-precision positioning of the components of the engineering machinery, so that the components of the engineering machinery can be automatically operated to finish engineering operation; the operation precision is improved, and the operation risk is reduced.
Drawings
FIG. 1 is an exemplary block diagram of an apparatus for positioning a work device of a work machine according to some embodiments of the present disclosure;
fig. 2 is an exemplary schematic diagram of an apparatus for positioning a work device of a work machine according to some embodiments of the present invention.
In the figure, an a-front and rear vehicle body hinging point, a b-loader front vehicle body positioning point, a c-connecting point, a d-bucket tooth positioning point and an o-rear vehicle body positioning point.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
As shown in fig. 1 and 2, the means for positioning the work machine work device includes a rear loader body, a front loader body, a lift cylinder, a tilt cylinder, and a bucket.
The rear loader body is hinged with the front loader body; the front loader body is connected with the lifting cylinder; the lifting cylinder is used for controlling the lifting and the descending of the bucket, and is connected with the overturning cylinder; the overturning cylinder is used for controlling the inclination angle of the bucket, and is connected with the bucket.
Also included are a sensor module 100 and an industrial computer 200. The sensor module 100 includes a global positioning sensor 110, a gyroscope 120, an angle sensor 130, a lifting motor encoder 140, and a flipping motor encoder 150. The global positioning sensor 110 includes an on-board global positioning receiving station 111 and a local global positioning base station 112. The global positioning sensor is used for acquiring global RTK positioning signals so as to acquire orientation information and global positioning signals of a rear vehicle body of the loader; the vehicle-mounted global positioning receiving station is used for receiving satellite positioning signals and local global positioning base station RTK signals so as to acquire orientation signals of a rear vehicle body of the loader; the local global positioning base station is used for sending base station RTK signals to each global positioning sensor and the vehicle-mounted global positioning receiving station; the gyroscope is used for acquiring a roll angle and a pitch angle of the loader; the angle sensor is used for acquiring an included angle between the rear loader body and the front loader body; the lifting motor encoder is used for calculating the telescopic length of the lifting electric cylinder; the turnover motor encoder is used for calculating the telescopic length of the turnover electric cylinder; the industrial computer is used for collecting data signals of the global positioning sensor, the vehicle-mounted global positioning receiving station, the local global positioning base station, the gyroscope, the angle sensor, the lifting motor encoder and the turnover motor encoder, and calculating the positions of all parts of the loader in real time.
Wherein the on-board global positioning receiving station is disposed on the loader (e.g., at a rear loader body); the local global positioning base station is arranged near the working environment of the loader; the gyroscope is arranged on the rear car body of the loader; the angle sensor is arranged at a hinge point of the rear loader body and the front loader body; the lifting motor encoder is arranged in the lifting motor; the turnover motor encoder is arranged inside the turnover motor.
The invention also provides a positioning method applied to the device for positioning the working device of the engineering machinery, which comprises the following steps:
and acquiring the rear vehicle body positioning information O at the rear vehicle body positioning point O and the first rear vehicle body orientation information through the vehicle-mounted global positioning receiving station. Wherein, obtain back automobile body locating information O and first back automobile body orientation information of back automobile body setpoint O department through on-vehicle global positioning receiving station, include: the local global positioning base station transmits a base station RTK signal to the vehicle-mounted global positioning receiving station; the vehicle-mounted global positioning receiving station receives the base station RTK signal and acquires the rear vehicle body positioning information O and the first rear vehicle body orientation information based on the base station RTK signal.
Acquiring the rotation quantity of the rear vehicle body through a gyroscope。
In some embodiments, the rear vehicle body rotation amountComprises second rear body orientation information, and further comprises the step of taking the orientation information with higher precision in the first rear body orientation information and the second rear body orientation information as rear body orientation information in a new rear body rotation amount->。
Acquiring a first position translation amount OA between a rear vehicle body positioning point o and a front and rear vehicle body hinge point a, and based on the rear vehicle body rotation amountAnd calculating the rear vehicle body positioning information O and the first position translation amount OA through a first formula a to obtain hinge point positioning information A at the front and rear vehicle body hinge point a. Wherein, the expression of the first formula a is:
wherein,、/>、/>x, Y, Z coordinates respectively representing the front and rear vehicle body hinge points a; />、/>、/>Respectively representing the roll angle, the pitch angle and the orientation angle of the front and rear vehicle body hinge points a; />、/>、/>Respectively representing the X coordinate translation amount, the Y coordinate translation amount and the Z coordinate translation amount of the front and rear vehicle body hinge points a; />、/>、/>Respectively represent X, Y, Z coordinates of the rear vehicle body anchor points o.
It should be noted that, as shown in the coordinate system of fig. 2, the roll angle in the present application is the angle between the X-axis direction passing through the corresponding point and the horizontal plane, and the pitch angle is the angle between the Y-axis direction passing through the corresponding point and the horizontal plane; the orientation angle is the included angle between the Z-axis direction passing through the corresponding point and the horizontal plane.
And acquiring a vehicle body included angle theta between the rear vehicle body of the loader and the front vehicle body of the loader through an angle sensor.
Based on the rotation amount of the rear vehicle bodyAnd the included angle theta of the vehicle body, and calculating the rotation quantity of the front vehicle body through a second formula. Wherein the expression of the second formula is:
wherein,indicating the front body rotation amount +.>The method comprises the steps of carrying out a first treatment on the surface of the θ represents the body angle between the rear body of the loader and the front body of the loader; />Indicating the rotation amount of the rear vehicle body->。
Acquiring a second position translation amount AB between the front and rear vehicle body hinge points a and a loader front vehicle body positioning point b, and based on the front vehicle body rotation amountAnd calculating front vehicle body positioning information B through the first formula B according to the hinge point positioning information A and the second position translation amount AB. Wherein, the expression of the first formula b is:
wherein,、/>、/>x, Y, Z coordinates of a front vehicle body positioning point b of the loader are respectively represented; />、/>、/>Respectively representing the roll angle, the pitch angle and the orientation angle of a front vehicle body locating point b of the loader; />、/>、/>The X coordinate translation amount, the Y coordinate translation amount and the Z coordinate translation amount of the front vehicle body positioning point b of the loader are respectively represented.
And acquiring the telescopic length L1 of the lifting cylinder and the telescopic length L2 of the overturning cylinder. The telescopic length L1 of the lifting cylinder and the telescopic length L2 of the overturning cylinder are calculated based on the number of turns of the motor, the reduction ratio of gears connecting the electric cylinder and the motor bearing and the lead of the electric cylinder, which are obtained by the lifting motor encoder and the overturning motor encoder.
Calculating the lifting height H of the lifting cylinder based on the telescopic length L1, and communicating based on the lifting height H, the measured length L between the connecting point c of the bucket and the lifting cylinder and the front vehicle body locating point b of the loaderCalculating the rotation amount of the bucket at the connection point c of the bucket and the lifting cylinder through a third formula. Wherein the expression of the third formula is:
wherein,indicating the bucket rotation amount +.>；/>；/>Representing the measured length, H representing the lifting height; />Indicating the front body rotation amount +.>。
Acquiring a third position translation quantity BC between a front vehicle body positioning point b of the loader and a connecting point c, and based on the bucket rotation quantityAnd calculating bucket positioning information C at the connection point C through the first formula C. Wherein, the expression of the first formula c is:
wherein,、/>、/>x, Y, Z coordinates each representing a connection point c of the lift cylinder; />、/>、/>Respectively representing the roll angle, pitch angle and orientation angle of the connection point c of the lifting cylinder; />、/>、/>The X-coordinate translation amount, the Y-coordinate translation amount, and the Z-coordinate translation amount of the connection point c of the lift cylinder are respectively indicated.
Determining a bucket angle at the connection point c relative to a plane in which the loader is located based on the telescopic length L1 and the telescopic length L2And based on the fourth formula, calculating the tooth rotation amount +.>. Wherein the expression of the fourth formula is:
wherein,indicating the rotation amount of the relieved tooth->；/>Indicating the bucket angle at point c relative to the plane of the loader; />Indicating the bucket rotation amount +.>。
Acquiring a fourth position translation CD between the connecting point c and the bucket tooth positioning point d, and based on the tooth rotation amountAnd calculating the tooth positioning information D through the first formula D according to the bucket positioning information C and the fourth position translation quantity CD. Wherein, the expression of the first formula d is:
wherein,、/>、/>x, Y, Z coordinates respectively representing a bucket tooth positioning point d; />、/>、/>Respectively representing the roll angle, the pitch angle and the orientation angle of a bucket tooth positioning point d; />、/>、/>The X coordinate translation amount, the Y coordinate translation amount and the Z coordinate translation amount of the bucket tooth positioning point d are respectively expressed.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions (e.g., algorithm for equivalent substitution or implementation by adding sensors, etc.), improvements, etc., within the spirit and principles of the present invention should be included within the scope of the present invention.
Claims (6)
1. The device for positioning the working device of the engineering machinery comprises a rear loader body, a front loader body, a lifting cylinder, a turnover cylinder and a bucket, and is characterized in that,
the rear loader body is hinged with the front loader body;
the front loader body is connected with the lifting cylinder;
the lifting cylinder is used for controlling the lifting and the descending of the bucket, and is connected with the overturning cylinder;
the overturning cylinder is used for controlling the inclination angle of the bucket, and is connected with the bucket;
the system also comprises a global positioning sensor, a gyroscope, an angle sensor, a lifting motor encoder, a turnover motor encoder and an industrial computer; the global positioning sensor comprises a vehicle-mounted global positioning receiving station and a local global positioning base station;
the global positioning sensor is used for acquiring global RTK positioning signals so as to acquire orientation information and global positioning signals of a rear vehicle body of the loader; the vehicle-mounted global positioning receiving station is used for receiving satellite positioning signals and local global positioning base station RTK signals so as to acquire orientation signals of a rear vehicle body of the loader; the local global positioning base station is used for sending base station RTK signals to each global positioning sensor and the vehicle-mounted global positioning receiving station;
the gyroscope is used for acquiring a roll angle and a pitch angle of the loader;
the angle sensor is used for acquiring an included angle between the rear loader body and the front loader body;
the lifting motor encoder is used for calculating the telescopic length of the lifting electric cylinder;
the turnover motor encoder is used for calculating the telescopic length of the turnover electric cylinder;
the industrial computer is used for collecting data signals of the global positioning sensor, the vehicle-mounted global positioning receiving station, the local global positioning base station, the gyroscope, the angle sensor, the lifting motor encoder and the turnover motor encoder, and calculating the positions of all parts of the loader in real time.
2. The apparatus for positioning a work machine of claim 1, wherein the on-board global positioning receiving station is disposed on the loader; the local global positioning base station is arranged near the working environment of the loader; the gyroscope is arranged on the rear car body of the loader; the angle sensor is arranged at a hinge point of the rear loader body and the front loader body; the lifting motor encoder is arranged in the lifting motor; the turnover motor encoder is arranged inside the turnover motor.
3. A positioning method applied to the device for positioning a working device of a construction machine according to any one of claims 1-2, comprising:
acquiring rear vehicle body positioning information O and first rear vehicle body orientation information at a rear vehicle body positioning point O through a vehicle-mounted global positioning receiving station;
acquiring the rotation quantity of the rear vehicle body through a gyroscope；
Acquiring a first position translation amount OA between a rear vehicle body positioning point o and a front and rear vehicle body hinge point a, and based on the rear vehicle body rotation amountThe rear vehicle body positioning information O and the first position translation amount OA are calculated to obtain hinge point positioning information A at a hinge point a of the front vehicle body and the rear vehicle body through a first formula a;
acquiring a body included angle theta between a rear body of the loader and a front body of the loader through an angle sensor;
based on the rotation amount of the rear vehicle bodyAnd the included angle theta of the vehicle body, calculating the front vehicle body rotation quantity +.>；
Acquiring a second position translation amount AB between the front and rear vehicle body hinge points a and a loader front vehicle body positioning point b, and based on the front vehicle body rotation amountCalculating front vehicle body positioning information B through the first formula B according to the hinge point positioning information A and the second position translation amount AB;
acquiring the telescopic length L1 of the lifting cylinder and the telescopic length L2 of the overturning cylinder;
based on the extensionThe length L1 is shortened, the lifting height H of the lifting cylinder is calculated, and based on the lifting height H, the measured length L between a connecting point c of the bucket and the lifting cylinder and a front vehicle body locating point b of the loader, the bucket rotation amount at the connecting point c of the bucket and the lifting cylinder is calculated through a third formula；
Acquiring a third position translation quantity BC between a front vehicle body positioning point b of the loader and a connecting point c, and based on the bucket rotation quantityCalculating bucket positioning information C at the connection point C through the first formula C;
determining a bucket angle at the connection point c relative to a plane in which the loader is located based on the telescopic length L1 and the telescopic length L2And based on the fourth formula, calculating the tooth rotation amount +.>；
Acquiring a fourth position translation CD between the connecting point c and the bucket tooth positioning point d, and based on the tooth rotation amountCalculating the bucket positioning information C and the fourth position translation quantity CD through the first formula D; the expression of the first formula a is:
wherein,、/>、/>x, Y, Z coordinates respectively representing the front and rear vehicle body hinge points a; />、/>、/>Respectively representing the roll angle, the pitch angle and the orientation angle of the front and rear vehicle body hinge points a; />、/>、/>Respectively representing the X coordinate translation amount, the Y coordinate translation amount and the Z coordinate translation amount of the front and rear vehicle body hinge points a; />、/>、/>X, Y, Z coordinates of the rear vehicle body positioning points o are respectively represented;
the expression of the first formula b is:
wherein,、/>、/>x, Y, Z coordinates of a front vehicle body positioning point b of the loader are respectively represented; />、/>、/>Respectively representing the roll angle, the pitch angle and the orientation angle of a front vehicle body locating point b of the loader; />、/>、/>Respectively representing X coordinate translation amount, Y coordinate translation amount and Z coordinate translation amount of a front vehicle body positioning point b of the loader;
the expression of the first formula c is:
wherein,、/>、/>x, Y, Z coordinates each representing a connection point c of the lift cylinder; />、/>、/>Respectively representing the roll angle, pitch angle and orientation angle of the connection point c of the lifting cylinder; />、/>、/>Respectively representing X coordinate translation amount, Y coordinate translation amount and Z coordinate translation amount of a connection point c of the lifting cylinder;
the expression of the first formula d is:
wherein,、/>、/>x, Y, Z coordinates respectively representing a bucket tooth positioning point d; />、/>、/>Respectively representing the roll angle, the pitch angle and the orientation angle of a bucket tooth positioning point d; />、/>、/>Respectively representing the X coordinate translation amount, the Y coordinate translation amount and the Z coordinate translation amount of a bucket tooth positioning point d; the expression of the second formula is:
wherein,indicating the front body rotation amount +.>The method comprises the steps of carrying out a first treatment on the surface of the θ represents the body angle between the rear body of the loader and the front body of the loader; />Indicating the rotation amount of the rear vehicle body->The method comprises the steps of carrying out a first treatment on the surface of the The expression of the third formula is:
wherein,indicating the bucket rotation amount +.>；/>；/>Representing the measured length, H representing the lifting height; />Indicating the front body rotation amount +.>The method comprises the steps of carrying out a first treatment on the surface of the The expression of the fourth formula is:
wherein,indicating the rotation amount of the relieved tooth->；/>Indicating the bucket angle at point c relative to the plane of the loader; />Indicating the bucket rotation amount +.>。
4. A method of positioning a device for positioning a working device of a construction machine according to claim 3, wherein the rear vehicle body is rotated by an amount of rotationComprises second rear body orientation information, and further comprises the step of taking the orientation information with higher precision in the first rear body orientation information and the second rear body orientation information as rear body orientation information in a new rear body rotation amount->。
5. The positioning method of a device for positioning a working device of an engineering machine according to claim 3, wherein the telescopic length L1 of the lifting cylinder and the telescopic length L2 of the overturning cylinder are calculated based on the motor turn positions obtained by the lifting motor encoder and the overturning motor encoder, the reduction ratio of gears connecting the electric cylinder and the motor bearing, and the electric cylinder lead, respectively.
6. A positioning method of a device for positioning a working device of a construction machine according to claim 3, wherein the acquisition of the rear vehicle body positioning information O at the rear vehicle body positioning point O and the first rear vehicle body orientation information by the on-vehicle global positioning receiving station includes:
the local global positioning base station transmits a base station RTK signal to the vehicle-mounted global positioning receiving station;
the vehicle-mounted global positioning receiving station receives the base station RTK signal and acquires the rear vehicle body positioning information O and the first rear vehicle body orientation information based on the base station RTK signal.
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