CN208844647U - A kind of excavator and its construction operation system - Google Patents
A kind of excavator and its construction operation system Download PDFInfo
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- CN208844647U CN208844647U CN201821275671.9U CN201821275671U CN208844647U CN 208844647 U CN208844647 U CN 208844647U CN 201821275671 U CN201821275671 U CN 201821275671U CN 208844647 U CN208844647 U CN 208844647U
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Abstract
The utility model embodiment discloses a kind of excavator and its construction operation system.Wherein, excavator include preset for acquiring excavator in construction operation device the tilt angle of corresponding preset direction angular transducer group, in real time calculate the excavator three dimensional local information positioning direction finding sensor, calculate the elevation information of excavator with the laser sensor for substitute the elevation coordinate value of three dimensional local information that positioning direction finding sensor is calculated and calculate bucket real-time three-dimensional location information, and the processor by comparing bucket three dimensional local information with the vertical error of default engineering co-ordinate position information acquisition excavator.The application can construction behavior accuracy in real-time monitoring excavator work progress, the construction behavior to correct a mistake promptly, to effectively promote the excavation accuracy and precision of excavator, the out break bring that also can effectively avoid in earth work is done over again, without repeated measurement, it effectively shortens the duration, improves the digging efficiency of excavator.
Description
Technical field
The utility model embodiment is related to construction engineering technical field, more particularly to a kind of excavator and its construction operation
System.
Background technique
Excavator or excavating machinery, also known as excavator are higher or lower than the object for holding machine side for a kind of excavated with scraper bowl
Material, and be packed into haulage vehicle or unload to the earthmoving machinery of rickyard.Excavator excavate material be mainly soil, coal, silt with
And soil and rock after pre- pine.From the point of view of the development of engineering machinery in recent years, the development of excavator is relatively fast,
As one of engineering machinery most important in engineering construction.
Traditional excavator construction operation fully relies on the working experience of excavator manipulator after assigning work order,
It needs manipulator that can judge the operating environment of the working faces such as road foundation, side slope, river, manipulator's operation level is wanted
Ask higher, when to operate horizontal not high or experience insufficient or when playing not normal by manipulator, it may appear that once excavate it is not in place or
Person is to need to carry out repeated measurement to work surface, Site quality control difficulty is big, and work efficiency is low the phenomenon that backbreaking.
Utility model content
The purpose of the utility model embodiment is to provide a kind of excavator and its construction operation system, effectively raises digging
The excavation precision and digging efficiency of pick machine.
In order to solve the above technical problems, the utility model embodiment the following technical schemes are provided:
On the one hand the utility model embodiment provides a kind of excavator, including
Sensor group and processor；
The sensor group includes angular transducer group, the laser sensor that position of bucket is arranged in and positioning direction finding sensing
Device；
The angular transducer group presets device inclining in corresponding preset direction in construction operation for acquiring excavator
Rake angle；
The positioning direction finding sensor includes GPS receiver and GNSS positioning direction-finder antenna, is believed for GPS based on the received
Number and GPS reference station send differential signal, calculate the three dimensional local information of the excavator in real time；The laser sensor root
It is calculated according to the measuring signal that received high-precision laser elevation signal projector is sent, is passed for substituting the positioning direction finding
The elevation coordinate value in three dimensional local information that sensor calculates；
The angle information and the excavation that the processor is acquired according to angular transducer each in the angular transducer group
The three dimensional local information of machine, calculates the real-time three-dimensional location information of bucket, and by the elevation in the real-time three-dimensional location information
Coordinate value replaces with the corresponding measured value of the laser sensor, by comparing the real-time three-dimensional location information of the bucket and pre-
If engineering coordinate position obtains the vertical error of the excavator, construction operation is carried out with excavator described in guiding in real time.
Optionally, the angular transducer group includes the vehicle body sensor being arranged on the excavation railcar body, is located at institute
It states the small arm sensor on small arm of digger, the big arm sensor on the big arm of digger and is located at the forearm and institute
State the bucket sensor of bucket junction；
Wherein, the vehicle body sensor is used to acquire the tilt angle of the vertical and horizontal for excavating railcar body；It is described
Small arm sensor is used to acquire the longitudinal inclination of the forearm；The big arm sensor is used to acquire the longitudinal direction of the large arm
Tilt angle；The bucket sensor is used to acquire the longitudinal inclination of the bucket.
Optionally, the master positioning antenna and the line of the auxiliary direction-finder antenna and the central axes phase of the big arm of digger
Vertically.
Optionally, the body rear end of the excavator is arranged in the GPS receiver.
Optionally, the construction operation is slope trimming, further includes the bucket steel plate that the bucket shovel tip is arranged in.
Optionally, the bucket steel plate is welded on the shovel tip of the bucket.
It optionally, further include display, the display is used to show the current three-dimensional position letter of the power shovel
Breath, the default engineering co-ordinate position information on the operation side, and the display current three-dimensional position information and institute
State the difference information of default engineering co-ordinate position information.
It optionally, further include indicator light, for showing data radio station signal and satellite number；The data radio station is located at institute
It states in GPS reference station.
On the other hand the utility model embodiment provides a kind of excavator construction operation system, including GPS reference station, height
Precision laser elevation signal projector and the excavator as described in preceding any one；
The position that the GPS reference station is set up is no more than pre-determined distance threshold value at a distance from excavator construction site；It is described
GPS reference station includes data radio station, and the data radio station is used in the GPS reference station and is arranged in the excavator base machine
GPS receiver between carry out data transmission；
The high-precision laser elevation signal projector is erected at the construction site of the excavator, the institute for that will acquire
The elevation signal for stating excavator is sent to the laser sensor of the excavator.
The utility model embodiment provides a kind of excavator, including device is preset in construction operation for acquiring excavator
Part is surveyed in the positioning of the angular transducer group, the real-time three dimensional local information for calculating excavator of the tilt angle of corresponding preset direction
To sensor, the bucket three-dimensional position letter for calculating the elevation information of excavator to be calculated for substituting positioning direction finding sensor
The laser sensor and calculating bucket real-time three-dimensional location information of elevation coordinate value in breath simultaneously pass through comparison bucket three-dimensional position
Information and default engineering co-ordinate position information obtain the vertical error of excavator, to determine bucket on current operation side
Excavate the processor of parameter.
The advantages of technical solution provided by the present application, is, fixed by setting angular transducer group, GPS receiver, GNSS
Position direction-finder antenna and laser sensor, can obtain the three dimensional local information of excavator bucket in real time, applied by comparing bucket
The three dimensional local information at work scene and default engineering co-ordinate position information, it may be determined that whether the current construction behavior of bucket is accurate,
It constructs on operation side so as to real-time monitoring bucket the accurate of behavior (construction location and excavating depth, angle, direction)
Property, be conducive to the construction behavior of timely correction excavator mistake, and then effectively promote the excavation accuracy and precision of excavator, also
It can effectively avoid the phenomenon that out break bring in earth work is done over again, be not necessarily to repeated measurement, and can uninterruptedly apply within 24 hours
Work, effectively shortens the duration, improves the digging efficiency of excavator.
In addition, the utility model embodiment provides corresponding construction operation system also directed to excavator, further such that
The excavator has more feasibility, and the method and system have the advantages that corresponding.
Detailed description of the invention
For the clearer technical solution for illustrating the utility model embodiment or the prior art, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the utility model, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of specific embodiment structure chart of excavator provided by the embodiment of the utility model；
Fig. 2 is a kind of distribution schematic diagram of angular transducer group provided by the embodiment of the utility model on board a dredger；
Fig. 3 is a kind of three-dimensional coordinate transforming principle schematic diagram provided by the embodiment of the utility model；
Fig. 4 is another specific embodiment structure chart of excavator provided by the embodiment of the utility model；
Fig. 5 is a kind of connection relationship diagram of each component of excavator provided by the embodiment of the utility model.
Specific embodiment
In order to make those skilled in the art better understand the scheme of the utility model, with reference to the accompanying drawing and specific implementation
The utility model is described in further detail for mode.Obviously, described embodiment is only the utility model a part
Embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, fall within the protection scope of the utility model.
The description and claims of this application and term " first ", " second ", " third " " in above-mentioned attached drawing
Four " etc. be for distinguishing different objects, rather than for describing specific sequence.Furthermore term " includes " and " having " and
Their any deformations, it is intended that cover and non-exclusive include.Such as contain a series of steps or units process, method,
System, product or equipment are not limited to listed step or unit, but may include the step of not listing or unit.
After describing the technical solution of the utility model embodiment, detailed description below the application's is various unrestricted
Property embodiment.
Referring first to Fig. 1, Fig. 1 is a kind of knot of the excavator provided by the embodiment of the utility model under specific embodiment
Structure schematic diagram, the utility model embodiment may include the following contents:
A kind of excavator includes excavator main body, includes car body, bucket, large arm, forearm and tire in excavator main body, also
Including sensor group is arranged in excavator main body, sensor group may include angular transducer group 1, positioning direction finding sensor (tool
Body may include GPS receiver 2, GNSS positioning direction-finder antenna 3), laser sensor 4 and processor 5.
Wherein, angular transducer group 1, laser sensor 4 are connected with processor 5, and GPS receiver 2 and GNSS positioning are surveyed
It is connected to antenna 3, GNSS positioning direction-finder antenna 3 is connected with processor 5.
Laser sensor 4 is the corresponding signal reception of Precision Elevation signal projector and processing unit, may be provided at digging
Any position on the scraper bowl of pick machine, based on the measuring signal that high-precision laser elevation signal projector based on the received is sent
Calculation obtains the elevation information of excavator, and the elevation information being calculated is used to substitute the three-dimensional position that positioning direction finding sensor calculates
Elevation coordinate value in information.Specifically, the working principle of laser sensor and high-precision laser elevation signal projector is (i.e. such as
What measures and calculates the elevation information of excavator) it can be found in the prior art, details are not described herein again, the type of device of laser sensor
It can be selected according to the parameter of actual excavation machine, engineering demand and project funds, the application does not do any restriction to this.
The three dimensional local information and laser sensor 4 for the excavator being calculated by positioning direction finding sensor are in synchronization
The elevation information of measurement generates the current three-dimensional position information of excavator.For example, excavator positions direction finding and passes in t moment
The three-dimensional location coordinates value for the excavator that sensor is calculated is (x, y, z), and laser sensor 4 is sat in the elevation that the moment measures
Scale value is z1, then the current three-dimensional position information of the excavator generated is (x, y, z1)。
Since GPS positioning vertical error is larger, be difficult to meet high accuracy positioning and construction, for three-dimensional coordinate z value (i.e.
Reflect the elevation coordinate of excavator elevation information), it using laser controlling, i.e., is laser sensing in the sensor of position of bucket installing
Device is arranged high-precision laser elevation signal projector in excavator operation face direction of advance, supports 360 ° of Plane Rotations and 170 °
The scanning of (i.e. ± 85 °) elevation, effective operation distance 300m, scanning accuracy reach 1mm, thus can pass the difference information of elevation
It is delivered to system, replenishment system elevation coordinate value.Hereby it is achieved that the real-time control of the 3D coordinate exact value of system.
Angular transducer group 1 presets device at the inclination angle of corresponding preset direction in construction operation for acquiring excavator
Degree.Namely include multiple angle measuring sensors in angular transducer group 1, each angular transducer acquires on corresponding excavator
Some device or position are during excavator construction operation in the tilt angle of respective direction.
It in a kind of specific embodiment, please refers to shown in Fig. 2, angular transducer group 1 includes that locomotive is being excavated in setting
Vehicle body sensor 11 on body, the small arm sensor 12 on small arm of digger, the sensing of the large arm on big arm of digger
Device 13 and bucket sensor 14 (namely dog bone sensor) positioned at forearm Yu bucket junction.Wherein, vehicle body sensor 11
For acquiring the tilt angle for excavating the vertical and horizontal of railcar body；Small arm sensor 12 is used to acquire the fore-and-aft tilt angle of forearm
Degree；Big arm sensor 13 is used to acquire the longitudinal inclination of large arm；Bucket sensor 14 is used to acquire the fore-and-aft tilt of bucket
Angle.It should be noted that bucket sensor 14 may be provided at any one position of forearm and bucket junction, the application couple
This is not limited in any way.Each angular transducer in angular transducer group 1 is (comprising vehicle body sensor 11, small arm sensor 12, big
Arm sensor 13 and bucket sensor 14) tilt angle information of the corresponding device on preset direction how is specifically acquired, it can join
Read the prior art.
GPS receiver 2 is used to receive the differential signal that GPS signal and GPS reference station are sent, to obtain the real-time of excavator
Three dimensional local information.GPS reference station set up position with excavator construction site at a distance from no more than pre-determined distance threshold value (such as
15KM)；GPS reference station includes data radio station, and data radio station is used in GPS reference station and the GPS being arranged on excavator base machine
Carry out data transmission between receiver 2, can wirelessly be connected by predetermined channel (GPS signal and differential signal) and construction site digging machine
It connects to carry out data transmission.In view of safety factor, base station is generally erected at project management department, base station working radius 10-15km,
Therefore excavator is within base station 15km.
For GPS receiver 2 primarily to receiving satellite positioning signal, the satellite positioning signal used is not limited to GPS, also
Other kinds of satellite positioning signal, such as the Big Dipper can be used, satellite-signal is consistent with receiver type.
GNSS positions direction-finder antenna 3 and is arranged in GPS receiver 2, including master positioning antenna and auxiliary direction-finder antenna, master positioning
Antenna is used to determine that the real-time three-dimensional location information of excavator, auxiliary direction-finder antenna to determine excavator for assisting master positioning antenna
Excavation direction and angle when construction operation.
GPS receiver 2 receives signal by major-minor positioning direction-finder antenna.GPS receiver 2, which may be provided at, excavates railcar body
Rear end, such as tail portion.The installation requirement of major-minor positioning direction-finder antenna is that the distance of major-minor positioning direction-finder antenna is remote as far as possible, welding position
Set require it is smooth as far as possible, optionally, master positioning antenna and the line of auxiliary direction-finder antenna and the central axes of big arm of digger are perpendicular.
And the real-time three-dimensional position for being used in conjunction with to obtain excavator as GPS receiver 2 and GNSS positioning direction-finder antenna 3 is believed
Breath, three dimensional local information include the three dimensional space coordinate of excavator and the current direction and angle of excavator, this is known
Content just repeats no more herein.
It please refers to shown in Fig. 3, by being mounted on the longitudinal inclination of several angular transducers and crucial axis on vehicle body
Between length the elevation (i.e. the current elevation of GPS receiver) of characteristic point is transmitted on the tooth tip of bucket, to complete
The whole process that GPS three-dimensional coordinate is transmitted to bucket.Wherein, crucial axis can be the connecting shaft of vehicle body and large arm, large arm and small
The connecting shaft of the connecting shaft of arm, forearm and bucket.
The three-dimensional position of angle information and excavator that processor 5 is acquired according to angular transducer each in angular transducer group 1
Confidence breath (measures the former three dimensional local information being calculated of obtained elevation coordinate value replacement, i.e., above-mentioned example by laser sensor 4
(x, y, z in son1)), it calculates bucket and is in the three dimensional local information on current operation side, the angle in angular transducer 1
The three dimensional local information of the three dimensional local information of degree information and excavator and the bucket being calculated is the data of synchronization, tool
The calculating process of body can be found in the prior art and basic mathematical knowledge, herein, just repeat no more, wherein bucket three-dimensional position letter
Breath includes 3 d space coordinate, the direction of bucket and angle.
By comparing bucket three dimensional local information and engineering co-ordinate position information, the height of available excavator being stored in advance
Journey error etc. excavates parameter (excavating thickness, direction and angle), carries out construction operation with guiding in real time excavator.
Default engineering co-ordinate position information is the operation mode according to two-dimentional the place data and excavator of operation side
Generate, for indicating the real-time target location information during excavator construction operation, target position information include excavate thickness,
Direction and angle.Two-dimentional place data are some architectural modulus data of operation side, such as vertical curve, the flat song of work surface
Line, elevation coordinate etc..The operation mode of excavator is that the type of excavator operating specification and construction operation determines, for example, from lower and
The operation mode that higher slice excavates, mining task is that the presentation shape after operation side is mined is to reach effect desired by user
Fruit, such as the target area of operation side is excavated, always excavate thickness, every layer of excavation thickness etc..
Pass through location information (three dimensional space coordinate, bucket excavation thickness, excavation direction and the digging by bucket at the construction field (site)
Dig angle) compared with target position information pair, it is possible to find whether current location information is identical with target position information, if not
Together, then illustrate current excavation behavior either construction behavior error, determine different places, and by the difference information of the two
It is prompted with various ways such as machine simulation figure, numerical value and voice signals, guides manipulator by the position tune of practical scraper bowl
Whole value and target position, thus realize the accurate construction of excavator, the reachable ± 3cm of accuracy.
In technical solution provided by the embodiment of the utility model, by setting angular transducer group, GPS receiver,
GNSS positions direction-finder antenna and laser sensor, can obtain the three dimensional local information of excavator bucket in real time, is dug by comparing
Three dimensional local information and the default engineering co-ordinate position information to struggle against at the construction field (site), it may be determined that whether the current construction behavior of bucket
Accurately, it constructs on operation side so as to real-time monitoring bucket behavior (construction location and excavating depth, angle, direction)
Accuracy is conducive to the construction behavior of timely correction excavator mistake, and then effectively promotes the excavation accuracy and essence of excavator
Degree, also can effectively avoid the phenomenon that out break bring in earth work is done over again, be not necessarily to repeated measurement, and can 24 hours not between
Disconnected construction, effectively shortens the duration, improves the digging efficiency of excavator.
In a kind of specific embodiment, referring to Fig. 4, existing to be clearer and more clear, visualize excavator
Construction behavior when construction operation, further, excavator further include display 5.
Display 5 can be used for showing the current three-dimensional position information of power shovel, the three-dimensional mesh on operation side
Cursor position information (default engineering co-ordinate position information), and the display current three-dimensional position information and default engineering coordinate bit
The difference information of confidence breath.For example, distance difference (mainly height value) of the shovel tip from three-dimensional references model arbitrary point when construction
It can be shown by display screen.
In a kind of specific embodiment, the information such as required position for excavating the gradient and bucket can be with graphical
Mode clearly indicate on the screen, excavation and filling information instructs manipulator to go to operate in a manner of color.Red represents
Deficient digging, green representative meet the requirements, blue representative backfills, in addition, multiple information can also be shown on the screen of display 6, it is interior
Appearance can be customized according to the habit of manipulator, such as bilateral light target is shown etc..
By the way that display is arranged, the real-time position information of three-dimensional visualization excavator advantageously reduces mining effect inspection
Frequency, do not need even to check, system can constantly go monitoring work quality, improve Mining Quality, be conducive to protect
The safe operation of card project.
In a kind of specific embodiment, the connection relationship of each component of excavator can be as shown in figure 5, processor 5 can be set
It sets in host, host is furnished with a set of TC-Office desktop data Software for producing, and host and display may be provided at excavator
In driver's cabin, also built-in in host to have GNSS receiver, radio station receiver receives satellite and GPS reference station radio signals.This
Outside, also built-in to have indicator light 7, can real-time display data radio station signal, the information such as satellite number, to facilitate user to sentence
It is disconnected, wherein power pack can play duplicate protection, the excavator system for not only having protected each device of excavator to constitute but also protection digging machine machine
Tool itself.
In a kind of specific work progress, when construction operation is slope trimming, itself carried since digging machine is mechanical
Bucket has bucket tooth (zigzag) structure, and 5-10cm is deep, is affected to excavation and filling homework precision, accurately feels for the ease of sensor
Bucket shovel tip coordinate is answered, increases working face control and repairs slope quality, bucket steel plate, bucket can be set on excavator bucket shovel tip
Steel plate is solderable to be connected on the shovel tip of bucket, can ensure that homework precision by welding steel (level).
The utility model embodiment provides corresponding construction operation system also directed to excavator, further such that the digging
Pick machine method has more practicability.Excavator construction operation system provided by the embodiment of the utility model is introduced below, under
The excavator construction operation system of text description can correspond to each other reference with above-described excavator.
A kind of excavator construction operation system may include GPS reference station, high-precision laser elevation signal projector and as above
Excavator described in any one excavator embodiment.
Excavator is carried out data transmission with GPS reference station by the wireless connection of data radio station.
The position that GPS reference station is set up is no more than pre-determined distance threshold value at a distance from excavator construction site；GPS reference station
Including data radio station, data radio station is used to be counted in GPS reference station and being arranged between the GPS receiver on excavator base machine
According to transmission.
High-precision laser elevation signal projector is erected at the construction site of excavator, high-precision laser elevation signal and swashs
Maximum distance between optical sensor (excavator) can not exceed laser sensor signal range of receiving, the excavation for will acquire
The elevation signal of machine is sent to the laser sensor of excavator, the elevation information of excavator is calculated.
The system completes construction operation when system works by GPS reference station and excavator jointly and is mounted on excavator machine
The GPS receiver and data radio station of body obtain excavator real-time three by receiving the differential signal of GPS signal and base station transmission
Position is tieed up, power shovel essence is then calculated by the sensor position being mounted on excavator big and small arms and revolution in real time
True three-dimensional coordinate, and coordinate information is passed into CPU, system is by comparing locating for Digital Three-Dimensional benchmark model and current scraper bowl
Location information indicates the phase of practical scraper bowl and target operation face with various ways such as machine simulation figure, numerical value and voice signals
To position, manipulator is guided accurately to construct, the reachable ± 3cm of accuracy.
In order to enable technical solution provided by the present application is more clearly understood in those skilled in the art, the application is with specific
For construction operation (roadbed earth excavation and side slope shaping), the construction operation process of entire excavator is introduced, it may include place
Cleaning, scene cut pumping equipment build → excavator operating condition inspection, quality controls guidance system installation fitting inventory verification → digging
(two-dimentional place data 2D turns for the installation of pick machine construction operation system, debugging → excavator parameter importing → two dimension place data preparation
3D) → unlatching excavator construction operation system → two dimension place data import system → road excavation → dumper earthwork outward transport →
It digs to design altitude → slot bottom compacting → road slot trimming and intelligence and repairs slope → stage detection examination → next procedure construction.
For roadbed site clearing construction operation, the site clearing stage is mainly that excavator provides work surface, according to
Traditional handicraft carries out.Wherein, roadbed earth excavation can include:
It is installed excavator construction operation system before excavation, and imports road work region vertical curve, horizontal curve, elevation
The places such as coordinate data, the operation mode of stage excavation from top to bottom are taken according to code requirement, and setting every layer from the background
The thickness value of excavation excavates thickness according to the height value control of display prompts in specific excavate, disorderly must not dig or backbreak.Institute
The information such as the position of the excavation gradient and bucket that need will be clearly indicated on the screen in a manner of patterned, excavation and filling information
Manipulator is instructed to go to operate in a manner of color.Red represent owe dig, green represent meet the requirements, blue represent back
It fills out, and can show multiple information on screen, content can be customized according to the habit of manipulator, and bilateral light target is shown
Deng, to reduce the frequency of gradient inspection, gradient inspection is not needed even, system can constantly go the quality of monitoring work,
Improve quality safety.It should be noted that when being changed when excavating such as discovery soil layer property, Ying Xiugai arrangement and method for construction and excavation
Side slope ratio, and and Times supervising engineer approval.
Traditional handicraft need to reserve 30cm soil thickness hand excavation, need to restore in stake, skirt piles check elevation repeatedly, avoid surpassing
It digs.After excavator construction operation system, it can disposably be excavated to design altitude, error ± 3cm.
It is repaired for the construction operation of slope for the compacting of roadbed slot bottom and intelligence, concrete construction method can include:
1) bucket shovel tip coordinate is accurately incuded for the ease of each angular transducer, increase working face control and repair slope quality, make
Before industry one block of bucket steel plate can be welded in bucket shovel tip position.
2) each device for including in excavator construction operation system is installed on the basis of original excavator.
3) system boot, and require to carry out system debug according to job instruction.
4) it can be used that Road Editor road software for editing is vertical to design, horizontal curve, the two-dimensional parameters such as height value, slope ratio
Be converted to three-dimensional data.
5) it for job contents such as the roadbed of excavated-in t4, the grooves excavated using slope, is inputted in human-computer interaction main interface
The operation mode of two-dimentional place data, mining task and excavator after conversion starts operation.
6) each operating area uses the slope trimming operation of excavator construction operation systematic direction, can after qualified by inspection
Carry out the construction of next operating area.
7) slope trimming should determine the need for classification slope according to slope height, such as carry out classification slope, number of coordinates
It according to importing should be layered, constructs step by step, and there are enough working faces according to code requirement.
From the foregoing, it will be observed that compared with former excavator construction technology, the utility model embodiment can the control of real-time process quality, have
Effect prevents the out break bring in earth work from doing over again, and is not necessarily to repeated measurement, and can uninterruptedly construct within 24 hours, improves effect
Rate shortens the construction period.With 3 axle sensor technologies, it can be achieved that the high-precision digging operation within 3cm.Without piling, setting-out, nothing
Process inspection need to be manually carried out, measurement cost and mechanical service efficiency are reduced, reduces and repeats to be bulldozed, oil plant is reduced and material disappears
Consumption.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, same or similar part may refer to each other between each embodiment.For being filled disclosed in embodiment
For setting, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is referring to method part
Explanation.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of the utility model.
The step of method described in conjunction with the examples disclosed in this document or algorithm, can directly be held with hardware, processor
The combination of capable software module or the two is implemented.Software module can be placed in random access memory (RAM), memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In any other form of storage medium well known in field.
A kind of excavator provided by the utility model and its construction operation system are described in detail above.Herein
In apply specific case the principles of the present invention and embodiment be expounded, the explanation of above embodiments is only used
The method and its core concept of the utility model are understood in help.It should be pointed out that for those skilled in the art
For, without departing from the principle of this utility model, several improvements and modifications can be made to this utility model, these
Improvement and modification are also fallen into the protection scope of the utility model claims.
Claims (9)
1. a kind of excavator, which is characterized in that including sensor group and processor；
The sensor group includes angular transducer group, the laser sensor that position of bucket is arranged in and positioning direction finding sensor；
The angular transducer group presets device at the inclination angle of corresponding preset direction in construction operation for acquiring excavator
Degree；
The positioning direction finding sensor includes GPS receiver and GNSS positioning direction-finder antenna, and the GNSS positioning direction-finder antenna is set
It sets in the GPS receiver, including master positioning antenna and auxiliary direction-finder antenna, for GPS signal and GPS benchmark based on the received
Stand send differential signal, calculate the three dimensional local information of the excavator in real time；The laser sensor is high based on the received
The elevation information of the excavator is calculated in the measuring signal that precision laser elevation signal projector is sent, described for substituting
Position the elevation coordinate value in the three dimensional local information that direction finding sensor calculates；
Angle information that the processor is acquired according to angular transducer each in the angular transducer group and the excavator
Three dimensional local information calculates the real-time three-dimensional location information of bucket, by compare the real-time three-dimensional location information of the bucket with
Default engineering co-ordinate position information obtains the vertical error of the excavator, carries out construction work with excavator described in guiding in real time
Industry.
2. excavator according to claim 1, which is characterized in that the angular transducer group includes being arranged in the excavation
Vehicle body sensor on railcar body, the small arm sensor on the small arm of digger, on the big arm of digger
Big arm sensor and the bucket sensor positioned at the forearm and the bucket junction；
Wherein, the vehicle body sensor is used to acquire the tilt angle of the vertical and horizontal for excavating railcar body；The forearm
Sensor is used to acquire the longitudinal inclination of the forearm；The big arm sensor is used to acquire the fore-and-aft tilt of the large arm
Angle；The bucket sensor is used to acquire the longitudinal inclination of the bucket.
3. excavator according to claim 1, which is characterized in that the company of the master positioning antenna and the auxiliary direction-finder antenna
The central axes of line and the big arm of digger are perpendicular.
4. excavator according to claim 2, which is characterized in that the vehicle of the excavator is arranged in the GPS receiver
Body rear end.
5. excavator according to any one of claims 1 to 4, which is characterized in that the construction operation is slope trimming,
It further include the bucket steel plate that the bucket shovel tip is set.
6. excavator according to claim 5, which is characterized in that the bucket steel plate is welded in the shovel tip of the bucket
On.
7. excavator according to claim 6, which is characterized in that further include display, the display is for showing institute
The current three-dimensional position information of power shovel, the default engineering co-ordinate position information on the operation side are stated, and
Show the difference information of the current three-dimensional position information Yu the default engineering co-ordinate position information.
8. excavator according to claim 7, which is characterized in that further include indicator light, for showing data radio station signal
And satellite number；The data radio station is located in the GPS reference station.
9. a kind of excavator construction operation system, which is characterized in that emit including GPS reference station, high-precision laser elevation signal
Device and the excavator as described in claim 1-8 any one；
The position that the GPS reference station is set up is no more than pre-determined distance threshold value at a distance from excavator construction site；The GPS base
Quasi- station includes data radio station, and the data radio station is used in the GPS reference station and the GPS being arranged on the excavator base machine
Carry out data transmission between receiver；
The high-precision laser elevation signal projector is erected at the construction site of the excavator, the digging for that will acquire
The elevation signal of pick machine is sent to the laser sensor of the excavator.
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| CN111622297A (en) * | 2020-04-22 | 2020-09-04 | 浙江大学 | Online operation deviation rectifying system and method for excavator |
| CN111708067A (en) * | 2020-08-04 | 2020-09-25 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | Automatic guide system of excavator |
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| WO2021000473A1 (en) * | 2019-07-02 | 2021-01-07 | 天津市环境保护技术开发中心设计所 | Quick-response screw propulsion excavator |
| CN115066528A (en) * | 2020-03-11 | 2022-09-16 | 株式会社小松制作所 | Operating system |
| CN111622297A (en) * | 2020-04-22 | 2020-09-04 | 浙江大学 | Online operation deviation rectifying system and method for excavator |
| CN111622297B (en) * | 2020-04-22 | 2021-04-23 | 浙江大学 | Online operation deviation rectifying system and method for excavator |
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| CN112180391A (en) * | 2020-09-09 | 2021-01-05 | 广西柳工机械股份有限公司 | Excavator working face reconstruction system and method based on 2D laser radar |
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| CN115183732A (en) * | 2022-06-27 | 2022-10-14 | 三一重机有限公司 | Excavator pose calibration method and system and excavator |
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