CN108951750A - A kind of excavator construction operation method, system and excavator - Google Patents

Abstract

The embodiment of the invention discloses an excavator construction operation method, a system and the excavator. Among them, the excavator includes an angle sensor group used to collect the inclination angle of the preset device in the corresponding preset direction during the construction operation of the excavator, and calculate the three-dimensional position of the excavator in real time according to the received GPS signal and the differential signal sent by the GPS reference station. Positioning and direction-finding sensor for position information and excavation direction and angle during construction work, laser sensor for calculating the elevation information of the excavator to replace the elevation coordinate value of the three-dimensional position information calculated by the positioning and direction-finding sensor, and calculating the three-dimensional position of the bucket Information, and by comparing the three-dimensional position information of the bucket with the pre-stored three-dimensional reference model, to determine the thickness, direction and angle of the bucket that needs to be excavated on the construction work surface. The application can effectively improve the excavation accuracy and precision of the excavator, avoid rework caused by over- and under-excavation in earthworks, effectively shorten the construction period, and improve the excavation efficiency of the excavator.

Description

Excavator construction operation method, system and excavator

technical field

The embodiments of the present invention relate to the technical field of construction engineering, in particular to an excavator construction operation method, system and excavator.

Background technique

An excavator, or excavator, also known as an excavator, is an earth-moving machine that uses a bucket to dig materials higher or lower than the bearing surface, and loads them into transport vehicles or unloads them into stockyards. The materials excavated by the excavator are mainly soil, coal, sediment, and pre-loose soil and rock. Judging from the development of construction machinery in recent years, excavators have developed relatively quickly and have become one of the most important construction machinery in engineering construction.

Traditional excavator construction operations, after the work order is issued, completely rely on the work experience of the excavator operator. The operator needs to be able to judge the working environment of the roadbed, slope, river and other working surfaces, and the operator's operating level is required. Higher, when the operator's operation level is not high or inexperienced or the performance is abnormal, there will be a phenomenon of insufficient excavation or over-excavation. Repeated measurement of the working surface is required, the on-site quality control is difficult, and the work efficiency is low.

Contents of the invention

The purpose of the embodiments of the present invention is to provide an excavator, a method and a system for construction work of the excavator, and the excavator, which effectively improve the excavating precision and efficiency of the excavator.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:

On the one hand, an embodiment of the present invention provides an excavator, including an angle sensor group, a positioning and direction finding sensor, a laser sensor, and a processor;

The angle sensor group is used to collect the inclination angle of the preset device in the corresponding preset direction during the construction operation of the excavator;

The positioning and direction-finding sensor is used to calculate in real time the three-dimensional position information of the excavator and the digging direction and angle during construction work according to the received GPS signal and the differential signal sent by the GPS reference station; The measurement signal sent by the precision laser elevation signal transmitter is calculated to obtain the elevation information of the excavator, which is used to replace the elevation coordinate value in the three-dimensional position information calculated by the positioning and direction-finding sensor;

The processor calculates the three-dimensional position information of the bucket according to the angle information collected by each angle sensor in the angle sensor group and the three-dimensional position information of the excavator; by comparing the three-dimensional position information of the bucket with the pre-stored three-dimensional position information A benchmark model for determining the target excavation parameters of the bucket on the current construction work surface, so as to guide the excavator to perform construction operations in real time;

Wherein, the target excavation parameters include excavation thickness, direction and angle, and the three-dimensional reference model is generated according to the two-dimensional site data of the construction work surface, excavation tasks, operation methods and the parameters of the excavator, and is used to represent the The real-time target position information during the construction operation of the excavator is described, and the target position information includes three-dimensional space coordinates, excavation thickness, direction and angle.

Optionally, the angle sensor group includes a vehicle body sensor arranged on the body of the excavator, an arm sensor located on the arm of the excavator, an arm sensor located on the arm of the excavator, and an arm sensor located on the arm of the excavator. The bucket sensor at the connection between the forearm and the bucket;

Wherein, the vehicle body sensor is used to collect the longitudinal and lateral inclination angles of the excavator body; the small arm sensor is used to collect the longitudinal inclination angle of the small arm; the boom sensor is used to collect all The longitudinal inclination angle of the boom; the bucket sensor is used to collect the longitudinal inclination angle of the bucket.

Optionally, the positioning and direction-finding sensor includes a GPS receiver and a positioning and direction-finding antenna; the positioning and direction-finding antenna is arranged on the GPS receiver, including a main positioning antenna and an auxiliary direction-finding antenna; It is used to receive GPS signals and differential signals sent by GPS reference stations; the main positioning antenna is used to determine the real-time three-dimensional position information of the excavator, and the auxiliary direction-finding antenna is used to assist the main positioning antenna to determine the excavator The direction and angle of excavation during machine construction operations.

Optionally, the GPS receiver is arranged at the rear end of the vehicle body of the excavator; the connection line between the main positioning antenna and the auxiliary direction-finding antenna is perpendicular to the central axis of the boom of the excavator.

Optionally, the construction operation is slope repair, and also includes a bucket steel plate arranged at the tip of the bucket.

Optionally, the steel plate of the bucket is welded on the tip of the bucket.

Optionally, a display is also included, the display is used to display the current three-dimensional position information of the excavator bucket, the three-dimensional target position information on the construction work surface, and display the current three-dimensional position information and the The difference information of the target position information.

Optionally, an indicator light is also included for displaying the signal of the digital transmission station and the number of satellites; the digital transmission station is located in the GPS reference station.

Another aspect of the embodiment of the present invention provides an excavator construction operation system, including a GPS reference station, a high-precision laser elevation signal transmitter, and the excavator described in any one of the preceding items;

The distance between the location where the GPS reference station is erected and the construction site of the excavator does not exceed the preset distance threshold; Data transmission between GPS receivers on the excavator body;

The high-precision laser elevation signal transmitter is erected at the construction site of the excavator, and is used to send the collected elevation signal of the excavator to the laser sensor of the excavator.

Finally, the embodiment of the present invention also provides an excavator construction operation method, including:

Obtain the real-time three-dimensional position information of the excavator during the construction operation, and the inclination angle information of the preset device in the corresponding preset direction;

calculating the three-dimensional position information of the bucket at a corresponding time according to the information of each inclination angle and the three-dimensional position information of the excavator;

Judging whether the three-dimensional position information of the bucket is the same as the corresponding target position information in the pre-built three-dimensional reference model;

If not, displaying the difference information between the current three-dimensional position information and the target position information, so that the operator can adjust the position of the bucket to the target position;

Wherein, the real-time three-dimensional position information is composed of the two-dimensional position information of the excavator calculated in real time by the positioning and direction-finding sensor according to the received GPS signal and the differential signal sent by the GPS reference station, and the elevation information of the excavator measured by the laser sensor The three-dimensional position information; the three-dimensional benchmark model is generated according to the two-dimensional site data of the construction work surface, the excavation task, the operation method and the parameters of the excavator, and is used to represent the real-time target during the construction operation of the excavator Position information, the target position information includes three-dimensional space coordinates, excavation thickness, direction and angle.

An embodiment of the present invention provides an excavator, including an angle sensor group used to collect the inclination angle of the preset device in the corresponding preset direction during the construction operation of the excavator, and a set of angle sensors used to send the inclination angle according to the received GPS signal and the GPS reference station. Differential signal, real-time calculation of the three-dimensional position information of the excavator and the positioning and direction-finding sensor of the excavation direction and angle during construction operations, and the calculation of the elevation information of the excavator to replace the three-dimensional position information of the bucket calculated by the positioning and direction-finding sensor The laser sensor of the elevation coordinate value and the calculation of the three-dimensional position information of the bucket, and by comparing the three-dimensional position information of the bucket with the pre-stored three-dimensional reference model, to determine the thickness, direction and angle of the bucket that needs to be excavated on the current construction work surface processor.

The advantage of the technical solution provided by this application is that by setting the angle sensor group, positioning and direction-finding sensors and laser sensors, the three-dimensional position information of the bucket of the excavator can be obtained in real time, and by comparing the three-dimensional position information of the bucket on the construction site with the The target position information in the 3D reference model can determine whether the current construction behavior of the bucket is accurate, so that the accuracy of the construction behavior (construction position and excavation depth, angle, direction) of the bucket on the construction work surface can be monitored in real time, which is beneficial to Correct the wrong construction behavior of the excavator in time, thereby effectively improving the excavation accuracy and precision of the excavator, and can also effectively avoid the phenomenon of rework caused by over- and under-excavation in earthworks, without repeated measurement, and 24-hour uninterrupted construction , effectively shorten the construction period and improve the digging efficiency of the excavator.

In addition, the embodiment of the present invention also provides a corresponding use method and system for the excavator, which further makes the excavator more feasible, and the method and system have corresponding advantages.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only For some embodiments of the present invention, those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a structural diagram of a specific embodiment of an excavator provided by an embodiment of the present invention;

2 is a schematic diagram of the distribution of an angle sensor group on an excavator provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of a three-dimensional coordinate transformation principle provided by an embodiment of the present invention;

FIG. 4 is a structural diagram of another specific embodiment of the excavator provided by the embodiment of the present invention;

Fig. 5 is a schematic diagram of the connection relationship of various components of an excavator provided by an embodiment of the present invention;

Fig. 6 is a schematic flow chart of an excavator construction operation method provided by an embodiment of the present invention;

Fig. 7 is a schematic process flow diagram of an excavator construction operation method provided by an embodiment of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The terms "first", "second", "third" and "fourth" in the specification and claims of this application and the above drawings are used to distinguish different objects, rather than to describe a specific order . Furthermore, the terms "comprising" and "having", and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or device comprising a series of steps or units is not limited to the listed steps or units, but may include unlisted steps or units.

After introducing the technical solutions of the embodiments of the present invention, various non-limiting implementations of the present application will be described in detail below.

Referring first to Fig. 1, Fig. 1 is a schematic structural view of an excavator provided by an embodiment of the present invention in a specific implementation manner, and an embodiment of the present invention may include the following:

An excavator includes an excavator main body, which includes a car body, a bucket, a boom, a small arm and tires, and also includes an angle sensor group 1, a positioning and direction finding sensor, and a laser sensor 4 arranged on the excavator main body and processor 5.

The positioning and direction-finding sensor is used to calculate in real time the three-dimensional position information of the excavator and the excavation direction and angle during construction work according to the received GPS signal and the differential signal sent by the GPS reference station. Optionally, the positioning and direction-finding sensor may include a GPS receiver 2 and a positioning and direction-finding antenna 3 . Of course, the positioning and direction-finding sensor can also be other sensors that can determine the three-dimensional position of the excavator in real time, which is not limited in this application.

Among them, the angle sensor group 1 and the laser sensor 4 are connected to the processor 5 , the GPS receiver 2 is connected to the positioning and direction-finding antenna 3 , and the positioning and direction-finding antenna 3 is connected to the processor 5 .

The angle sensor group 1 is used to collect the inclination angle of the preset device in the corresponding preset direction during the construction operation of the excavator. That is, the angle sensor group 1 includes a plurality of angle measurement sensors, and each angle sensor collects the inclination angle of a corresponding device or part on the excavator in the corresponding direction during the construction operation of the excavator.

In a specific embodiment, as shown in FIG. 2 , the angle sensor group 1 includes a vehicle body sensor 11 arranged on the body of the excavator, an arm sensor 12 located on the arm of the excavator, and an arm sensor 12 located on the arm of the excavator. The upper arm sensor 13 and the bucket sensor 14 (that is, the dog bone sensor) located at the connection between the forearm and the bucket. Wherein, the vehicle body sensor 11 is used to collect the longitudinal and lateral inclination angles of the excavator body; the arm sensor 12 is used to collect the longitudinal inclination angle of the forearm; the boom sensor 13 is used to collect the longitudinal inclination angle of the boom; The bucket sensor 14 is used to collect the longitudinal inclination angle of the bucket. It should be noted that the bucket sensor 14 can be arranged at any position where the forearm and the bucket are connected, and this application does not make any limitation thereto. The angle sensors in the angle sensor group 1 (including the vehicle body sensor 11, the arm sensor 12, the boom sensor 13 and the bucket sensor 14) specifically how to collect the inclination angle information of the corresponding device in the preset direction can refer to the prior art .

The GPS receiver 2 is used to receive GPS signals and differential signals sent by GPS reference stations. The distance between the location where the GPS reference station is erected and the construction site of the excavator does not exceed the preset distance threshold (for example, 15KM); The data transmission between the GPS receivers 2 can be wirelessly connected to the construction site excavator through a predetermined channel (GPS signal and differential signal) for data transmission. Considering the safety factor, the reference station is generally set up in the project department, and the working radius of the reference station is 10-15km, so the distance between the excavator and the reference station is within 15km.

The GPS receiver 2 is mainly for receiving satellite positioning signals, and the satellite positioning signals used are not limited to GPS, and other types of satellite positioning signals can also be used, such as the Big Dipper, and the satellite signals are consistent with the type of the receiver.

The positioning and direction-finding antenna 3 is arranged on the GPS receiver 2, and includes a main positioning antenna and an auxiliary direction-finding antenna. The main positioning antenna is used to determine the real-time three-dimensional position information of the excavator, and the auxiliary direction-finding antenna is used to assist the main positioning antenna to determine The direction and angle of excavation during machine construction operations.

The positioning and direction-finding antenna 3 can be a GNSS positioning and direction-finding antenna, and the GNSS positioning and direction-finding antenna can receive GPS satellite signals, GNSS satellite signals, Beidou satellite signals and the like.

The GPS receiver 2 relies on the main and auxiliary positioning and direction-finding antennas to receive signals. The GPS receiver 2 can be arranged at the rear end of the body of the excavator, such as the tail. The installation of the main and auxiliary positioning and direction-finding antennas requires that the distance between the main and auxiliary positioning and direction-finding antennas should be as far as possible, and the welding position should be as flat as possible. perpendicular to each other.

And as for the GPS receiver 2 and the positioning and direction-finding antenna 3, the real-time three-dimensional position information of the excavator is obtained by using together. The three-dimensional position information includes the three-dimensional space coordinates of the excavator and the current direction and angle of the excavator, which are all known contents. , will not repeat them.

Please refer to Figure 3, through the longitudinal inclination angle of several angle sensors installed on the vehicle body and the length between the key axes, the elevation of the feature point (that is, the current elevation of the GPS receiver) is transmitted to the teeth of the bucket. point, thus completing the whole process of transferring the GPS three-dimensional coordinates to the bucket. Among them, the key shaft can be the connecting shaft between the body and the boom, the connecting shaft between the boom and the small arm, and the connecting shaft between the small arm and the bucket.

The laser sensor 4 is the signal receiving and processing device corresponding to the high-precision elevation signal transmitter, which can be installed at any position on the bucket of the excavator, and is used to calculate and obtain the excavation level according to the received measurement signal sent by the high-precision laser elevation signal transmitter. The elevation information of the machine, the calculated elevation information is used to replace the elevation coordinate value in the three-dimensional position information calculated by the positioning and direction-finding sensor. Specifically, the working principle of the laser sensor and the high-precision laser elevation signal transmitter (that is, how to measure and calculate the elevation information of the excavator) can be referred to the prior art, and will not be repeated here. The device type of the laser sensor can be determined according to the actual excavator. The parameters, engineering requirements and project funds are selected, and this application does not make any restrictions on this.

The current three-dimensional position information of the excavator is generated by the three-dimensional position information of the excavator calculated by the positioning and direction-finding sensor and the elevation information measured by the laser sensor 4 at the same time. For example, at time t of the excavator, the three-dimensional position coordinate value of the excavator calculated by the positioning and direction-finding sensor is (x, y, z), and the elevation coordinate value measured by the laser sensor 4 at this moment is z ₁ , then the generated The current three-dimensional position information of the excavator is (x, y, z ₁ ).

Due to the large error of GPS positioning elevation, it is difficult to meet high-precision positioning and construction. For the z value of the three-dimensional coordinates (that is, the elevation coordinates reflecting the elevation information of the excavator), laser control is adopted, that is, the sensor installed at the bucket position is a laser. The sensor is equipped with a high-precision laser transmitter in the forward direction of the excavator's working face, which supports 360° plane rotation and 170° (ie ±85°) elevation scanning, with an effective working distance of 300m and a scanning accuracy of 1mm. The information is passed to the system to supplement the system elevation coordinate values. Thus, the real-time control of the precise value of the 3D coordinates of the system is realized.

The processor 5 calculates the three-dimensional position information of the bucket on the current construction work surface according to the angle information collected by each angle sensor in the angle sensor group 1 and the three-dimensional position information of the excavator, the angle information in the angle sensor 1 and the three-dimensional position information of the excavator. The position information and the calculated three-dimensional position information of the bucket are data at the same time. For the specific calculation process, please refer to the existing technology and basic mathematical knowledge. Coordinates, direction and angle of the bucket.

Part of the determination of the three-dimensional position information of the bucket uses the principle of GPS RTK technology to obtain known coordinate points. The excavator is composed of three parts: GNSS receiving equipment, radio data transmission system and software system supporting real-time dynamic difference. The specific method is: set up a reference station on the datum point, continuously receive visible Beidou and other satellite signals, and transmit the station coordinates and observation data to the mobile station in real time through the data link radio station. While the mobile station is receiving satellite signals, according to the data transmitted from the reference station, the software system performs differential calculation according to the principle of relative positioning, and obtains the three-dimensional coordinates and accuracy of the mobile station in real time; that is, through the Beidou high-precision positioning data and The differential data of the base station (reference station) performs high-precision positioning on the receiving point of the GNSS equipment of the vehicle body.

Then according to the characteristics of the mechanical model of the excavator, according to the data transmitted by the angle sensor installed on the preset device (boom, small arm, bucket, body, etc.) The projection distance of the axis center of the arm connection axis, the projection distance from the axis center of the connection axis of the big arm and the forearm to the axis center of the connection axis of the bucket and the forearm), using the error calibration algorithm, the real-time attitude of the excavator can be accurately calculated and location information. According to the real-time posture of the excavator, combined with the conversion model of the three-dimensional coordinate system, the vehicle body coordinates are converted into engineering three-dimensional coordinates (the engineering three-dimensional coordinates reflect the design three-dimensional coordinates of the excavation work surface of the excavator, through the forward, backward, and down of the bucket According to the angle information transmitted by each sensor and the size of each component of the three-dimensional reference model, the real-time three-dimensional coordinates of the blade tip are calculated from known points (three-dimensional coordinates of GNSS receiving points).

By comparing the three-dimensional position information of the bucket with the pre-stored three-dimensional reference model, the excavation thickness, direction and angle of the bucket on the current construction work surface are determined, so as to guide the excavator to carry out construction operations in real time.

The 3D reference model is generated based on the two-dimensional site data of the construction work surface, the parameters of the excavator itself (such as the angle and distance between the parts of the excavator), the excavation task and the operation method, and is used to represent the real-time Target position information, target position information includes excavation thickness, direction and angle. The parameters of different brands and different types of excavators are different, and it is necessary to conduct actual measurements and input the corresponding parameters into the model. The two-dimensional site data are some architectural parameter data of the construction work surface, such as vertical curves, horizontal curves, elevation coordinates, etc. of the work surface. The operation mode of the excavator is determined by the usage specification of the excavator and the type of construction operation, such as the bottom-up layered excavation operation mode, and the excavation task is that the excavated surface of the construction work surface should be excavated to achieve the desired effect of the user, such as Excavate the target area of the construction work face, the total excavation thickness, the excavation thickness of each layer, etc. The 3D reference model can overall display the real-time 3D space coordinates, bucket excavation thickness, excavation direction and excavation angle of the bucket on the construction work surface during the whole process from the start of excavation to the completion of construction.

By comparing the position information of the bucket on the construction site (three-dimensional space coordinates, bucket excavation thickness, excavation direction and excavation angle) with the target position information, it can be found whether the current position information is the same as the target position information, if not, It shows that the current excavation behavior or construction behavior is wrong, and the difference is determined, and the difference information between the two is prompted in various ways such as machine simulation graphics, numerical values, and sound signals, and guides the operator to compare the actual bucket Position adjustment value and target position, so as to realize the precise construction of the excavator, and the accuracy can reach ±3cm.

In the technical solution provided by the embodiment of the present invention, the three-dimensional position information of the bucket of the excavator can be obtained in real time by setting the angle sensor group, the positioning and direction-finding sensor and the laser sensor, and by comparing the three-dimensional position information of the bucket on the construction site and the target position information in the 3D reference model can determine whether the current construction behavior of the bucket is accurate, so that the accuracy of the construction behavior (construction position and excavation depth, angle, direction) of the bucket on the construction work surface can be monitored in real time, and there is It is conducive to timely correcting the wrong construction behavior of the excavator, thereby effectively improving the excavator's excavation accuracy and precision, and can also effectively avoid the phenomenon of rework caused by over- and under-excavation in earthworks, without repeated measurement, and can be uninterrupted for 24 hours construction, effectively shorten the construction period, and improve the excavator's excavation efficiency.

In a specific implementation manner, please refer to FIG. 4 , in order to more clearly, clearly and visually display the construction behavior of the excavator during the construction operation, further, the excavator further includes a display 6 .

The display 6 can be used to display the current three-dimensional position information of the excavator bucket, the three-dimensional target position information on the construction work surface, and display the difference information between the current three-dimensional position information and the target position information. For example, the distance difference (mainly the elevation value) between the tip of the shovel and any point of the 3D datum model during construction will be displayed on the display screen.

In a specific implementation, information such as the required excavation slope and the position of the bucket can be clearly displayed on the screen in a graphical manner, and the excavation and filling information guides the operator to operate in a color manner. Red stands for undercutting, green stands for compliance, and blue stands for backfilling. In addition, the screen of the display 6 can also display multiple information, and the content can be customized according to the operator's habits, such as bilateral light target display and so on.

By setting the monitor, the real-time location information of the excavator can be visualized in three dimensions, which is beneficial to reduce the frequency of excavation effect inspection, or even does not need to be inspected. The system will continuously monitor the quality of the work, improve the quality of excavation, and help ensure the safe operation of the project. .

In a specific embodiment, the connection relationship of each part of the excavator can be as shown in Figure 5, the processor 5 can be arranged in the host computer, and the host computer is equipped with a set of TC-Office desktop data production software, and the host computer and display can be arranged in In the cab of the excavator, a receiver and a radio receiver can also be built in the host to receive satellite and GPS reference station radio signals. In addition, an indicator light 7 can also be built in, which can display information such as the signal of the digital transmission station and the number of satellites in real time, so as to facilitate the user to judge. , And protect the excavator itself.

In a specific construction process, when the construction work is slope repair, since the excavator itself has a bucket tooth (serrated) structure and is 5-10cm deep, it has a great influence on the accuracy of the excavation and filling operation. , in order to facilitate the sensor to accurately sense the coordinates of the bucket tip and increase the working surface to control the slope repair quality, a bucket steel plate can be installed on the bucket tip of the excavator, and the bucket steel plate can be welded on the tip of the bucket. Steel plate (horizontal) ensures working precision.

The embodiment of the present invention also provides a corresponding construction operation system for the excavator, which further makes the excavator method more practical. The excavator construction operation system provided by the embodiment of the present invention is introduced below, and the excavator construction operation system described below and the excavator described above can be referred to in correspondence.

An excavator construction operation system may include a GPS reference station, a high-precision laser elevation signal transmitter, and the excavator described in any one of the above excavator embodiments.

The excavator and the GPS reference station perform data transmission through the wireless connection of the data transmission station.

The distance between the location where the GPS reference station is erected and the construction site of the excavator does not exceed the preset distance threshold; data transfer between.

The high-precision laser elevation signal transmitter is erected on the construction site of the excavator. The maximum distance between the high-precision laser elevation signal and the laser sensor (excavator) cannot exceed the signal receiving range of the laser sensor. It is used to collect the elevation of the excavator. The signal is sent to the laser sensor of the excavator to calculate the elevation information of the excavator.

The system completes the construction work through the GPS reference station and the excavator. When the system is working, the GPS receiver and digital transmission station installed on the excavator fuselage receive the GPS signal and the differential signal sent by the base station to obtain the real-time three-dimensional position of the excavator. Then, the precise three-dimensional coordinates of the excavator bucket are calculated in real time through the sensor positions installed on the excavator's arm, forearm and slewing, and the coordinate information is transmitted to the CPU. The system compares the digital three-dimensional reference model with the current position of the bucket The information indicates the relative position of the actual bucket and the target working surface in various ways such as machine simulation graphics, numerical values and sound signals, and guides the operator to perform precise construction with an accuracy of ±3cm.

The embodiment of the present invention also provides a corresponding construction operation method for the excavator, which further makes the excavator method more feasible. The excavator construction operation method provided by the embodiment of the present invention is introduced below, and the excavator construction operation method described below and the excavator described above can be referred to in correspondence.

S601: Obtain the real-time three-dimensional position information of the excavator during the construction operation, and the inclination angle information of the preset device in the corresponding preset direction.

S602: Calculate the three-dimensional position information of the bucket at a corresponding time according to the information on each inclination angle and the three-dimensional position information of the excavator.

S603: Determine whether the three-dimensional position information of the bucket is the same as the corresponding target position information in the pre-built three-dimensional reference model, if not, perform S604. The 3D reference model is generated according to the 2D site data of the construction work surface, the excavation task and the operation mode of the excavator, and is used to represent the real-time target position information during the construction operation of the excavator. The target position information includes 3D spatial coordinates, excavation thickness, direction and angle.

S604: Display the difference information between the current three-dimensional position information and the target position information, so that the operator can adjust the position of the bucket to the target position.

Among them, the real-time three-dimensional position information is the three-dimensional position information composed of the two-dimensional position information of the excavator calculated in real time by the positioning and direction-finding sensor according to the received GPS signal and the differential signal sent by the GPS reference station, and the elevation information of the excavator measured by the laser sensor .

In order to make those skilled in the art more clearly understand the technical solutions provided by this application, this application takes specific construction operations (subgrade earthwork excavation and slope shaping) as examples to introduce the construction operation process of the entire excavator, please refer to Figure 7 It may include site cleaning, on-site interception and drainage facilities construction → excavator working condition inspection, quality control guidance system installation accessories list check → excavator construction operation system installation and commissioning → excavator parameter import → two-dimensional site data preparation (two-dimensional Site data (2D to 3D) → open excavator construction operation system → two-dimensional site data import system → subgrade excavation → dump truck earthwork transportation → digging to design elevation → trench bottom compaction → road trench renovation and intelligent slope repair → stage Inspection and acceptance → next process construction.

For the roadbed site clearing construction work, the site clearing stage mainly provides the excavator with a working surface, which is carried out according to the traditional process. Among them, subgrade earthwork excavation may include:

The excavator construction operation system was installed before excavation, and site data such as vertical curves, horizontal curves, and elevation coordinates in the road work area were imported. The thickness value of layer excavation shall be controlled according to the elevation value prompted by the display during specific excavation, and random excavation or overexcavation shall not be allowed. Information such as the required excavation slope and the position of the bucket will be clearly displayed on the screen in a graphical manner, and the excavation and filling information will guide the operator to operate in the form of colors. Red stands for undercut, green stands for compliance, blue stands for backfill, and multiple information can be displayed on the screen, the content can be customized according to the operator's habits, bilateral light target display, etc., thereby reducing the frequency of slope inspection, and even There is no need to check the slope, the system will continuously monitor the quality of the work, which improves the quality and safety. It should be noted that if any change in the nature of the soil layer is found during excavation, the construction plan and excavation slope ratio should be modified and reported to the supervisory engineer for approval in time.

The traditional process requires a 30cm soil layer to be excavated manually, and the middle and side piles need to be restored to check the elevation repeatedly to avoid over-excavation. After adopting the excavator construction operation system, it can be excavated to the design elevation at one time, with an error of ±3cm.

For subgrade groove bottom compaction and intelligent slope repair construction operations, specific construction methods may include:

1) In order to facilitate accurate sensing of the coordinates of the tip of the bucket by the angle sensors and increase the working surface to control the quality of slope repair, a bucket steel plate can be welded at the tip of the bucket before operation.

2) On the basis of the original excavator, install the various devices contained in the construction operation system of the excavator.

3) Start the system, and carry out system debugging according to the requirements of the work instructions.

4) The Road Editor road editing software can be used to convert two-dimensional parameters such as vertical and horizontal curves, elevation values, and slope ratios into three-dimensional data.

5) For excavation and filling subgrades, trenches excavated by grading, etc., enter the converted two-dimensional site data, excavation tasks, and excavator operation methods on the main interface of human-computer interaction to start operations.

6) Each operation area uses the excavator construction operation system to guide the slope repair work, and the construction of the next operation area can only be carried out after passing the acceptance.

7) The slope repair should be based on the height of the slope to determine whether graded grading is required. If graded grading is performed, the coordinate data should be imported layer by layer, and the construction should be carried out step by step, and sufficient working faces should be left in accordance with the specifications.

It can be seen from the above that, compared with the original excavator construction process, the embodiment of the present invention can control the process quality in real time, effectively prevent rework caused by over- and under-excavation in earthworks, without repeated measurement, and can work continuously for 24 hours, improving efficiency and shorten the construction period. Using 3-axis sensor technology, high-precision excavation operations within 3cm can be realized. There is no need for piling, lofting, and manual process inspection, which reduces the cost of measurement and the efficiency of mechanical use, reduces repeated bulldozing, and reduces consumption of oil and materials.

The embodiment of the present invention also provides an excavator construction operation device, which may specifically include:

The information acquisition module is used to acquire the real-time three-dimensional position information of the excavator during the construction operation, and the inclination angle information of the preset device in the corresponding preset direction.

The calculation module is used to calculate the three-dimensional position information of the bucket at a corresponding time according to the information of each inclination angle and the three-dimensional position information of the excavator.

The judging module is used to judge whether the three-dimensional position information of the bucket is the same as the corresponding target position information in the pre-built three-dimensional reference model.

The visualization module is used to display the difference between the current three-dimensional position information and the target position information, so that the operator can adjust the bucket position to the target position.

Wherein, the real-time three-dimensional position information is the three-dimensional position information composed of the real-time calculation of the two-dimensional position information of the excavator and the elevation information of the excavator measured by the laser sensor according to the received GPS signal and the differential signal sent by the GPS reference station by using the positioning and direction-finding sensor. Position information, the 3D reference model is generated according to the 2D site data of the construction work surface, excavator parameters, excavation tasks and excavator operation methods, and is used to represent the real-time target position information during the construction process of the excavator. The target position information includes 3D space coordinates, excavation thickness, direction and angle.

It can be seen from the above that the embodiment of the present invention effectively improves the excavating accuracy and excavating efficiency of the excavator.

The embodiment of the present invention also provides an excavator construction operation equipment, which may specifically include:

memory for storing computer programs;

The processor is configured to execute a computer program to realize the steps of the excavator construction operation method described in any one of the above embodiments.

The functions of each functional module of the excavator construction operation equipment described in the embodiment of the present invention can be specifically realized according to the method in the above method embodiment, and the specific implementation process can refer to the relevant description of the above method embodiment, and will not be repeated here.

It can be seen from the above that the embodiment of the present invention effectively improves the excavating accuracy and excavating efficiency of the excavator.

The embodiment of the present invention also provides a computer-readable storage medium, which stores an excavator construction operation program, and when the excavator construction operation program is executed by a processor, it is the same as the steps of the excavator construction operation method described in any one of the above embodiments.

The functions of each functional module of the computer-readable storage medium in the embodiments of the present invention can be specifically implemented according to the methods in the above-mentioned method embodiments, and the specific implementation process can refer to the relevant descriptions of the above-mentioned method embodiments, which will not be repeated here.

It can be seen from the above that the embodiment of the present invention effectively improves the excavating accuracy and excavating efficiency of the excavator.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same or similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.

Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the possible For interchangeability, in the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.

The steps of the methods or algorithms described in connection with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.

The excavator construction operation method, system and excavator provided by the present invention have been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention, and the descriptions of the above embodiments are only used to help understand the method and core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (10)

1. An excavator, characterized in that, comprises an angle sensor group, a positioning and direction finding sensor, a laser sensor and a processor; The angle sensor group is used to collect the inclination angle of the preset device in the corresponding preset direction during the construction operation of the excavator; The positioning and direction-finding sensor is used to calculate in real time the three-dimensional position information of the excavator and the digging direction and angle during construction work according to the received GPS signal and the differential signal sent by the GPS reference station; The measurement signal sent by the precision laser elevation signal transmitter is calculated to obtain the elevation information of the excavator; The processor calculates the three-dimensional position information of the bucket according to the angle information collected by each angle sensor in the angle sensor group and the three-dimensional position information of the excavator; by comparing the three-dimensional position information of the bucket with the pre-stored three-dimensional position information A benchmark model for determining the target excavation parameters of the bucket on the current construction work surface, so as to guide the excavator to perform construction operations in real time; Wherein, the target excavation parameters include excavation thickness, direction and angle, and the three-dimensional reference model is generated according to the two-dimensional site data of the construction work surface, excavation tasks, operation methods and the parameters of the excavator, and is used to represent the The real-time target position information during the construction operation of the excavator is described, and the target position information includes three-dimensional space coordinates, excavation thickness, direction and angle. 2. The excavator according to claim 1, wherein the angle sensor group comprises a body sensor arranged on the body of the excavator, an arm sensor located on the arm of the excavator, an arm sensor located on the arm of the excavator, and an arm sensor located on the arm of the excavator. The boom sensor on the boom of the excavator and the bucket sensor located at the connection between the small arm and the bucket; Wherein, the vehicle body sensor is used to collect the longitudinal and lateral inclination angles of the excavator body; the small arm sensor is used to collect the longitudinal inclination angle of the small arm; the boom sensor is used to collect all The longitudinal inclination angle of the boom; the bucket sensor is used to collect the longitudinal inclination angle of the bucket. 3. The excavator according to claim 1, wherein the positioning and direction-finding sensor comprises a GPS receiver and a positioning and direction-finding antenna; the positioning and direction-finding antenna is arranged on the GPS receiver and comprises a main positioning antenna and auxiliary direction-finding antenna; the GPS receiver is used to receive GPS signals and differential signals sent by GPS reference stations; the main positioning antenna is used to determine the real-time three-dimensional position information of the excavator, and the auxiliary direction-finding antenna is used for To assist the main positioning antenna to determine the excavation direction and angle during the construction operation of the excavator. 4. The excavator according to claim 2, wherein the GPS receiver is arranged at the rear end of the vehicle body of the excavator; the connection line between the main positioning antenna and the auxiliary direction-finding antenna and the The central axis of the boom of the excavator is perpendicular to each other. 5. The excavator according to any one of claims 1 to 4, wherein the construction operation is slope repair, and further includes a bucket steel plate arranged at the tip of the bucket. 6. The excavator according to claim 5, characterized in that, the steel plate of the bucket is welded to the tip of the bucket. 7. The excavator according to claim 6, further comprising a display, the display is used to display the current three-dimensional position information of the excavator bucket, the three-dimensional target position information on the construction work surface , and display the difference information between the current three-dimensional position information and the target position information. 8. The excavator according to claim 7, further comprising an indicator light for displaying the signal of the digital transmission station and the number of satellites; the digital transmission station is located in the GPS reference station. 9. An excavator construction operation system, characterized in that it comprises a GPS reference station, a high-precision laser elevation signal transmitter and the excavator according to any one of claims 1-8; The distance between the location where the GPS reference station is erected and the construction site of the excavator does not exceed the preset distance threshold; Data transmission between GPS receivers on the excavator body; The high-precision laser elevation signal transmitter is erected at the construction site of the excavator, and is used to send the collected elevation signal of the excavator to the laser sensor of the excavator. 10. An excavator construction operation method, characterized in that, comprising: Obtain the real-time three-dimensional position information of the excavator during the construction operation, and the inclination angle information of the preset device in the corresponding preset direction; calculating the three-dimensional position information of the bucket at a corresponding time according to the information of each inclination angle and the three-dimensional position information of the excavator; Judging whether the three-dimensional position information of the bucket is the same as the corresponding target position information in the pre-built three-dimensional reference model; If not, displaying the difference information between the current three-dimensional position information and the target position information, so that the operator can adjust the position of the bucket to the target position; Wherein, the real-time three-dimensional position information is composed of the two-dimensional position information of the excavator calculated in real time by the positioning and direction-finding sensor according to the received GPS signal and the differential signal sent by the GPS reference station, and the elevation information of the excavator measured by the laser sensor The three-dimensional position information; the three-dimensional benchmark model is generated according to the two-dimensional site data of the construction work surface, the excavation task, the operation method and the parameters of the excavator, and is used to represent the real-time target during the construction operation of the excavator Position information, the target position information includes three-dimensional space coordinates, excavation thickness, direction and angle.