CN106568430A - Positioning method of earth moving system and device thereof - Google Patents
Positioning method of earth moving system and device thereof Download PDFInfo
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- CN106568430A CN106568430A CN201510650806.XA CN201510650806A CN106568430A CN 106568430 A CN106568430 A CN 106568430A CN 201510650806 A CN201510650806 A CN 201510650806A CN 106568430 A CN106568430 A CN 106568430A
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- car body
- work
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- rotation
- inertial measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a positioning method of an earth moving system. The method comprises the following steps: obtaining global position coordinates of a car body and rotation angle of the car body in the three-dimensional geographic space; calculating position coordinates of the place where the car body is hinged to an operation unit according to the above position coordinates and rotation angle; obtaining rotation angle of the operation unit in the three-dimensional space; and calculating position coordinates of a reference point on the operation unit according to the position coordinates of the place where the car body is hinged to an operation unit and the rotation angle of the operation unit in the three-dimensional space. Parameters can be provided for car automatic drive, and three-dimensional geographic data can be updated by the use of global position coordinates of the part where the bottom of the car body is contacted with the ground. Therefore, operation and surveying and mapping are simultaneously carried out. Time and cost are both saved. Meanwhile, each sensor can be conveniently installed on different models to form modularization. The device of the invention is safe and durable in use, and is convenient for general use and transplantation.
Description
Technical field
The invention belongs to the engineering machinery of muck haulage, specifically a kind of to be used to for soil to be modified to anticipated shape
With determining for the bull-dozer of landform or the engineering truck leveled land, particularly a kind of bull-dozer and its apparatus for work
Position method, and the device for implementing the method.
Background technology
In order to realize land leveller or bull-dozer automatically controlling in the course of the work, it is thus necessary to determine that land leveller is pushed away
Native machine real time position in the course of the work and state, and according to its real-time position and state adjustment control its
Working condition.Various bull-dozers or the localization method in land leveller are provided in prior art, especially with regard to
The localization method of bull-dozer and its perching knife position.
With regard to how to position the solution of perching knife in some prior arts provided below.
In Chinese invention patent application (on January 11st, 2012 is open, publication number CN102312452A)
A kind of earthmoving system is disclosed, including the bull-dozer with vehicle frame and cutting blade, the cutting blade is by certainly
The blade support that vehicle frame extends is supported.The blade support is included for knife to be lifted and reduced with regard to the vehicle frame
A pair of hydraulic cylinders of piece and the blade tilt cylinder for controlling the lateral inclination of cutting blade.A pair
GPS is arranged on the cutting blade of bull-dozer to receive gps signal.First Inertial Measurement Unit sense
Measuring car frame around be substantially transverse to bull-dozer and through bull-dozer center of gravity axis rotation.Second inertia is surveyed
Amount unit senses vehicle frame around approximately longitudinally in bull-dozer and through bull-dozer center of gravity axis rotation.Control
Device processed in response to the pair of GPS and the first and second Inertial Measurement Units, to control hydraulic pressure vapour
The operation of cylinder and the thus position of control cutting blade.The controller is with the output based on GPS
Calculate repeatedly and the output based on the first and second Inertial Measurement Units is to the low latency that calculates repeatedly
Forward feedback correction is monitoring the position of cutting blade.Accelerometer on vehicle frame is determined for vehicle frame
Vertically move.The accelerometer to controller provides normal acceleration output, and thus the controller can be with
Determine the quick change of vehicle frame position, the quick change can be based on the output of accelerometer and be passed to cutter
Piece.The controller is with the calculating repeatedly based on the output of GPS and based on revolution instrument system and adds
The output of speed meter monitors the position of cutting blade to the forward feedback correction of low latency for calculating repeatedly.This side
Method focus of attention is the position of perching knife (cutting blade) and state, for the state of vehicle lacks monitoring.Together
When, gps receiver is mounted on dozer, it is possible to because the vibration of dozer is directly transferred to GPS receiver
Cannot receive correct gps data on device, and easily dynamic by the dozer shovel and sandy soil that jumped are damaged.
In Chinese invention patent (Authorization Notice No. CN103154386B, authorized announcement date July 2 in 2014
Day) in disclose a kind of building machinery, including：Car body；It is installed on carrying for the car body with can swinging up and down
Rise support；It is supported on the dozer of the lifting bracket front end；Lift cylinder；Corner cylinder；Inclined cylinder；It is based on
The inclined cylinder of the lift cylinder length of the lift cylinder, the corner cylinder length of the corner cylinder and the inclined cylinder
Length obtains the angle obtaining section at lifting angle, corner and inclination angle；It is fixed on the car body, receives display originally
The gps receiver of the gps data that seat in the plane is put；Based on the GPS received by the gps receiver
Data, and the lifting angle, the corner and the inclination angle obtained by the angle obtaining section, are taken
Obtain the GPS obtaining section of dozer location in global coordinates system；The angle obtaining section
It is stored with the combination of the corner cylinder length and the inclined cylinder length and the corner and the inclination angle
The corresponding conversion table of combination.Corresponding, this localization method needs more sensor and automatically controlled and right
The bull-dozer of different model is answered, because its corner cylinder model is different, the sensor of its hydraulic cylinder linear measure longimetry is
It is built in inside hydraulic cylinder, it is impossible to convenient to take out and install, so the equipment that the program is used is to fix a certain
It is individual mechanically, it is impossible to remove and installed in other different models mechanically, versatility is poor, increased
Use cost.
Similar technology coordinates GPS to determine the side of dozer position also by laser pickoff and laser master station
In method, such as Chinese invention patent application (publication number 1434177A, publication date August in 2003 6 days)
It is described.Such method is higher to environmental requirement, and sleety weather and dust can affect the effect of laser pickoff,
And require that laser station keeps closer distance with receptor, while receptor and laser beam face will be positioned at relative
In the plane of level, receptor can not be lifted significantly up and down at any time.With the change of excavating depth, need
The height of periodic adjustment laser station.And, the positioning precision of this scheme is obvious by dozer vibration influence.
In sum, prior art is all the positioning to apparatus for work, lacks the positioning to car body itself, no
Carry out simultaneously beneficial to operation and mapping, realize automatic Pilot and the operation of vehicle.
The content of the invention
It is an object of the invention to overcome above-mentioned technological deficiency, there is provided one kind can position vehicle and operation dress
Put (typically refer to perching knife) method and device of position and state.
In order to realize foregoing invention purpose, the invention provides technical scheme below：
A kind of localization method of earthmoving system, comprises the following steps：
A. obtain car body global position coordinates and in three-dimensional geographic space car body the anglec of rotation；
B. calculate car body according to above-mentioned position coordinateses and the anglec of rotation to sit with the position of apparatus for work hinged place
Mark；
C. the anglec of rotation of the apparatus for work in three dimensions is obtained；
D. the rotation according to the position coordinateses and apparatus for work of car body and apparatus for work hinged place in three dimensions
Angle calculation obtains the position coordinateses of reference point on apparatus for work.
Preferably, base station is additionally provided with this method, its static state is placed on a position, the sight of base station
Measured value and survey station coordinate information are used as reference value, position, the anglec of rotation with the car body or apparatus for work for obtaining
The value of information calculates the locus of car body or apparatus for work, in order to constitute difference observation in system
Value carries out real-time processing, for obtaining centimeter-level positioning result.
Preferably, surveyed by a GPS, the 2nd GPS and the second inertia on car body in step A
The position coordinateses and its anglec of rotation in three dimensions of amount unit measurement car body；By peace in step C
The first Inertial Measurement Unit being mounted on apparatus for work measures the anglec of rotation of apparatus for work.
Preferably, car body is measured by the GPS and fibre optic gyroscope on car body in step A
Position coordinateses and its anglec of rotation in three dimensions；By on apparatus for work in step C
The first Inertial Measurement Unit measure apparatus for work the anglec of rotation.
Preferably, in step A by the N number of GPS on the car body measure car body position coordinateses and
Its anglec of rotation in three dimensions, wherein N is greater than being equal to 3 natural number；Pass through in step C
The first Inertial Measurement Unit on apparatus for work measures the anglec of rotation of apparatus for work.
For above measurement scheme, it is preferable that the coordinate points chosen on car body are as a reference point, its conduct
Position and Angle ambiguity variable of the car body in local three-dimensional geographical co-ordinate system；The reference point is substantially
Subpoint of the focus point of system in car body bottom surface.
Preferably, the step of determining reference point includes：In the ground grading without the gradient, place an object and make
For the strong point, car body was opened into the strong point, when car body will extend over the strong point and swing back, stopped
Firmly car body, writes down position of the strong point on car body；Car body is advanced again opened the strong point, be in car body
When will extend over the strong point and lean forward, car body is stopped, write down position of the strong point on car body；More than
The midpoint of two positions, in the subpoint of vehicle bottom, is exactly subpoint of the body gravity in vehicle bottom plane.
Preferably, the reference point of apparatus for work is chosen at and is selected in apparatus for work bottom centre point or two, base
End points.
Preferably, the apparatus for work is perching knife.
Preferably, an angle measuring unit is installed on the perching knife support arm, it is used for measuring support arm
Luffing angle.
Preferably, it is at least a pair to be symmetrically installed with regard to crossing the perpendicular of car body reference point in the GPS,
The perpendicular is extended from the afterbody of car body to the stem of car body.
Present invention also offers implementing the device of said method, it includes that the inertia being arranged on apparatus for work is surveyed
Amount unit is used for the measuring unit of the coordinate and anglec of rotation measured in car body three dimensions with being arranged on car body
Group, the measuring unit group is the one kind in following combinations：(i) be arranged on the GPS on car body, the
Two GPS and the second Inertial Measurement Unit, the first Inertial Measurement Unit on apparatus for work；(ii) pacify
A GPS and the fibre optic gyroscope being mounted on car body, the first Inertial Measurement Unit on apparatus for work；
(iii) by the N number of GPS on car body in step A, wherein N is greater than being equal to 3 nature
Number, the first Inertial Measurement Unit on apparatus for work.
Compared with prior art, beneficial effects of the present invention：We are primarily used to the positioning to system itself
Parameter is provided for Vehicular automatic driving, and using vehicle bottom and the global position coordinates of ground contact portion
To update three-dimensional geodata, accomplish operation and mapping while carrying out, save time and cost.And operation
The positioning of device be then for recognizing apparatus for work GPS and angle control operation landform height,
Shape and the gradient.Simultaneously each sensor can be conveniently installed in different type of machines, can form modularity, pacified
It is complete durable, and it is easy to general and transplanting.
Description of the drawings.
Figure 1A is the integrally-built side view of bull-dozer 1 for representing present embodiment.
Figure 1B is the integrally-built side view of another embodiment of the present invention bull-dozer.
Fig. 2A is the schematic diagram of one embodiment of the invention.
Fig. 2 B are the schematic diagrams of another embodiment of the invention.
Fig. 2 C and 2D are the schematic diagrams of yet another embodiment of the invention.
Fig. 3 is that whole world LLA coordinates are tied to local ENU coordinate systems flow path switch figure in embodiment.
Fig. 4 A are that the local XYZ coordinate system of car body defines schematic diagram.
Fig. 4 B-4D are that the car body anglec of rotation defines schematic diagram.
Fig. 5 is that the local XYZ coordinate system of apparatus for work defines schematic diagram.
Fig. 6 is the schematic diagram that reference point is controlled in the embodiment of the present invention.
Fig. 7 be by with reference to point coordinates to coordinate of ground point reasoning flow figure.
Fig. 8 is the control flow chart of control unit.
Specific embodiment
With reference to test example and specific embodiment, the present invention is described in further detail.But should not be by
This scope for being interpreted as above-mentioned theme of the invention is only limitted to below example, all real based on present invention institute
Existing technology belongs to the scope of the present invention.
In statement referring to the drawings, same or similar part is labelled with same or similar symbol.
Accompanying drawing is schematic diagram.
Just illustrate as the bull-dozer of a certain example of earthmoving system below with reference to accompanying drawing.In the following description,
" on ", D score, "left", "right", "front", "rear" be to drive indoor operation to be sitting in prior art
Term on the basis of member.
With reference to Fig. 1, a kind of bull-dozer 1 of the embodiment of the present invention includes：Car body 10, mobile devices 20, carry
Rise support 30, apparatus for work (dozer) 40, corner cylinder 34, lift cylinder 35, inclined cylinder 36, GNSS
Receptor 70 (one or more), Inertial Measurement Unit (Inertial Measurement, abbreviation IMU) 51,
Inertial Measurement Unit 50 (optional), arithmetic operator unit 60.The present embodiment will be respectively discussed in detail below
Each ingredient.
Car body 10 has driver's cabin 12 and engine room 11, and driver's cabin 12 is filled built with seat and various operations
Put (not shown).
Mobile devices 20 are made up of (Figure 1A only shows a crawler belt) a pair of crawler belts and its driving means, are installed
In the bottom of car body 10.Bull-dozer 1 is travelled and turned to by the rotation of a pair of crawler belts.Lifting bracket 30 exists
The inner side of mobile devices 20 is assemblied on vehicle-width direction.Lifting bracket 30 with vehicle-width direction (with
Drive the left and right directions on the basis of indoor driver) centered on parallel axle X, it is arranged on can swinging up and down
On car body 10.Lifting bracket 30 is supported by ball-joint portion 31, pitching support link 33, column sections 32
Apparatus for work (dozer) 40.
Apparatus for work (dozer) 40 is assemblied in before car body 10.Apparatus for work (dozer) 40 leads to
The universal joint 42 being connected with ball-joint portion 31 and the inclination joint 41 being connected with pitching support link 32 are crossed,
Elevated support 30 is supported.The bottom of apparatus for work (dozer) 40 is formed excavates, levels land
Blade 43.Apparatus for work can be moved up and down with swinging up and down for lifting bracket.
Lift cylinder 35 (a pair) is connected with car body 10 and lifting bracket 30.By the flexible of lift cylinder 35, carry
Rise support 30 to swing up and down centered on axle X.Corner cylinder 34 (a pair) and lifting bracket 30 and dozer 40
Connection.By the flexible of corner cylinder 34, apparatus for work 40 is with high with vehicle through the center of universal joint 41
Swing centered on the parallel axle Z of degree direction (above-below direction on the basis of to drive indoor driver).Incline
Cylinder 36 (one) be connected with the column sections 32 of lifting bracket 30 and the upper right end of dozer 40.By inclining
Cylinder 36 it is flexible, apparatus for work 40 with through the center of universal joint 40 with vehicle lengthwise direction (with driver's cabin
Fore-and-aft direction on the basis of interior driver) swing centered on parallel axle Y.
Above-mentioned bull-dozer 1 is same or similar with bull-dozer of the prior art.The present embodiment also includes：
GNSS receiver 70 is configured on car body 10.(the Global Navigation of GNSS receiver 70
Satellite System:GPS, including the Global Positioning System in the U.S.
(GPS geo-location system)；Muscovite GLOBAL NAVIGATION SATELLITE SYSTEM
(GLONASS)；The GALILEO positioning system in Europe；The various globals such as the BEI-DOU position system of China positioning
System) receive the location data for representing the machine GPS.GNSS receiver 70 is by the positioning number for receiving
According to sending arithmetic operator unit 60 to.
In various embodiments, GNSS can have various configurations.For example, GNSS receiver 70 is configured
Vehicle-width direction central authorities on car body 10 (with reference to Fig. 2A).To improve the measurement accuracy of car body yaw angle,
Can configure two GNSS receivers 70,71 symmetrically to divide along the vehicle-width direction central axis of car body 10
Cloth, and keep distance enough (reference picture 2B, wherein Y are vehicle-width direction centrage).For example, it is
Inertial Measurement Unit 50 is saved, three GNSS receivers 70,71,72 is can configure on car body, wherein
GNSS receiver 70 and 71 is symmetrical along the vehicle-width direction central axis of car body 10 and keeps sufficient
Enough distances；GNSS receiver 72 be located at vehicle-width direction centrage on, and with GNSS receiver 70
In the vehicle width direction centrage keeps distance (reference picture 2C) enough at midpoint with 71.
Inertial Measurement Unit 51 is arranged on apparatus for work 40, for obtaining apparatus for work three-dimensional geographical empty
Between three anglecs of rotation, and the pivoting angle data of apparatus for work 40 is sent to arithmetic operator unit 60.
Inertial Measurement Unit 50 is arranged on car body 10, for obtaining car body 10 in the three-dimensional anglec of rotation,
And the pivoting angle data of car body 10 is sent to arithmetic operator unit 60.For car body 10 equipped with three or
Under the configuration of more than three GNSS receivers (reference picture 2C), then Inertial Measurement Unit 50 need not be installed.
Arithmetic operator unit 60 is arranged on car body 10, receives the position data (figure of GNSS receiver 70
In 2B, the position data of GNSS receiver 71 is also received；In Fig. 2 C, GNSS receiver is also received
71 and 72 position data), the angle-data of Inertial Measurement Unit 51 is received, receive Inertial Measurement Unit
50 angle-data (in Fig. 2 C, the angle-data without the need for receiving Inertial Measurement Unit 50), is deposited using inside
The isostructural physical dimension data of the car body 10 of storage, lifting bracket 30, apparatus for work 40 are calculating the whole world
The GPS and angle of car body 10 and apparatus for work 40 in coordinate system.Arithmetic operator cellular construction and function
Can be described in detail below.
In another embodiment, connection and the behaviour of the lifting bracket 30 of earth mover 1 and apparatus for work 40
Make mode slightly to distinguish (with reference to Figure 1B) with the expression in Figure 1A.Wherein lifting bracket 30 is in vehicle width
The outside of mobile devices 20 is assemblied on direction.Lifting bracket 30 with vehicle-width direction (with driver's cabin
Left and right directions on the basis of interior driver) centered on parallel axle X, it is arranged on car body 10 with can swinging up and down.
Lifting bracket 30 supports apparatus for work 40 by articulation joint 31, pitching cylinder 34.Lift cylinder 35 (a pair,
Symmetrical distribution) it is connected with car body 10 and lifting bracket 30.By the equidirectional upper and lower of left and right lift cylinder 35
Isometric flexible, lifting bracket 30 is swung up and down centered on axle X.By the anti-each other of left and right lift cylinder 35
Direction is isometric flexible, and apparatus for work 40 is with through the midpoint of articulation joint 31 and flat with vehicle width centrage
Swing centered on capable axle Y.A pair of pitching cylinders 34 are connected with lifting bracket 30 and apparatus for work 40.
By the flexible of pitching cylinder 34, apparatus for work 40 is with flat with vehicle-width direction through the center of articulation joint 31
Swing centered on capable axle X '.Bull-dozer 1 is without corner cylinder.Inertial Measurement Unit and GNSS connect
Receive the configuration of device and install identical with shown in Figure 1A.Because apparatus for work 40 can pitching cylinder 34 it is flexible under
Pitch swings, therefore need to determine lifting bracket equipped with Inertial Measurement Unit 52 on lifting bracket 30
30 inclination angle and the angle of pitch (its yaw angle is identical with the yaw angle of car body 10), and send arithmetic operator to
Unit 60.
In order to be better understood from position and the angle of whole system, in the following embodiments to local coordinate system
It is defined.Control apparatus for work (perching knife of such as bull-dozer, the scraper bowl of excavator, loader
Loader(-mounted) shovel) in the position of three-dimensional geographic space any time and angle, control machine is in three-dimensional geographic space
Position and attitude, just must have accurate targeting scheme and with reference to point coordinates, angle derivation model (because
Reference point is not necessarily measurement point).Positioning said herein is in fact attitude, including a point is three-dimensional geographical empty
Between position coordinateses and the anglec of rotation：The angle of pitch (Pitch), rollover angle (Roll) and yaw angle (Yaw).
The surveying and mapping data that alignment sensor GPS is provided is the longitude (Longitude) under WGS84 forms, latitude
(Latitude) and height above sea level (Altitude), the coordinate is also referred to as LLA coordinate systems.Count for convenience
Calculate, come for ECEF coordinate system (ECEF, Earth center earth fixed) in this LLA Coordinate Conversion
XYZ coordinate (forward and inverse conversion has disclosed formula) is obtained, and further the XYZ under ECEF switched to
Local XYZ geographic coordinate systems, i.e. ENU (East North Up) coordinate system, the conversion can be by existing
Some formula are carried out.In these coordinates, global position coordinates, local coordinate system each other can be by turning
Get in return.
In embodiment, generally positioned using Real-time and Dynamic GPS (RTK GPS), a GPS connects
Receive device and be placed on a certain static position in operating area as base station, base station passes through wireless communication data link
Its observation and survey station coordinate information are broadcasted together one or more rover stations sent in operating area
(gps receiver on being arranged on machine or apparatus for work).Rover station is not only received from base by Data-Link
The data at quasi- station, will also gather GPS observation data, and difference observation is constituted in system and be located in real time
Reason, while providing centimeter-level positioning result.
In embodiment, alignment system is using the center position of benchmark station antenna as operating area ENU
The origin of coordinate system, local coordinate system (X of each GNSS rover station in the ENU coordinate systemsi, Yi,
Zi) then by LLA coordinates to ECEF coordinates, then obtain to ENU Formula of Coordinate System Transformation.Global LLA
The flow path switch of coordinate to local ENU coordinate systems is as shown in Figure 3.
To state, direction and the geometrical deviation of on car body or internal each position, defines car body local coordinate system
XYZ is as shown in Figure 4 A.On the basis of to drive indoor driver, X-axis is parallel with width of the carbody direction, side
To for from left to right.Y-axis is parallel with length over ends of body direction, and width of the carbody centrage overlap, direction be from
Before backward.Z axis are parallel with height of the carbody direction, and direction is for from top to bottom.The axles of car body XYZ tri- observe the right hand
Criterion.Convenient in order to meet Conventional deployment and computing, the original place of usual car body local coordinate system is chosen for
The central point (referring to Fig. 2A) of GNSS receiver, or midpoint (Fig. 2 B and the figure of two GNSS receivers
It is the midpoint of GNSS receiver 70 and 71 in 2C).
Car body three anglecs of rotation in ENU coordinate systems：The angle of pitch (Pitch), turns on one's side angle (Roll) and inclined
Boat angle (Yaw) definition is respectively as shown in Fig. 4 B, 4C, 4D.The angle of pitch (Pitch) defined in Fig. 4 B
For any time car body Y-axis and the angle of horizontal plane, scope is [- 90 °, 90 °].Symbol for rotate down for
It is negative, it is rotated up as just (above-below direction on the basis of to drive indoor driver).Side defined in Fig. 4 C
The angle that angle (Roll) is any time car body X-axis and horizontal plane is turned over, scope is [- 90 °, 90 °].Symbol
To turn right just, to turn left to bear (left and right directions on the basis of to drive indoor driver).Fig. 4 D
Defined in yaw angle (Yaw) be any time car body Y-axis and geographical direct north angle, scope is
(-180°,180°].Symbol is negative to rotate counterclockwise just, to rotate clockwise.The angle of pitch (Pitch), side
Turn over angle (Roll) and yaw angle (Yaw) angular velocity definition and symbol with its each angle definition it is consistent.
The car body angle of pitch (Pitch), turns on one's side angle (Roll) and the angle of yaw angle (Yaw) can be by car body
On the contrary angle is obtained the measurement position Coordination difference of Inertial Measurement Unit 50 or two GNSS receivers, below
It is the specific embodiment of several acquisition car body angles of pitch, rollover angle and yaw angle：
(1) single GNSS receiver as device for positioning body of vehicle when (refer to Fig. 2A), the angle of pitch of car body,
Rollover angle and yaw angle are read by Inertial Measurement Unit 50 (referring to Figure 1A and 1B).
(2) in order to make up inaccuracy that some Inertial Measurement Units determine to yaw angle and be become by surrounding magnetic field
Change and produce with the time error of the introducings such as angle skew, using two GNSS receivers (referring to Fig. 2 B)
To obtain car body yaw angle and rollover angle, if the position coordinateses of GNSS receiver 70 are (X1, Y1, Z1),GNSS
The position coordinateses of receptor 71 are (X2, Y2, Z2), thenCar body is turned on one's side
Angle=sin-1D, whereinL is GNSS receiver 70 and the distance between 71.As d ＞ 1,
Car body rollover angle is 90 °, and as d ＜ -1, car body rollover angle is -90 °.The angle of pitch of car body is by inertia measurement
Unit 50 reads.
(3) it is saving Inertial Measurement Unit 50, it is also possible to using (the reference of three or more GNSS receivers
Fig. 2 C) obtaining car body yaw angle, the rollover angle and angle of pitch.If the position coordinateses of GNSS receiver 70 are
(X1, Y1, Z1), the position coordinateses of GNSS receiver 71 are (X2, Y2, Z2), GNSS receiver
72 position coordinateses are (X3, Y3, Z3).ThenCar body rollover angle=sin-1D, its
InL is GNSS receiver 70 and the distance between 71.As d ＞ 1, car body rollover angle is
90 °, as d ＜ -1, car body rollover angle is -90 °；When GNSS receiver 72 is located at GNSS receiver
(with reference to the left figure of Fig. 2 C) when before 70 and 71, the car body angle of pitch=sin-1L, whereinD
For GNSS receiver 72, and the distance between receptor 70,71 midpoints.As l ＞ 1, car body pitching
Angle is 90 °, and as l ＜ -1, the car body angle of pitch is -90 °；After GNSS receiver 72 is located at 70 and 71
(with reference to the right figure of Fig. 2 C) during face, the car body angle of pitch=sin-1L, whereinAs l ＞ 1,
The car body angle of pitch is 90 °, and as l ＜ -1, the car body angle of pitch is -90 °.
To be accurately positioned car body in the position of three-dimensional geographic space, it is to avoid because between GNSS receiver and ground
Distance causes location data deviation when car body is rotated；Consider simultaneously using the running gear bottom of car body
With the three-dimensional geodata that the GPS data of ground contact portion come real-time update operating area, need to choose
The focus point of earthmoving system is used as Location vehicle reference point in the subpoint of running gear base plane.The ginseng
In examination point such as Fig. 6 shown in A points.The point is chosen as mainly as follows the reason for Location vehicle reference point：(a)
When car body is turned to or turned on one's side, the geometrical offset minimum that A points come with car body travel route because of rotational band can be maximum
Degree ground accurately represents car body physical location on the ground；B () car body is under steam because of ground out-of-flatness
Jolt or pitching rise and fall when, running gear with through A points the axle parallel with car body X-axis do pitching pendulum
It is dynamic, the maximum probability that running gear bottom contacts on the pitching shaft position with ground, with the coordinate energy of A points
Most accurately represent the three-dimensional data of landform at A points.
The method for determining A points：1st, in the ground grading without the gradient, a L-type steel bar or wedge like are placed
Earthmoving system reverse gear was slowly opened the strong point by object as the strong point, and in earthmoving system this is will extend over
The strong point and when swing back, stop earthmoving system, write down the strong point in the position of running gear base plane
L1；2nd, it is similar, earthmoving system is advanced and opened the strong point, will extend over the strong point in earthmoving system and
When leaning forward, earthmoving system is stopped, write down position L2 of the strong point in running gear base plane.It is determined that
Position L3 of the midpoint of L1 and L2 in running gear base plane.It is parallel with car body X-axis through L3
Axle is A points with car body Y-axis in the intersection point of bottom surface axis of projection Yd (with reference to Fig. 6).
Because apparatus for work (dozer) can now define apparatus for work sheet independently of car body in three-dimensional rotations
Ground coordinate system XYZ definition is as shown in Figure 5.Apparatus for work local coordinate system X-axis, Y-axis and Z axis
Definition defines basically identical with Fig. 4 A car body local coordinate system XYZ axles.Apparatus for work local coordinate system
Origin be chosen for the center (referring to Figure 1A) of universal joint 41, or the midpoint (reference of articulation joint 31
Figure 1B).Apparatus for work three anglecs of rotation in ENU coordinate systems：The angle of pitch (Pitch), turns on one's side angle (Roll)
Define with yaw angle (Yaw) identical with three anglec of rotation definition of car body above.The apparatus for work angle of pitch
(Pitch) the angular velocity definition of angle (Roll) and the yaw angle (Yaw) of, turning on one's side and symbol and its respective angle
Definition is consistent.
The apparatus for work angle of pitch (Pitch), rollover angle (Roll) and yaw angle (Yaw) are by inertia measurement list
Unit 51 (referring to Figure 1A and 1B) reads.
To represent that apparatus for work, in the position of global space and angle, controls the height of the operation blade of apparatus for work
Spend and landform of the angle to complete to set is cut or planar profile, it is sword to define operation setting position reference point
Portion's central point B points, as shown in Figure 5 and Figure 6.
In three-dimensional geographic space, because often there is geometric distance deviation and rotation between impact point and measurement point
Gyration (refers to Fig. 6, measurement point is the center position coordinates of GNSS receiver 70, and impact point is car body
Position reference point A point), it is therefore desirable to consider geometric distance deviation between measurement point and impact point, it is current when
The anglec of rotation at quarter, is reference point deriving impact point current time at this with the position coordinateses of measurement point
The position coordinateses on ground three-dimensional geographic space (local ENU coordinate systems), and the local position coordinate of impact point
Be converted to global position coordinates.Coordinate reasoning flow is as shown in Figure 7.T at any time, GNSS receiver
The position coordinateses in local ENU coordinate systems that measurement is obtained are (Xr, Yr, Zr), if GNSS connects
It is longitude, latitude and height above sea level coordinate to receive device output data, then by LLA to ECEF Coordinate Conversion,
ECEF obtains the position coordinateses (having open formula) of local ENU coordinate systems to local ENU Coordinate Conversion.
Known location point (Xr, Yr, Zr) as a reference point.It is same rotation system in, impact point with reference
Geometrical offset distance of the point on car body or the direction of principal axis of device XYZ tri- is (dx, dy, dz), and rotate system
The angle of pitch of (such as car body), rollover angle and yaw angle are (θp, θr, θy), then by following steps meter
Calculate coordinate of ground point (Xt, Yt, Zt)
(1) try to achieve geometrical offset distance and rotate θ in yaw angleyNew geometrical offset distance (X afterwardsay, Yay,
Zay):
(2) new geometrical offset distance (X is tried to achieveay, Yay, Zay) in rollover angle rotation θrAfterwards new
Geometrical offset distance (Xar, Yar, Zar):
(3) new geometrical offset distance (X is tried to achievear, Yar, Zar) rotate θ in the angle of pitchpAfterwards new several
What offset distance (Xap, Yap, Zap):
If -1≤D≤1, δ=sin-1D；If D ＞ 1, δ=90 °；If D ＜ -1, δ=- 90 °
(4) position coordinateses (X of the impact point in local ENU coordinate systems is tried to achievet, Yt, Zt)：
(5) impact point local ENU coordinate systems position coordinateses (Xt, Yt, Zt) be converted to ECEF
Coordinate, is reconverted into LLA global position coordinates (having open formula)
Step (1) to (3) is the order according to yaw angle, turn on one's side angle, the angle of pitch in above flow path switch
Carry out.Also can carry out according to the random order of these three angles.
Contact with ground for the GPS of accurate description car body, and the base plane using car body running gear
Partial position data carrys out real-time update dimensional topography relief data, is automatically performed landforms height and angle of inclination
Mapping, need to derive car body reference point A (with reference to Fig. 6) from the position coordinateses of car body GNSS receiver
Coordinate.Calculating process is as follows：
(1) car body GNSS receiver global coordinates are read and the position in local ENU coordinate systems is converted to
Put coordinate (X0, Y0, Z0).For single GNSS receiver (with reference to Fig. 2A), (X0, Y0, Z0)
It is exactly the position coordinateses of GNSS receiver 70.For multiple GNSS receivers (reference picture 2B and 2C),
(X0, Y0, Z0) be GNSS receiver 70 and 71 middle point coordinates, Wherein (X1, Y1, Z1) be exactly GNSS receiver 70 position coordinateses, (X2, Y2,
Z2) be exactly GNSS receiver 71 position coordinateses.Using position coordinateses (X0, Y0, Z0) as measurement
Reference point.
(2) angle of pitch, rollover angle and the yaw angle at car body current time are read.Three anglecs of rotation of car body
Can be read by the Inertial Measurement Unit on car body or anti-by two GNSS receiver position coordinateses difference
Angle is asked to obtain, concrete grammar has been described above.
(3) according to car body position reference point A (with reference to Fig. 6) and the geometrical offset (d of witness markx, dy,
dz), the witness mark coordinate that obtains in three anglecs of rotation, the step (1) that obtain in step (2),
The local ENU position coordinateses of car body position reference point A are obtained by above-mentioned reference point coordinates derivation method
(XA, YA, ZA), and be converted to global position coordinates.
(4) it is similar to, the global position coordinates for obtaining car body running gear bottom surface other positions can be calculated, this
The three-dimensional geodata that a little position coordinateses can be used to update corresponding point is high to complete geographic data updates and landform
Degree and angle mapping.
For the GPS and inclination/rotational angle of accurate description apparatus for work, using apparatus for work come according to setting
Fixed Terrain Elevation and angle of inclination carrys out construction operation, needs from the position coordinateses of car body GNSS receiver to come
Derive the global position coordinates of apparatus for work reference point B (with reference to Fig. 6).But because apparatus for work can carried
Rise and rotated independently of car body under cylinder, inclined cylinder, the extension and contraction control of corner cylinder (or pitching cylinder), therefore
Apparatus for work is with car body not in same rotation system, it is impossible to using the side that car body position reference point A is deduced accordingly
Method carrys out direct derivation apparatus for work position reference point B.Apparatus for work is connected by lifting bracket with car body, can be led to
It is connected rotary shaft midpoint with car body (in Figure 1A and Figure 1B in X-axis and width of the carbody after first acquisition lifting bracket
The intersection point in heart face) position coordinateses, the use of the rotary shaft point midway coordinate is then reference point deriving
Go out lifting bracket (to be the central point of universal joint 42 in Figure 1A, scheme with the middle point coordinates of apparatus for work junction
It is X ' axles and the intersection point of width of the carbody median plane in 1B), then again with point coordinates in this junction as reference point,
Derive the global position coordinates of apparatus for work position reference point B.Calculating process is as follows：
(1) method for obtaining car body position reference point above is similar to, car body GNSS receiver is obtained first
Witness mark position coordinateses (X0, Y0, Z0)；Then the angle of pitch, rollover angle and the yaw angle of car body are obtained；
It is inclined according to the geometric distance that lifting bracket is connected rotary shaft midpoint and GNSS receiver witness mark with car body
Move, acquisition lifting bracket is calculated using above-mentioned coordinate derivation model and is connected rotary shaft midpoint C points with car body
Position coordinateses (the X of (referring to Fig. 6)C, YC, ZC)。
(2) on the lifting bracket 30 in Figure 1B be equipped with Inertial Measurement Unit 52, the angle of pitch of lifting bracket and
Rollover angle can be read by Inertial Measurement Unit 52, and the yaw angle of lifting bracket is identical with the yaw angle of car body.Figure
Lifting bracket does not have pitching cylinder in 1A, and apparatus for work can not do pitch rotation independently of lifting bracket, therefore make
There is a constant deviation Δ P on the angle of pitch in industry device and lifting bracket.Determine the constant pitch deviation
Method is：A () keeps apparatus for work without inclination, read using the Inertial Measurement Unit 51 on apparatus for work
The angle of pitch P1 of current work device；B () moves on to Inertial Measurement Unit 51 on lifting bracket, read now
The angle of pitch P2 of lifting bracket；C () Δ P=P1-P2, the angle of pitch constant deviation only need to determine once.Figure
The rollover angle of lifting bracket and yaw angle are with the rollover angle of car body, yaw angle identical in 1A, and lifting bracket is bowed
The elevation angle is then equal to the angle of pitch that Inertial Measurement Unit 51 reads on apparatus for work and deducts constant deviation Δ P.Thus
Obtain three anglecs of rotation of any time lifting bracket.And inertia measurement list need not be loaded on lifting bracket
Unit.Lifting bracket is D points (referring to Fig. 6), D points and step (1) with the midpoint of apparatus for work junction
The geometrical offset distance of middle C points is for (0, L, 0), wherein L is the length of D points and C points along lifting bracket
Distance.Position coordinateses (the X of the C points to try to achieve in step (1)C, YC, ZC) it is to refer to point coordinates, lead to
Crossing coordinate derivation model can obtain D point coordinates (XD, YD, ZD)。
(3) three anglecs of rotation of apparatus for work can be read by Inertial Measurement Unit 51, apparatus for work position
Reference point B is (l with the geometrical offset of apparatus for work rotary middle point Dx, ly, lz), with step (2)
D point coordinates (the X for askingD, YD, ZD) it is reference point, deriving model by coordinate can obtain apparatus for work
Coordinate (the X of position reference point BB, YB, ZB), and be converted to global position coordinates.
In the above-described embodiments, arithmetic operator unit 60 (referring to Figure 1A and 1B) receives one or more GNSS
The position coordinate data of receptor, the pivoting angle data of Inertial Measurement Unit, and according to each of storage inside
Item geometrical offset data, using car body position reference point Coordinate calculation method explained above and apparatus for work position
Put reference point Coordinate calculation method to calculate the GPS data of car body and apparatus for work in real time, and these
Position data sends the vehicle based computing system or car outer control system of correlation to.The workflow of arithmetic operator unit
Journey is as shown in Figure 7.
The apparatus for work (perching knife/scraper bowl etc.) of engineering equipment with fuselage is tied by one or more rigid mechanicals
Structure connects, and by hydraulic cylinder extension promoting apparatus for work to rotate by axle or ball-joint.In order to try to achieve operation dress
The reference point coordinates put, needs first to try to achieve the coordinate at attachment means rotary joint.Perching knife is tied by support arm
Structure is connected on fuselage, and hydraulic cylinder drives perching knife to lift by lifting/putting down support arm, this lifting action
Rotary shaft central point in the hinged place (A points) of support arm and car body, and the inclination of perching knife or angle rotation
Turn to be then centered on hinged place of the perching knife with a gripping arm (B points).
For perching knife support arm is on the outside of crawler belt, its support arm rotary shaft and the apparatus for work point of rotation definition with
It is consistent on the inside of crawler belt above.
Because the rotating shaft center A points of support arm are interior in same rotation system with car body GPS measurement points,
Can directly A points and the geometrical offset of car body GPS measurement points, three anglecs of rotation of car body become as input
Amount, by above-mentioned coordinate model is derived, and obtains the coordinate (X at current time of A pointsA, YA, ZA)。
Perching knife support arm can do pitch rotation under the traction of hydraulic cylinder independently of car body, so B point coordinates
With car body GPS measurement points not in same rotation system, it is impossible to directly obtained by car body GPS measurement points, and
Need to be obtained by A points.The rollover angle of perching knife connection support arm and the rollover angle of yaw angle and car body and inclined
Boat angle is identical.For perching knife can do the operation structure of pitch rotation, perching knife support arm independently of support arm at any time
The angle of pitch by the angular transducer installed on support arm reading current luffing angle；For perching knife can not
Do the operation structure of pitch rotation independently of support arm at any time, extra angle need not be installed on perching knife support arm
Sensor, the angle of pitch of support arm is constant inclined plus one equal to the angle of pitch of perching knife Inertial Measurement Unit measurement
Declinate.The acquisition methods at the constant deviation angle：Car body is placed on horizontal hard ground, and allows perching knife bottom
Holding level in portion's simultaneously just contacts ground, measures current perching knife angle of pitch P1 with Inertial Measurement Unit, then
Inertial Measurement Unit is placed on support arm, the angle of pitch P2 of current support arm is measured, then constant deviation angle is
P2-P1.Perching knife center of rotation B points are that (0, L, 0), wherein L is A and B with the geometrical deviation of A points
2 points of distances along support arm；And 2 points of A and B offset on Z axis and X-axis without geometric distance.So
Along with three anglecs of rotation of support arm, it is possible to derive model according to A point coordinates to try to achieve B with coordinate
Point coordinates (XB, YB, ZB)。
B points be perching knife tilt, clockwise/counterclockwise rotate (can be with if) rotary middle point.Shovel
Three anglecs of rotation of knife can be obtained by the Inertial Measurement Unit measurement installed on perching knife；Perching knife controls reference Point C
Point and the geometrical offset of B points by it is initial when be measured as known variables, then coordinate (the X of C pointsC, YC, ZC) can
Model is derived by coordinate to be derived by B point coordinates.
So, derive through coordinate several times, complete from car body GPS measurement point coordinates and derive to car body control
The process of reference point (bottom equilibrium point) and perching knife control reference point (perching knife bottom centre point).Control ginseng
The accuracy of examination point coordinate is mainly surveyed by the accuracy of each geometrical offset distance and the angle of Inertial Measurement Unit
Amount accuracy is determined.For the former, a series of coordinate figure that measurement obtains reference points can be passed through, these
The derived value of measured value and reference point Fitting Analysis in addition, it is possible to the measured deviation of Modified geometrical distance, and
So makeover process only need to be performed once on every trolley body；For the error that Inertial Measurement Unit is introduced,
Then by selecting more accurately Inertial Measurement Unit or error can be reduced using Kalman filter.
By above method, arbitrfary point on car body and apparatus for work can be obtained any in three-dimensional geographic space
The coordinate and the anglec of rotation at moment, thus each position in geographical space on car body and apparatus for work
Put and attitude fully digitalization.
Claims (12)
1. a kind of localization method of earthmoving system, comprises the following steps：
A. obtain car body global position coordinates and in three-dimensional geographic space car body the anglec of rotation；
B. the position coordinateses of car body and apparatus for work hinged place are calculated according to above-mentioned position coordinateses and the anglec of rotation；
C. the anglec of rotation of the apparatus for work in three dimensions is obtained；
D. the anglec of rotation according to the position coordinateses and apparatus for work of car body and apparatus for work hinged place in three dimensions is calculated the position coordinateses of reference point on apparatus for work.
2. method according to claim 1, it is characterised in that：The position coordinateses and its anglec of rotation in three dimensions of car body are measured by a GPS, the 2nd GPS and the second Inertial Measurement Unit on car body in step A；The anglec of rotation of apparatus for work is measured by the first Inertial Measurement Unit on apparatus for work in step C.
3. method according to claim 1, it is characterised in that：The position coordinateses and its anglec of rotation in three dimensions of car body are measured by the GPS and Inertial Measurement Unit on car body in step A；The anglec of rotation of apparatus for work is measured by the first Inertial Measurement Unit on apparatus for work in step C.
4. method according to claim 1, it is characterised in that：The position coordinateses and its anglec of rotation in three dimensions of car body are measured by the N number of GPS on car body in step A, wherein N is greater than being equal to 3 natural number；The anglec of rotation of apparatus for work is measured by the first Inertial Measurement Unit on apparatus for work in step C.
5. the method according to one of Claims 1-4, it is characterised in that：The coordinate points chosen on car body are as a reference point, its position and Angle ambiguity variable as car body in local three-dimensional geographical co-ordinate system；The reference point is substantially the subpoint of the focus point in car body bottom surface of earthmoving system.
6. method according to claim 7, it is characterised in that：The step of determining reference point includes：In substantially horizontal ground grading, an object is placed as the strong point, car body was opened into the strong point, when car body will extend over the strong point and swing back, stop car body, write down position of the strong point on car body；Car body is advanced again opened the strong point, when car body will extend over the strong point and lean forward, stop car body, write down position of the strong point on car body；The midpoint of two above position, in the subpoint of vehicle bottom, is exactly subpoint of the body gravity in vehicle bottom plane, i.e., described reference point.
7. method according to claim 1, it is characterised in that：The reference point of apparatus for work is chosen at and is selected in apparatus for work bottom centre point or two, base end points.
8. method according to claim 6, it is characterised in that：Base station is additionally provided with this method, its static state is placed on a position, the observation and survey station coordinate information of base station as reference value, with the locus that the car body or the position of apparatus for work, the value of rotation angle information for obtaining calculates car body or apparatus for work.
9. method according to claim 8, it is characterised in that：Used as the origin of operating area local coordinate system, the car body of acquisition or the positional information of apparatus for work include longitude, dimension and height above sea level to the observation and survey station coordinate information of the base station, and positional information conversion is the local coordinate system relative to zero.
10. method according to claim 1, it is characterised in that：The apparatus for work is perching knife.
11. methods according to claim 10, it is characterised in that：An angle measuring unit is installed on the perching knife support arm, it is used for measuring the luffing angle of support arm.
A kind of 12. devices for implementing claim 1 methods described, it includes the Inertial Measurement Unit being arranged on apparatus for work and is arranged on car body the measuring unit group for being used for the coordinate and anglec of rotation measured in car body three dimensions, and the measuring unit group is the one kind in following combinations：（i）A GPS, the 2nd GPS and the second Inertial Measurement Unit on car body, the first Inertial Measurement Unit on apparatus for work；（ii）A GPS and fibre optic gyroscope on car body, the first Inertial Measurement Unit on apparatus for work；（iii）By the N number of GPS on car body in step A, wherein N is greater than being equal to 3 natural number, the first Inertial Measurement Unit on apparatus for work.
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