CN118292515A - Real-time space attitude analysis and automatic control system and method for pitch method excavator - Google Patents
Real-time space attitude analysis and automatic control system and method for pitch method excavator Download PDFInfo
- Publication number
- CN118292515A CN118292515A CN202410207761.8A CN202410207761A CN118292515A CN 118292515 A CN118292515 A CN 118292515A CN 202410207761 A CN202410207761 A CN 202410207761A CN 118292515 A CN118292515 A CN 118292515A
- Authority
- CN
- China
- Prior art keywords
- excavator
- angle
- coordinate
- node
- variable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 51
- 238000004458 analytical method Methods 0.000 title claims description 25
- 238000006073 displacement reaction Methods 0.000 claims abstract description 66
- 238000005461 lubrication Methods 0.000 claims abstract description 21
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 239000003921 oil Substances 0.000 claims description 83
- 238000012545 processing Methods 0.000 claims description 48
- 239000004519 grease Substances 0.000 claims description 27
- 238000005096 rolling process Methods 0.000 claims description 25
- 238000003860 storage Methods 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 20
- 235000014121 butter Nutrition 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000009412 basement excavation Methods 0.000 claims description 17
- 210000002445 nipple Anatomy 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 10
- 238000010168 coupling process Methods 0.000 claims description 10
- 238000005859 coupling reaction Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 238000010276 construction Methods 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- PCTMTFRHKVHKIS-BMFZQQSSSA-N (1s,3r,4e,6e,8e,10e,12e,14e,16e,18s,19r,20r,21s,25r,27r,30r,31r,33s,35r,37s,38r)-3-[(2r,3s,4s,5s,6r)-4-amino-3,5-dihydroxy-6-methyloxan-2-yl]oxy-19,25,27,30,31,33,35,37-octahydroxy-18,20,21-trimethyl-23-oxo-22,39-dioxabicyclo[33.3.1]nonatriaconta-4,6,8,10 Chemical compound C1C=C2C[C@@H](OS(O)(=O)=O)CC[C@]2(C)[C@@H]2[C@@H]1[C@@H]1CC[C@H]([C@H](C)CCCC(C)C)[C@@]1(C)CC2.O[C@H]1[C@@H](N)[C@H](O)[C@@H](C)O[C@H]1O[C@H]1/C=C/C=C/C=C/C=C/C=C/C=C/C=C/[C@H](C)[C@@H](O)[C@@H](C)[C@H](C)OC(=O)C[C@H](O)C[C@H](O)CC[C@@H](O)[C@H](O)C[C@H](O)C[C@](O)(C[C@H](O)[C@H]2C(O)=O)O[C@H]2C1 PCTMTFRHKVHKIS-BMFZQQSSSA-N 0.000 claims description 6
- 230000001502 supplementing effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 238000007726 management method Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000004088 simulation Methods 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000005094 computer simulation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 241001442234 Cosa Species 0.000 description 1
- 101100221616 Halobacterium salinarum (strain ATCC 29341 / DSM 671 / R1) cosB gene Proteins 0.000 description 1
- 208000028571 Occupational disease Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Operation Control Of Excavators (AREA)
Abstract
The system comprises a central processor, a positioning navigation system, a data acquisition system, an automatic lubrication system, a hydraulic circuit automatic protection system, a remote control system and a cruise detection system, wherein the positioning navigation system, the data acquisition system, the automatic lubrication system, the hydraulic circuit automatic protection system, the remote control system and the cruise detection system are connected with the central processor, the central processor is arranged in a cab of the excavator, the positioning navigation system is arranged right above the rotation center of a rotary roller of the excavator, an angular displacement sensor in the data acquisition system is arranged on a driving gear shaft of a rotary motor of the excavator, displacement sensors in the data acquisition system are respectively arranged on a movable arm cylinder, a bucket rod cylinder, a bucket cylinder and a bulldozer shovel cylinder and are parallel to the central axis of the cylinder, the cruise detection system, the automatic lubrication system and the hydraulic circuit automatic protection system are arranged on the excavator, and the remote control system is connected with the excavator. The design is high in efficiency, low in labor intensity, convenient to use and high in reliability.
Description
Technical Field
The invention relates to the technical field of excavators, in particular to a real-time spatial attitude analysis and automation control system and method for a pitch method excavator.
Background
When the foundation pit is excavated, in order to avoid uneven settlement of the structure in the later period caused by destroying the original soil of the foundation pit, manual excavation is generally reserved for 15-30cm according to the current construction standard, but the phenomenon of over-excavation or under-excavation of the foundation pit usually exists in actual excavation work, the excessive excavation can cause uneven settlement of the structure to generate crack water seepage, and the manual cleaning workload greatly influences the construction period when the under-excavation is more; in the process of emergency, the life of a driver is endangered due to the fact that new danger can occur at any time; occupational diseases are also easily generated by long-time artificial operation; the construction often uses special excavator such as long-arm excavator or grab bucket, because the traditional operation mode is changed, the blind spot is more during operation, so personnel are needed to cooperate; in a special construction environment, the movable arm of the excavator is required to be changed into a combined movable arm type to work, such as a crank arm type and a rotary type, so that a new problem is brought to the space position capture of the excavator; after daily general completion, new butter needs to be filled into the excavator nodes to ensure lubrication of the bearings and prolong the service life, and manual filling is time-consuming and labor-consuming; therefore, the excavator adopts the traditional manual operation mode, so that the efficiency is low, and the labor intensity is high.
Disclosure of Invention
The invention aims to overcome the defects and problems of low efficiency and high labor intensity in the prior art and provides a real-time space attitude analysis and automatic control system and method for a pitch method excavator with high efficiency and low labor intensity.
In order to achieve the above object, the technical solution of the present invention is: the system comprises a positioning navigation system, a central processing unit, a data acquisition system, an automatic lubrication system, a hydraulic circuit automatic protection system, a remote control system and a cruise detection system, wherein the central processing unit is arranged in a cab of the excavator;
the positioning navigation system is used for measuring real-time space coordinates of the rotation center of the rotary rolling disc and coordinate azimuth angles of the longitudinal axis of the rotary table at the upper part of the excavator relative to the north direction and sending the coordinate values and azimuth angle values to the central processing unit;
The data acquisition system is used for acquiring displacement values of all the oil cylinders of the excavator, and acquiring a rotation angle value between the upper turntable and the lower travelling mechanism and a pressure value on a hydraulic circuit of the excavator;
The automatic lubrication system is used for automatically filling butter into each motion node of the excavator working device;
The hydraulic circuit automatic protection system is used for protecting the hydraulic circuit of the excavator;
The remote control system is used for remotely controlling each hydraulic mechanism of the excavator to work and acquiring data processed by the central processing unit;
The cruise detection system is used for monitoring the surrounding environment when the excavator walks or works, providing a first person view angle during work and carrying out three-dimensional scanning on the deep foundation pit support system;
The central processing unit is used for acquiring and calculating three-dimensional space coordinate values and motion states of all working devices of the excavator according to coordinate values and azimuth values sent by the positioning navigation system and displacement values of oil cylinders of all motion nodes acquired by the data acquisition system, supplementing oil to the hydraulic circuit of the excavator according to pressure values by using an overload oil supplementing valve, controlling the automatic lubrication system to carry out butter filling of the motion nodes, and uploading all data synchronously to the cloud platform through the remote control system during working.
The positioning navigation system comprises a positioning navigation unit, a first tray, a second tray and a plurality of struts, wherein the positioning navigation unit comprises an RTK mobile station receiver, an AHRS module, a 360-degree prism and an automatic total station, the struts are installed right above the rotation center of a rotary rolling disc of an excavator along the circumferential direction, the bottom plate of each strut is connected with the upper part of a bottom steel plate of a turntable on the upper part of the excavator, the first tray and the second tray are horizontally arranged, the first tray and the second tray are respectively connected to the inner sides of the struts, the AHRS module is installed on the upper side of the second tray, the RTK mobile station receiver is connected to the upper side of the first tray, the 360-degree prism is installed on the upper side of the RTK mobile station receiver in a threaded manner, the automatic total station is installed on the ground and is arranged relative to the 360-degree prism, the centers of the RTK mobile station receiver, the AHRS module and the 360-degree prism are horizontally arranged on the upper part of the steel plate, the center of the rotary rolling disc and the rotation center of the rotary rolling disc are overlapped with the RTK mobile station receiver and the RTRS are connected with one end of the RTK mobile station through a transmission line;
The RTK mobile station receiver is used for acquiring real-time space coordinates of the rotation center of the excavator rotary rolling disc through satellite differential positioning;
The AHRS module is used for calculating real-time space coordinates of the rotation center of the rotary rolling disc of the excavator by calling data measured by the multi-axis attitude sensor in the AHRS module;
the automatic total station is used for tracking and measuring the 360-degree prism to acquire real-time space coordinates of the rotation center of the rotary rolling disc of the excavator;
the central processing unit is used for receiving the coordinate value and the azimuth angle value sent by the positioning navigation unit, and calculating and obtaining the three-dimensional space coordinate value of the rotation center of the rotary rolling disc of the excavator through the height difference value between the positioning navigation unit and the rotation center of the rotary rolling disc.
The data acquisition system comprises an angular displacement sensor on a rotary mechanism, a plurality of displacement sensors on a working device and a pressure sensor on a hydraulic circuit of the excavator, wherein the angular displacement sensor is coaxially connected to an output shaft of a rotary motor of the excavator through a flexible coupling, and the plurality of displacement sensors are respectively arranged on a movable arm oil cylinder, a bucket rod oil cylinder, a bucket oil cylinder and a bulldozer oil cylinder and are parallel to the central axis of the oil cylinder;
The angular displacement sensor is used for measuring the horizontal rotation angle of the driving gear and sending the rotation angle value to the central processing unit;
the displacement sensors are respectively used for measuring strokes of the movable arm oil cylinder, the bucket rod oil cylinder, the bucket oil cylinder and the bulldozer oil cylinder and sending stroke values to the central processing unit;
the pressure sensor is used for measuring the pressure of hydraulic oil of the hydraulic circuit of the excavator and sending the pressure value to the central processing unit;
The central processing unit is used for calculating the real-time internal angle of each variable triangle on the working device according to the displacement value of the oil cylinder measured by the displacement sensor so as to calculate the real-time zenith distance of the connecting line of the adjacent nodes, calculating the elevation increment and the horizontal distance of each node according to the branch wire measuring and calculating principle by utilizing the zenith distance and the node distance, obtaining the plane coordinate increment of each node according to the horizontal distance and the horizontal azimuth angle measured by the electronic compass in the AHRS module by utilizing the branch wire measuring and calculating principle, superposing the three-dimensional coordinate value of the rotation center of the rotary rolling disc so as to obtain the three-dimensional coordinate of each node, dividing the rotation angle value of the driving gear by the reduction ratio between the rotary rolling disc gear ring and the driving gear, adding the coordinate azimuth angle of the longitudinal axis of the upper rotary table so as to obtain the coordinate azimuth angle of the longitudinal axis of the lower travelling mechanism, and calculating the coordinate of each angular point of the crawler of the lower travelling mechanism by utilizing the structural size of the excavator so as to obtain the station position of the excavator.
The upper end of each angular displacement sensor is provided with a U-shaped frame, the U-shaped frame is arranged below a steel plate at the bottom of a turntable at the upper part of the excavator, a driving gear of the excavator is positioned in the U-shaped frame, an output shaft of a rotary motor is connected with a flexible coupling, one end of the flexible coupling penetrates through the U-shaped frame and then is connected with the angular displacement sensor, the displacement sensors comprise stay wire sensors, three stay wire sensors are respectively arranged on pin shaft center lines of piston rod ends of a bulldozing shovel cylinder, a movable arm cylinder and a bucket rod cylinder, the rest one stay wire sensor is arranged on the bucket cylinder, fixing pieces are respectively arranged on cylinders of the bulldozing shovel cylinder, the movable arm cylinder and the bucket rod cylinder, one ends of stay wires of the three stay wire sensors are connected with the piston rod ends of the bucket cylinder in a one-to-one correspondence mode, and the stay wires of the stay wire sensors are respectively connected with a central processing unit.
The automatic lubrication system comprises a plurality of grease guns which are arranged beside each motion node of the working position of the excavator through anchor clamps;
The grease gun comprises a base, a gun body, an upper cover, a grease storage cylinder and a grease nipple interface, wherein the base is connected to the lower side of the gun body, the upper cover is connected to the upper side of the gun body, a crank cavity is formed in the upper side of the base, a first piston cavity and a second piston cavity are respectively formed in the gun body along the vertical direction, a guide groove is formed in the center of the upper cover, the lower ends of the first piston cavity and the second piston cavity are communicated with the crank cavity, the upper ends of the first piston cavity and the second piston cavity are communicated with the guide groove, one end of the crank shaft penetrates through a driving motor, the other end of the crank shaft penetrates through a rocker arm arranged behind the base, a first piston and a second piston are respectively and slidably connected in the first piston cavity and the second piston cavity, the first piston and the second piston are respectively connected with a journal of the crank shaft through a first connecting rod and a second connecting rod, the upper ends of the first piston cavity and the second piston cavity are communicated with the guide groove, the upper ends of the first piston cavity and the second piston cavity are communicated with the grease nipple cavity are respectively, the grease nipple is communicated with a grease nipple is arranged at the two ends of the air vent holes near the two ends of the grease nipple cavity, the grease nipple is communicated with the grease nipple is respectively, the grease nipple is communicated with the grease nipple is connected with the grease nipple inlet, the grease nipple is communicated with the grease nipple is connected with the grease nipple cavity through the grease vent hole, the grease vent hole is respectively, the oil storage cylinder is in threaded connection with one side of a butter inlet on the gun body;
The oil storage cylinder is characterized in that a third piston cavity is formed in the oil storage cylinder, an oil outlet is formed in one end of the oil storage cylinder, one end of the oil outlet is communicated with two butter inlets, the other end of the oil outlet is communicated with the third piston cavity, a third piston is connected in the third piston cavity in a sliding mode, a pull rod is arranged at the other end of the oil storage cylinder, one end of the pull rod is connected with a handle, the other end of the pull rod penetrates through the oil storage cylinder and then is communicated with the third piston, one end of the third piston, close to the pull rod, is connected with a spring, one end of the spring is connected to the inner bottom wall of the third piston cavity, and a travel switch is arranged at the other end of the oil storage cylinder and connected with the central processor.
The remote control system comprises a data wireless transmission system, an analog operation bin, a remote control operation system, a remote operation system and a signal execution unit, wherein the data wireless transmission system is arranged on the excavator, the analog operation bin is arranged in an after-sales service center or a driving center, the remote control operation system is in signal connection with the signal execution unit, the remote operation system is arranged in an enterprise equipment management center, and the signal execution unit is arranged on the excavator and is connected with the data wireless transmission system and a central processor;
The data wireless transmission system is used for synchronously feeding back the data acquired by the cruise detection system and the data processed by the central processing unit to the analog operation cabin and the remote operation system through a network to realize remote control;
the simulation operation bin is used for providing remote assistance for the after-sale service center and providing the driving service for the driving service center;
The remote operation system is used for remotely controlling the excavator work and monitoring the enterprise equipment management department by a user;
The remote control operation system is used for remotely controlling the excavator to work through an industrial remote controller;
The signal execution unit is used for receiving analog signals or digital signals sent by the central processing unit, the analog operation bin, the remote control operation system and the remote control operation system according to the data wireless transmission system, enabling the equipment to start and stop through the remote control starting relay and the arc extinguishing relay, enabling the corresponding electromagnetic valve to act through the remote control of the plurality of working device relays, and controlling the excavator hydraulic circuit to execute the corresponding passage to enable the working device to perform preset actions.
The cruise detection system comprises a 3D industrial scanning camera, a mounting seat, a motor, three-color warning lamps, a support column, a panoramic camera and four laser radars, wherein the support column and the three-color warning lamps are all arranged at the top of a cab, the panoramic camera is arranged at the upper end of the support column, the mounting seat and the motor are respectively arranged on a movable arm of an excavator, the center of the mounting seat is rotationally connected with a rotating shaft, the periphery of the rotating shaft is sleeved with a base, the 3D industrial scanning camera is arranged at the upper side of the base, the output end of the motor is connected with a driving gear, one end of the rotating shaft is connected with a driven gear, the driven gear is in meshed connection with the driving gear, and three laser radars are respectively arranged at the left side, the right side and the rear side of the excavator, and the rest laser radars are arranged at the front side of a bucket rod;
the 3D industrial scanning camera is used for controlling the excavator to rotate up and down and always aim at the position of the bucket to scan through the central processing unit when the excavator works;
the panoramic camera is used for all-weather panoramic video monitoring and humanoid tracking;
the laser radar is used for carrying out high-precision distance measurement on the obstacle;
The three-color warning lamp is used for warning when the excavator works.
The control method is applied to a pitch method excavator real-time spatial attitude analysis and automation control system, and comprises the following steps:
S1, establishing a two-stage space rectangular coordinate system according to a coordinate resolving principle, namely firstly establishing a ground first-stage space rectangular coordinate system, wherein the ground first-stage space rectangular coordinate system takes the true north of a geographic azimuth as the positive direction of a plane coordinate X axis, the positive east of the geographic azimuth as the positive direction of a plane coordinate Y axis and the zenith of the geographic azimuth as the positive direction of an elevation Z axis, and then establishing an excavator space rectangular coordinate system which is respectively parallel to the ground first-stage space rectangular coordinate system X, Y, Z axes by taking the rotation center of an excavator rotary rolling disc as an origin, and taking the rotation center of the excavator rotary rolling disc as an O node;
s2, simplifying the structure of an excavator working device, connecting adjacent nodes of the excavator to obtain a plurality of fixed polygons and a plurality of variable triangles, obtaining a rotation angle measured by an angular displacement sensor on the excavator, a coordinate azimuth angle and a three-dimensional coordinate value measured by a positioning navigation unit, and the length of each oil cylinder measured by the displacement sensor, firstly calculating a three-dimensional coordinate of a A, N node by utilizing a three-dimensional fixed distance from an O node to a X, Y, Z-axis of a A, N node on a movable arm base through a coordinate azimuth angle and a 3-axis inclination angle in an AHRS module to obtain a starting edge of a Gao Chengzhi wire, then calculating an elevation increment DeltaZ and a plane distance DeltaL of each node by utilizing an elevation branch wire in the bucket direction of the movable arm, calculating a DeltaX and DeltaY of the plane coordinate increment by utilizing a plane branch wire, and finally superposing the three-dimensional coordinate of the A node to obtain the three-dimensional coordinate of each node;
S3, obtaining high-precision ground surface three-dimensional model information by using modeling software according to unmanned aerial vehicle photogrammetry, selecting a front shovel, a back shovel and a bucket wheel excavator according to three-dimensional models, engineering geology and operation characteristics, inputting working ranges, excavator parameters, line parameters, construction sequences, operation methods and planning operation lines to a central processing unit, enabling the excavator to reach a preset working place through a positioning navigation system and a cruise detection system, selecting a station position and an orientation by the excavator according to the maximum excavation depth, the maximum unloading height, the maximum excavation radius and the maximum excavation height which are set by the input, and automatically adjusting the position of the excavator when the operation conditions are not met.
The specific steps of the step S2 are as follows:
S21, simplifying a movable arm into a fixed quadrilateral ABCD, simplifying a bucket rod into a fixed pentagon DEFGL and simplifying a bucket into a fixed quadrilateral GHIJ, and combining other nodes on the excavator to obtain variable triangles delta ABN, delta CDE, delta FLK and variable quadrilateral KLGH; the KG nodes of the variable quadrilaterals KLGH are connected, decomposed and combined to obtain variable triangles delta FGK and delta GKH, fixed edges formed by the five variable triangles and adjacent fixed polygons thereof are NA, AB, CD, DE, FL, LK, LG, GH respectively, the variable edges are BN, CE, FK, KG, and the lengths of BN, CE and FK edges are measured through a displacement sensor;
S22, directly calling the coordinate of the rotation center of the excavator in the positioning navigation unit, the coordinate azimuth angle in the AHRS module, the 3-axis inclination angle and the X, Y, Z-axis three-way fixed distance through software in a central processing unit, calculating to obtain A, N-node three-dimensional coordinates on a movable arm base through trigonometric function, reversely calculating a flat distance value between the A, N-node three-dimensional coordinates in a Gao Chengzhi wire through the calculated A, N-node plane coordinates, reversely calculating to obtain the initial azimuth angle of AN initial side AN (AN) through the coordinates by using the elevation value and the flat distance value as the calculated coordinates of the Gao Chengzhi wire, solving to obtain 3 inner angles of a variable triangle through cosine theorem according to 2 fixed sides and the measured variable side length, subtracting the variable angle BAN from the angle of the initial side AN to obtain AN AB-side angle, transmitting each angle through a wire principle, finally transmitting the angle to AN end working side IJ, calculating each node elevation increment DeltaZ and each flat distance DeltaL through trigonometric function according to each side zenith distance, and finally superposing node elevation A to obtain each node elevation;
S23, calculating a flat distance delta L in the plane branch wire by utilizing the plane coordinates of the A node, the coordinate azimuth angle in the AHRS module and the Gao Chengzhi wire, obtaining delta X and delta Y of the plane coordinate increment of each node step by step through coordinate calculation, and finally, superposing the plane coordinates of the A node to obtain the plane coordinates of each node;
S24, measuring the variable edge distance by using an increased displacement sensor when the combined movable arm turns or rotates, and repeating the steps S22 and S23 to calculate the elevation increment and the plane coordinate increment;
And S25, overlapping the elevation and the coordinates of each node to obtain the three-dimensional coordinates of each node.
In the step S22, the specific steps of transmitting the angles through the wire principle are as follows:
Taking a node M in the positive direction of a vertical axis of AN excavator space rectangular coordinate system, taking the zenith distance angle of AN AN side of a fixed starting side on AN excavator upper turntable as a starting azimuth angle, namely AN angle MAN, AN side of the starting side as a measurement baseline, superposing a calculated variable triangle angle BAN to obtain AN AB side angle, fixing a quadrilateral ABCD through a movable arm to obtain a CD corner angle, superposing a calculated variable triangle angle CDE to obtain a DE side angle, fixing a polygon DEFGL through a bucket rod to obtain a GF corner angle, superposing a calculated variable triangle angle FGK to obtain a GK side angle, superposing a calculated variable triangle angle KGH to obtain a GH side angle, transmitting the angle to AN end working side IJ through a bucket fixing quadrilateral GHIJ, and thus obtaining the angle of the working side IJ to finish the angle transmission of Gao Chengzhi wires;
The solution of the angle FGH is that the angle FLG is a fixed value in a fixed polygon DEFGL, wherein two fixed side lengths of a variable delta FLK are FL and LK, the variable angle FLK is obtained by using a cosine function according to the measured variable side FK, the angle KLG is obtained by using the fixed angle FLG-variable angle FLK, the variable angle LGK and the variable side GK are calculated according to the fixed side lengths LK and LG and the angle KLG, the variable angle FGK is obtained by using the side lengths FG, FK and GK in the variable triangle delta FGK, the variable angle KGH is obtained by using the side lengths GK, KH and LH in the variable triangle delta GKH, and the angle FGH is obtained by adding the variable angle KGK and the angle KGH.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the real-time spatial attitude analysis and automation control system and method for the pitch method excavator, a displacement sensor in a data acquisition system is directly installed on a connecting line of centers of adjacent hinging points of the excavator, the measured distance is the displacement value of each oil cylinder of the excavator, a plurality of variable triangles and fixed polygons are obtained by connecting each motion node of the excavator, the length of each variable edge is the displacement value measured by the displacement sensor plus the residual initial fixed length between the adjacent nodes during installation, therefore, no distance error exists, the corresponding inner angles are obtained by cosine functions according to the lengths of three edges of the variable triangles, the fixed polygons are enabled to follow the changes according to the changes of the side lengths of the variable triangles, the three-dimensional coordinates of all the nodes can be finally and rapidly calculated, and the excavator can be guided to perform accurate operation on a graph through the three-dimensional coordinates. Therefore, the invention has high working efficiency and low labor intensity.
2. The invention relates to a real-time space attitude analysis and automation control system and method of a pitch method excavator, wherein a positioning navigation unit adopts an RTK mobile station receiver, a difference value is obtained by comparing a coordinate obtained after the acquired carrier phase is resolved with a fixed precise coordinate of a reference station according to the GPS receiver of the reference station, the difference value is sent to the RTK mobile station receiver through a radio station, the mobile station receiver processes satellite observation and radio station signals from the reference station, errors generated when satellite signals penetrate an ionosphere and a troposphere are separated through errors, errors caused by Doppler effect generated by high-speed movement of satellites, multipath effect errors, channel errors, satellite clock errors, ephemeris errors and internal noise errors are corrected, and finally the real-time high-precision three-dimensional coordinate of a rotation center of the excavator is obtained through the RTK mobile station receiver, so that the pitch method excavator has a full-time operation function. Therefore, the invention has high reliability and high measurement precision.
3. According to the real-time space attitude analysis and automation control system and method for the pitch method excavator, the cruise detection system can enable the excavator to automatically cruise and walk or monitor the surrounding environment through the radar and the video during operation, obstacle avoidance can be actively recognized in the moving process, the 3D industrial scanning camera can provide a first person view angle in work and perform 3-dimensional scanning on an object to be excavated, the soil state before scanning and excavation and the internal space state of the dregs car during unloading after excavation are convenient to find and unload positions, and obstacle avoidance can be actively performed by scanning a foundation pit supporting system and the like. Therefore, the invention has higher degree of automation and higher reliability.
4. According to the pitch method excavator real-time space attitude analysis and automation control system and method, the efficiency of an automatic lubrication system can be doubled through double-piston alternating work, automatic grease filling is achieved through electric control equipment, automatic timing maintenance of the equipment is conducted, a travel switch can be used for stopping a motor to work and avoiding idling when an oil storage cylinder is filled with alarming prompt and replenishing grease, and a standby rocker can be used for manually shaking a crankshaft to fill grease when the motor is in fault, so that mechanical abrasion is avoided. Therefore, the invention has high working efficiency and high reliability.
5. According to the real-time space attitude analysis and automation control system and method for the pitch method excavator, the three-dimensional coordinates of the excavator working device can be continuously calculated through the branch wire measurement method, the pitch method excavator is suitable for special working conditions, particularly suitable for combined movable arm type excavators, such as crank arms and rotary type excavators, for deformation conditions of the working device, the three-dimensional coordinates are automatically calculated through a chart and displayed in a model, changing patterns and coordinate values of the working device in the vertical direction and the horizontal direction can be intuitively and continuously displayed, and the excavator can be assisted in safe operation in special environments. Therefore, the invention has higher safety and convenient use.
6. According to the pitch method excavator real-time space attitude analysis and automation control system and method, software draws the fused motion track line on the electronic graph according to the data of the RTK satellite differential positioning and inertial navigation module, so that the electronic graph is convenient to monitor, higher precision can be obtained through the fitted average value, and besides, the combined navigation unit can assist in feeding back the moving speed of the excavator crawler or tyre in real time. Therefore, the invention has good reliability and high precision.
Drawings
Fig. 1 is a schematic view of an excavator according to the present invention.
Fig. 2 is a schematic front view of the excavator of the present invention.
Fig. 3 is an enlarged partial schematic view of the excavator of the present invention.
Fig. 4 is a schematic structural view of a positioning and navigation unit in the present invention.
Fig. 5 is a schematic diagram of the structure of the rotary drum and the angular displacement sensor in the present invention.
Fig. 6 is a schematic diagram of a rotary motor and an angular displacement sensor according to the present invention.
Fig. 7 is a schematic view of the structure of the automatic lubrication system in the present invention.
Fig. 8 is a schematic cross-sectional view of an oil reservoir according to the present invention.
FIG. 9 is a schematic cross-sectional view of the base, gun body, and top cover of the present invention.
Fig. 10 is a schematic structural view of a 3D industrial scanning camera according to the present invention.
FIG. 11 is a block diagram of a real-time spatial attitude analysis and automation control system for a pitch method excavator in accordance with the present invention.
Fig. 12 is a schematic view of a three-dimensional coordinate system of the excavator in the present invention.
FIG. 13 is a schematic numbered view of the various nodes of the excavator of the present invention in the elevation Z-axis direction.
FIG. 14 is a schematic view of the numbering of the various nodes of the excavator work device of the present invention in the elevation Z-axis direction after simplification.
FIG. 15 is a simplified and exploded schematic view of an excavator work device node in accordance with the present invention.
Fig. 16 is a schematic view of an overhead branch wire of an excavator working device according to the present invention.
FIG. 17 is a schematic illustration of incremental node elevation resolution for an excavator work device.
FIG. 18 is a schematic illustration of incremental solutions of excavator work device node plane coordinates.
Fig. 19 is a table of the flat distance resolution of the node Gao Chengji at any position of the excavator work device.
Fig. 20 is a dynamic simulation of a moving node at any position of the excavator work device.
Fig. 21 is a table showing the average distance between the nodes Gao Chengji after the change of the arm cylinder in the excavator work device.
Fig. 22 is a dynamic simulation diagram of a motion node of the excavator work device after only the arm cylinder is changed.
Fig. 23 is an excavator work device node plane coordinate solution.
FIG. 24 is a plan view dynamic simulation of a motion node of an excavator work device.
In the figure: excavator 1, cab 11, boom 12, stick 13, bucket 14, blade 15, swing drum 16, swing motor 17, drive gear 18, central processor 2, positioning navigation system 3, positioning navigation unit 31, RTK mobile station receiver 311, AHRS module 312, 360 degree prism 313, post 32, first tray 33, second tray 34, data acquisition system 4, angular displacement sensor 41, displacement sensor 42, pull wire sensor 421, mount 422, U-frame 43, flexible coupling 44, automatic lubrication system 5, base 51, gun body 52, upper cover 53, oil reservoir 54, oil nozzle interface 55, hose 56, crank chamber 57, first piston chamber 58, second piston chamber 59, guide slot 510, crank 511, drive motor 512 rocker 513, first piston 514, second piston 515, first connecting rod 516, second connecting rod 517, vent 518, vent valve 519, butter inlet 520, one-way valve 521, third piston chamber 522, oil outlet 523, third piston 524, pull rod 525, pull handle 526, spring 527, travel switch 528, hydraulic circuit automatic protection system 6, remote control system 7, data wireless transmission system 71, remote control system 72, remote control system 73, signal execution unit 74, analog operation cabin 75, cruise detection system 8, 3D industrial scan camera 81, mount 82, rotating shaft 83, base 84, motor 85, drive gear 86, driven gear 87, three-color warning light 88, support post 89, panoramic camera 810, laser radar 811.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings and detailed description.
Example 1:
Referring to fig. 1 to 18, a real-time spatial attitude analysis and automation control system of a pitch method excavator comprises a positioning navigation system 3, a central processing unit 2, a data acquisition system 4, an automatic lubrication system 5, a hydraulic circuit automatic protection system 6, a remote control system 7 and a cruise detection system 8, wherein the central processing unit 2 is arranged in a cab 11 of the excavator 1, the positioning navigation system 3 is arranged right above the rotation center of a rotary drum 16 of the excavator 1, an angular displacement sensor 41 in the data acquisition system 4 is arranged on a driving gear 18 shaft of a rotary motor 17 of the excavator 1, a displacement sensor 42 in the data acquisition system 4 is respectively arranged on a movable arm 12 cylinder, a bucket 13 cylinder, a bucket 14 cylinder and a bulldozer 15 cylinder and is parallel to the cylinder central axis, the positioning navigation system 3, the data acquisition system 4, the automatic lubrication system 8 and the hydraulic circuit automatic protection system 6 are arranged on the excavator 1, and the positioning navigation system 5, the cruise detection system 8 and the hydraulic circuit automatic protection system 6 are respectively connected with the central processing unit 2 and the remote control system 7 and the excavator 1;
The positioning navigation system 3 comprises a positioning navigation unit 31, a first tray 33, a second tray 34 and a plurality of struts 32, wherein the positioning navigation unit 31 comprises an RTK mobile station receiver 311, an AHRS module 312, a 360-degree prism 313 and an automatic total station, the struts 32 are installed right above the rotation center of a revolving drum 16 of the excavator 1 along the circumferential direction, the bottom plate of the struts 32 is connected with the upper side of a turntable bottom steel plate on the upper part of the excavator 1, the first tray 33 and the second tray 34 are horizontally arranged, the first tray 33 and the second tray 34 are respectively connected to the inner sides of the struts 32, the AHRS module 312 is installed on the upper side of the second tray 34, the RTK mobile station receiver 311 is connected to the upper side of the first tray 33, the 360-degree prism 313 is installed on the upper side of the RTK mobile station receiver 311 in a threaded manner, the automatic total station is installed on the ground and is vertically arranged relative to the 360-degree prism 313, and the RTK mobile station receiver 311 is vertically connected with one end of the RTK mobile station receiver 312 and the central receiver 16 through the AHRS module 313;
The RTK mobile station receiver 311 is configured to acquire real-time space coordinates of a rotation center of the rotating drum 16 of the excavator 1 through satellite differential positioning; the AHRS module 312 is configured to calculate real-time spatial coordinates of a rotation center of the rotating drum 16 of the excavator 1 by calling data measured by the multi-axis attitude sensor therein; the automatic total station is used for tracking and measuring the 360-degree prism 313 to acquire real-time space coordinates of the rotation center of the rotary drum 16 of the excavator 1; the data acquisition system 4 is used for acquiring displacement values of all the oil cylinders of the excavator 1, and acquiring a pressure value on a hydraulic circuit of the excavator 1; the automatic lubrication system 5 is used for automatically filling butter into each motion node of the working device of the excavator 1; the hydraulic circuit automatic protection system 6 is used for protecting the hydraulic circuit of the excavator 1 and preventing the damage of sealing elements and the leakage of hydraulic oil; the remote control system 7 is used for remotely controlling the work of each hydraulic mechanism of the excavator 1 and acquiring data processed by the central processing unit 2; the cruise detection system 8 is used for monitoring the surrounding environment when the excavator 1 walks or works, providing a first person view angle during work and carrying out three-dimensional scanning on the deep foundation pit support system; the central processing unit 2 is configured to receive the coordinate value and the azimuth value sent by the positioning navigation unit 31, calculate and obtain a three-dimensional space coordinate value of the rotation center of the rotary drum 16 of the excavator 1 through a height difference value fixed between the positioning navigation unit 31 and the rotation center of the rotary drum 16; the hydraulic circuit of the excavator 1 is supplemented with oil by an overload oil supplementing valve according to a pressure value, the automatic lubrication system 5 is controlled to carry out movement node butter filling, various data are synchronously uploaded to the cloud platform through the remote control system 7 during working, and for a direction control valve, a pressure control valve and a flow control valve in the hydraulic system, the hydraulic circuit automatic protection system 6 carries out stepless speed regulation on the 3 valves according to the principles of direction control action, pressure control load and flow control speed, and the abrasion of elements due to hydraulic impact acceleration caused by factors such as pressure regulation deviation, uneven manual operation speed and the like is avoided.
A real-time spatial attitude analysis and automation control method for a pitch method excavator comprises the following steps:
S1, establishing a two-stage space rectangular coordinate system according to a coordinate resolving principle, namely firstly establishing a ground first-stage space rectangular coordinate system, wherein the ground first-stage space rectangular coordinate system takes the true north of a geographic azimuth as the positive direction of a plane coordinate X axis, the true east as the positive direction of a plane coordinate Y axis and the zenith as the positive direction of an elevation Z axis, then establishing the excavator 1 space rectangular coordinate system which is respectively parallel to the ground first-stage space rectangular coordinate system X, Y, Z axes by taking the rotation center of the excavator 1 rotary rolling disc 16 as an origin, and taking the rotation center of the excavator 1 rotary rolling disc 16 as an O node;
S2, simplifying the structure of a working device of the excavator 1, connecting all adjacent nodes of the excavator 1 to obtain a plurality of fixed polygons and a plurality of variable triangles, obtaining a rotation angle measured by an angular displacement sensor 41 on the excavator 1, a coordinate azimuth angle and a three-dimensional coordinate value measured by a positioning navigation unit 31 and the length of each oil cylinder measured by a displacement sensor 42, firstly calculating the three-dimensional coordinates of a A, N node by utilizing a three-dimensional function through the coordinate azimuth angle and a 3-axis inclination angle in an AHRS module 312 by utilizing the X, Y, Z-axis three-way fixed distance of the A, N node on the base of the movable arm 12 to obtain the initial edge of a Gao Chengzhi wire, then calculating the elevation increment DeltaZ and the average distance DeltaL of each node by utilizing an elevation branch wire from the movable arm 12 to the bucket 14, calculating the DeltaX and DeltaY of the plane coordinate increment by utilizing a plane branch wire, and finally superposing the three-dimensional coordinates of the A node to obtain the three-dimensional coordinates of each node;
S3, according to 5 azimuth of the unmanned aerial vehicle photographic measurement aerial photographing ground object, high-precision ground surface three-dimensional model information is obtained through modeling software, a front shovel, a back shovel and a bucket wheel excavator 1 are selected according to three-dimensional models, engineering geology and operation characteristics, then a working range, excavator parameters, line parameters, a construction sequence and an operation method are input into a central processing unit 2, an operation line is planned, the excavator 1 reaches a preset working place through a positioning navigation system 3 and a cruise detection system 8, the excavator 1 selects a station position and an orientation according to the maximum excavation depth, the maximum unloading height, the maximum excavation radius and the maximum excavation height which are set by input, and when the operation condition cannot be met, the position of the excavator 1 is automatically adjusted.
Example 2:
the basic content is the same as in example 1, except that:
Referring to fig. 3,5 and 6, the data acquisition system 4 comprises an angular displacement sensor 41 on a swing mechanism, a plurality of displacement sensors 42 on a working device and a pressure sensor on a hydraulic circuit of the excavator 1, wherein the angular displacement sensor 41 is coaxially connected to an output shaft of a swing motor 17 of the excavator 1 through a flexible coupling 44, the plurality of displacement sensors 42 are respectively arranged on a movable arm 12 cylinder, a bucket 13 cylinder, a bucket 14 cylinder and a bulldozer 15 cylinder and are parallel to the central axis of the cylinders, a U-shaped frame 43 is arranged at the upper end of the angular displacement sensor 41, the U-shaped frame 43 is arranged below a turntable bottom steel plate at the upper part of the excavator 1, a driving gear 18 of the excavator 1 is positioned in the U-shaped frame 43, the output shaft of the swing motor 17 is connected with the flexible coupling 44, one end of the flexible coupling 44 passes through the U-shaped frame 44 and then is connected with the angular displacement sensor 41, the plurality of displacement sensors 42 comprise stay wire sensors 421, wherein three stay wire sensors 421 are respectively arranged on the pin shaft center line of the end head of a piston rod of the bucket rod 13 cylinder, the remaining one stay wire sensor 421 is arranged on the bucket 14 cylinder, the cylinders of the bucket rod 13 cylinder, the movable arm 12 cylinder and the bucket rod 15 cylinder are respectively provided with a fixing piece 422, one end of a stay wire of each stay wire sensor 421 is correspondingly connected with the plurality of fixing pieces 422, the stay wire of the stay wire sensor 421 on the bucket 14 cylinder is connected with the end head of the piston rod of the bucket 14 cylinder, and the plurality of stay wire sensors 422 are respectively connected with the central processing unit 2;
The angular displacement sensor 41 is used for measuring the horizontal rotation angle of the driving gear 18 and sending the rotation angle value to the central processing unit 2; a plurality of displacement sensors 42 for measuring strokes of the boom 12 cylinder, the arm 13 cylinder, the bucket 14 cylinder, and the blade 15 cylinder, respectively, and transmitting the stroke values to the cpu 2; the pressure sensor is used for measuring the pressure of hydraulic oil of a hydraulic circuit of the excavator 1 and sending a pressure value to the central processing unit 2; the central processing unit 2 is configured to calculate a real-time zenith distance of a connecting line of each of the adjacent nodes according to a real-time internal angle of each of the variable triangles on the working device obtained by calculating a cylinder displacement value measured by the displacement sensor 42, calculate an elevation increment and a horizontal distance of each of the nodes according to a branch line measurement calculation principle by using the zenith distance and the node distance, obtain a plane coordinate increment of each of the nodes according to the horizontal distance and a horizontal azimuth angle measured by an electronic compass in the AHRS module 312 by using the branch line measurement calculation principle, superimpose a three-dimensional coordinate value of a rotation center of the rotary drum 16 to obtain a three-dimensional coordinate of each of the nodes, divide a rotation angle value of the driving gear 18 by a reduction ratio between a gear ring of the rotary drum 16 and the driving gear 18, and add a coordinate azimuth angle of a longitudinal axis of an upper turntable to obtain a coordinate azimuth angle of a longitudinal axis of a lower traveling mechanism, and calculate coordinates of each of a crawler belt angular point of the lower traveling mechanism by using a structural size of the excavator to obtain a station position of the excavator.
Example 3:
the basic content is the same as in example 1, except that:
Referring to fig. 7 to 9, the automatic lubrication system 5 includes a plurality of grease guns mounted by hoops beside respective movement nodes of the working position of the excavator 1; The grease gun comprises a base 51, a gun body 52, an upper cover 53, an oil storage cylinder 54 and a grease nipple interface 55, the base 51 is connected to the lower side of the gun body 52, the upper cover 53 is connected to the upper side of the gun body 52, a crank cavity 57 is arranged on the upper side of the base 51, a first piston cavity 58 and a second piston cavity 59 are respectively arranged in the gun body 52 along the vertical direction, a guide groove 510 is arranged at the center of the upper cover 53, the lower ends of the first piston cavity 58 and the second piston cavity 59 are communicated with the crank cavity 57, the upper ends of the first piston cavity 58 and the second piston cavity 59 are communicated with the guide groove 510, A crankshaft 511 is arranged in the crankshaft cavity 57, one end of the crankshaft 511 passes through the base 51 and then is connected with a driving motor 512, the other end of the crankshaft 511 passes through the base 51 and then is connected with a rocker 513, the first piston cavity 58 and the second piston cavity 59 are respectively and slidably connected with a first piston 514 and a second piston 515, the two first pistons 514 and the second pistons 515 are respectively connected with the journal of the crankshaft 511 through a first connecting rod 516 and a second connecting rod 517, the outer side of the gun body 52 close to the upper end is radially provided with two exhaust holes 518, the exhaust holes 518 are connected with an exhaust valve 519, The two exhaust holes 518 are respectively communicated with the first piston cavity 58 and the second piston cavity 59, two butter inlets 520 are arranged on the outer side of the gun body 52 close to the middle, the two butter inlets 520 are positioned in the middle of the first piston cavity 58 and the second piston cavity 59, the butter inlets 520 are positioned between the bottom dead center and the top dead center of the first piston 514 and the second piston 515, one-way valves 521 are arranged at the communication positions of the first piston cavity 58 and the second piston cavity 59 and the guide groove 510, the oil nozzle interfaces 55 are communicated with the upper ends of the guide groove 510 through hoses 56, the oil nozzle interfaces 55 are communicated with the oil nozzles of all nodes of the excavator 1, the oil storage cylinder 54 is in threaded connection with one side of the butter inlet 520 on the gun body 52; A third piston cavity 522 is arranged in the oil storage cylinder 54, an oil outlet 523 is arranged at one end of the oil storage cylinder 54, one end of the oil outlet 523 is respectively communicated with two butter inlets 520, the other end of the oil outlet 523 is communicated with the third piston cavity 522, a third piston 524 is slidably connected in the third piston cavity 522, a pull rod 525 is arranged at the other end of the oil storage cylinder 54, one end of the pull rod 525 is connected with a handle 526, the other end of the pull rod 525 is communicated with the third piston 524 after penetrating through the oil storage cylinder 54, one end of the third piston 524 close to the pull rod 525 is connected with a spring 527, one end of the spring 527 is connected to the inner bottom wall of the third piston chamber 522, the other end of the oil storage cylinder 54 is provided with a travel switch 528, and the travel switch 528 and the driving motor 512 are connected to the central processing unit 2.
Example 4:
the basic content is the same as in example 1, except that:
Referring to fig. 11, the remote control system 7 includes a data wireless transmission system 71, an analog operation cabin 75, a remote control operation system 72, a remote control operation system 73, and a signal execution unit 74, wherein the data wireless transmission system 71 is installed on the excavator 1, the analog operation cabin 75 is installed in an after-sales service center or a driving center, the remote control operation system 72 is in signal connection with the signal execution unit 74, the remote control operation system 73 is arranged in an enterprise equipment management center, and the signal execution unit 74 is installed on the excavator 1 and is connected with the data wireless transmission system 71 and the central processor 2;
The data wireless transmission system 71 is configured to synchronously feed back the data collected by the data collection system 4 and the data processed by the central processing unit 2 to the analog operation cabin 75 and the remote operation system 73 through a network to realize remote control; the simulated operation bin 75 is used for providing remote assistance for an after-sales service center and providing a designated driving service for a designated driving center; the remote operation system 73 is used for a user to remotely control the work of the excavator 1 and monitoring the enterprise equipment management department; the remote control operation system 72 is used for remotely controlling the excavator 1 to work through an industrial remote controller; the signal execution unit 74 is configured to receive, according to the data wireless transmission system 71, analog signals or digital signals sent by the central processor 2, the analog operation cabin 75, the remote control operation system 72, and the remote control operation system 73, start and stop the equipment by remotely controlling the start relay and the arc extinguishing relay, and actuate corresponding solenoid valves by remotely controlling a plurality of working device relays, so as to control the hydraulic circuit of the excavator 1 to execute corresponding paths to perform predetermined actions on the working devices.
Example 5:
the basic content is the same as in example 1, except that:
Referring to fig. 10, the cruise detection system 8 includes a 3D industrial scanning camera 81, a mounting base 82, a motor 85, a three-color warning lamp 88, a support column 89, a panoramic camera 810 and four laser radars 811, wherein the support column 89 and the three-color warning lamp 88 are mounted at the top of the cab 11, the panoramic camera 810 is mounted at the upper end of the support column 89, the mounting base 82 and the motor 85 are respectively mounted on the movable arm 12 of the excavator 1, a rotating shaft 83 is rotatably connected at the center of the mounting base 82, a base 84 is sleeved on the outer circumferential surface of the rotating shaft 83, the 3D industrial scanning camera 81 is mounted at the upper side of the base 84, a driving gear 86 is connected at the output end of the motor 85, one end of the rotating shaft 83 is connected with a driven gear 87, the driven gear 87 is in meshed connection with the driving gear 86, three laser radars 811 are respectively mounted at the left side, the right side and the rear side of the excavator 1, and the remaining laser radars 811 are mounted at the front side of the bucket 13;
The 3D industrial scanning camera 81 is used for controlling the excavator 1 to rotate up and down and always aim at the position of the bucket 18 to scan through the central processing unit 2 when the excavator works; the panoramic camera 810 is used for all-weather panoramic video monitoring and humanoid tracking; the laser radar 811 is used for measuring distance of an obstacle with high precision; the three-color warning lamp 88 is used for warning when the excavator 1 works.
Example 6:
the basic content is the same as in example 1, except that:
the specific steps of the step S2 are as follows:
S21, simplifying the movable arm 12 into a fixed quadrilateral ABCD, simplifying the bucket arm 13 into a fixed pentagon DEFGL and simplifying the bucket 14 into a fixed quadrilateral GHIJ, and combining other nodes on the excavator 1 to obtain variable triangles delta ABN, delta CDE, delta FLK and variable quadrilateral KLGH; the KG nodes of the variable quadrangles KLGH are connected, decomposed and combined to obtain variable triangles delta FGK and delta GKH, fixed edges formed by the five variable triangles and adjacent fixed polygons thereof are NA, AB, CD, DE, FL, LK, LG, GH respectively, the variable edges are BN, CE, FK, KG, and the lengths of BN, CE and FK edges are measured through the displacement sensor 42;
S22, directly calling the coordinate of the rotation center of the excavator 1 in the positioning navigation unit 31, the coordinate azimuth angle and the 3-axis inclination angle in the AHRS module 312 and the X, Y, Z-axis three-way fixed distance through software in the central processing unit 2, calculating to obtain the A, N node three-dimensional coordinate on the base of the movable arm 12 through trigonometric function, reversely calculating the flat distance value between the A, N node plane coordinates through the calculated A, N node plane coordinates in the Gao Chengzhi lead, reversely calculating the initial azimuth angle of the initial edge AN side through the coordinates by using the elevation value and the flat distance value as the calculated coordinate of the Gao Chengzhi lead, calculating 3 inner angles of the variable triangle through cosine theorem according to 2 fixed edges and the measured variable edge length, subtracting the variable angle BAN from the angle of the initial edge AN side to obtain the AB corner angle, namely the AB edge zenith distance, and obtaining a node M in the vertical axis positive direction of the space rectangular coordinate system of the excavator 1, the angle of the zenith distance of AN initial side AN side fixed on a turntable at the upper part of the excavator 1 is used as a starting azimuth angle, namely AN angle MAN, AN side is used as a measuring base line, a calculated variable triangle is overlapped to obtain AN AB side angle, a quadrilateral ABCD is fixed through a movable arm 12 to obtain a CD side angle, a calculated variable triangle is overlapped to obtain a DE side angle, a bucket 13 is used for fixing a polygon DEFGL to obtain a GF side angle, a calculated variable triangle is overlapped to obtain a GK side angle, a calculated variable triangle is overlapped to obtain a GH side angle, a quadrilateral GHIJ is fixed through a bucket 14, the angle is transmitted to a terminal working side IJ to obtain the angle of the working side IJ, the elevation increment DeltaZ and the pitch DeltaL of each node are calculated through a trigonometric function according to the zenith distance and the node distance of each side, finally, overlapping the node A elevation to obtain the elevation of each node; the solution of the angle FGH is that the angle FLG is a fixed value in a fixed polygon DEFGL, wherein two fixed side lengths of a variable delta FLK are FL and LK, the variable angle FLK is obtained by utilizing a cosine function according to the measured variable side FK, the angle FLG is utilized to obtain the angle KLG, the variable angle LGK and the variable side GK are calculated according to the fixed side lengths LK and LG and the angle KLG, the variable angle FGK can be obtained by utilizing the side lengths FG, FK and GK in the variable triangle delta FGK, the variable angle KGH can be obtained by utilizing the side lengths GK, KH and LH in the variable triangle delta GKH, and the angle FGH is obtained by adding the variable angle KGH.
For example: the branch wire angle transfer formula: a front = a rear-beta right angle +180 deg., resulting in a BC edge right angle of aBC = aAB-beta right angle +180 deg = 62 deg 38'54.1 "-175 deg. 0' 00" +180 deg = 67 deg 38'54.1 "when the calculated angle is negative, 360 deg. is added to convert to positive,
And (3) a coordinate back calculation formula:
△Yab＝Yb-Ya△Xab＝Xb-Xa
αAB＝arctan△Yab/△Xab△Dab＝√△Xab*△Xab+△Yab*△Yab
Cosine function angle calculation formula:
CosA＝[b2+c2-a2]/2bc,cosB＝[a2+c2-b2]/2ac,cosC＝[a2+b2-c2]/2ab
Wherein the forward direction azimuth angle in front of a is the right angle or the left angle, deltaXab is the X-axis coordinate increment, deltaYab is the Y-axis coordinate increment, deltaAB is the coordinate inverse calculated angle, deltaDab is the coordinate inverse calculated distance between two points, a, B and C are triangle side lengths, and angle A, angle B and angle C are internal angles calculated according to the side lengths;
S23, calculating a flat distance delta L in the plane branch wire by utilizing the plane coordinates of the A node, the coordinate azimuth angle in the AHRS module 312 and the Gao Chengzhi wire, gradually obtaining delta X and delta Y of the plane coordinate increment of each node through coordinate calculation, and finally superposing the plane coordinates of the A node to obtain the plane coordinates of each node;
and (3) a coordinate forward calculation formula: Δxab=lab COSaAB; Δyab=lab SinaAB;
And (3) a coordinate superposition formula: xb=xa+ [ delta ] Xab; yb=ya+ [ delta ] Yab;
where Lab is the flat distance ΔL and aAB is the coordinate azimuth in AHRS module 312;
S24, measuring the deformation edge distance by using the increased displacement sensor 42 when the combined movable arm 12 turns or rotates, and repeating the steps S22 and S23 to calculate the elevation increment and the plane coordinate increment;
And S25, overlapping the elevation and the coordinates of each node to obtain the three-dimensional coordinates of each node.
In this embodiment, referring to fig. 19 and 20, the absolute elevation of the center of rotation node O is 24 meters, since the nodes O, A, N are all on the upper turntable, there is a fixed vertical distance between them, if the fixed vertical distance between the node O and the working device starting node a is 2 meters, the elevation of the starting node a is 24+2=26, if the fixed horizontal distance between the node O and the working device starting node a is1 meter, the elevation branch line starting coordinates are automatically defined as (26, 1), and the N nodes are the same, and the elevation branch line coordinates are incrementally calculated by the program.
Example 7:
The basic content is the same as in example 6, except that:
In this embodiment, only the CE pitch is changed when the arm cylinder is operated, and the arm and the bucket are rotated vertically at the same time, so that the excavating operation is performed, and fig. 21 and 22 are referred to as Gao Chengbiao and simulated dynamic diagrams calculated by the program automation Gao Chengjie.
Example 8:
The basic content is the same as in example 6, except that:
Referring to fig. 23 and 24, the plane coordinates of the node O measured by the RTK mobile receiver on the center of revolution are O (19999.222, 19999.372), and since the node O, A is on the upper turntable, there is a fixed distance between them, if the fixed horizontal distance between the node O and the working device starting node a is 1 meter, and the azimuth angle measured by the electronic compass is 38 ° 54'43.1 ", the plane coordinates a (20000 ) of the node a can be automatically calculated according to the coordinate formula, the incremental solution of the plane branch coordinates is performed by the program, and the horizontal coordinate azimuth angle of the working device of the excavator is a value normally, and the program automatically changes its rotation angle value by calculating the real-time inner angle according to the cosine formula by the measured displacement value when the combined boom turns or rotates.
Claims (10)
1. A real-time space attitude analysis and automation control system of a pitch method excavator is characterized in that: the system comprises a positioning navigation system (3), a central processing unit (2), a data acquisition system (4), an automatic lubrication system (5), a hydraulic circuit automatic protection system (6), a remote control system (7) and a cruise detection system (8), wherein the central processing unit (2) is arranged in a cab (11) of the excavator (1), the positioning navigation system (3) is arranged right above the rotation center of a rotary rolling disc (16) of the excavator (1), an angular displacement sensor (41) in the data acquisition system (4) is arranged on a driving gear (18) shaft of a rotary motor (17) of the excavator (1), a displacement sensor (42) in the data acquisition system (4) is respectively arranged on a movable arm (12) oil cylinder, a bucket rod (13) oil cylinder, a bucket (14) oil cylinder and a shovel (15) oil cylinder and is parallel to the axis of the oil cylinder, the cruise detection system (8), the automatic lubrication system (5) and the hydraulic circuit automatic protection system (6) are arranged on the excavator (1), the positioning navigation system (3), the data acquisition system (4) and the hydraulic circuit automatic protection system (6) are connected with the central processing unit (2) and the hydraulic circuit (8) respectively, the remote control system (7) is respectively connected with the excavator (1) and the central processing unit (2);
The positioning navigation system (3) is used for measuring real-time space coordinates of a rotation center of the rotary rolling disc (16) and a coordinate azimuth angle of a longitudinal axis of a turntable at the upper part of the excavator (1) relative to the north direction and sending the coordinate values and azimuth angle values to the central processing unit (2);
the data acquisition system (4) is used for acquiring displacement values of all oil cylinders of the excavator (1), and acquiring a pressure value on a hydraulic loop of the excavator (1) by a corner value between an upper rotary table and a lower travelling mechanism;
The automatic lubrication system (5) is used for automatically filling butter into each motion node of the working device of the excavator (1);
The hydraulic circuit automatic protection system (6) is used for protecting the hydraulic circuit of the excavator (1);
the remote control system (7) is used for remotely controlling each hydraulic mechanism of the excavator (1) to work and acquiring data processed by the central processing unit (2);
the cruise detection system (8) is used for monitoring the surrounding environment when the excavator (1) walks or works, providing a first person view angle during work and carrying out three-dimensional scanning on the deep foundation pit support system;
The central processing unit (2) is used for acquiring and calculating three-dimensional space coordinate values and motion states of all working devices of the excavator (1) according to coordinate values and azimuth values sent by the positioning navigation system (3) and displacement values of oil cylinders of all motion nodes acquired by the data acquisition system (4), supplementing oil to a hydraulic circuit of the excavator (1) by using an overload oil supplementing valve according to pressure values, controlling the automatic lubrication system (5) to carry out butter filling of the motion nodes, and synchronously uploading all data to the cloud platform through the remote control system (7) during working.
2. The pitch method excavator real-time spatial attitude analysis and automation control system according to claim 1, wherein: the positioning navigation system (3) comprises a positioning navigation unit (31), a first tray (33), a second tray (34) and a plurality of support columns (32), the positioning navigation unit (31) comprises an RTK mobile station receiver (311), an AHRS module (312), a 360-degree prism (313) and an automatic total station, the support columns (32) are installed right above the rotation center of a rotary rolling disc (16) of an excavator (1) along the circumferential direction, the bottom plate of the support columns (32) is connected with the upper side of a turntable bottom steel plate on the upper part of the excavator (1), the first tray (33) and the second tray (34) are horizontally arranged, the first tray (33) and the second tray (34) are respectively connected to the inner sides of the support columns (32), the AHRS module (312) is installed on the upper side of the second tray (34), the RTK mobile station receiver (311) is connected to the upper side of the first tray (33), the 360-degree prism (313) is installed on the RTK mobile station receiver (311), the RTK mobile station (311) is arranged on the rotary station (313) relative to the full-degree prism (313), the RTK mobile station (311) is arranged on the full-degree prism (313), and the full-mobile station (313) is arranged on the rotary station (313) in a vertical direction relative to the rotation center of the RTK mobile station (311) One end of the AHRS module (312) is connected with the central processing unit (2) through a transmission line;
The RTK mobile station receiver (311) is used for acquiring real-time space coordinates of the rotation center of the rotary rolling disc (16) of the excavator (1) through satellite differential positioning;
The AHRS module (312) is used for resolving real-time space coordinates of the rotation center of the rotary rolling disc (16) of the excavator (1) by calling data measured by the multi-axis attitude sensor in the AHRS module;
The automatic total station is used for tracking and measuring a 360-degree prism (313) to acquire real-time space coordinates of the rotation center of a rotary rolling disc (16) of the excavator (1);
The central processing unit (2) is used for receiving the coordinate value and the azimuth value sent by the positioning navigation unit (31), and calculating and acquiring the three-dimensional space coordinate value of the rotation center of the rotary rolling disc (16) of the excavator (1) through the height difference value fixed between the positioning navigation unit (31) and the rotation center of the rotary rolling disc (16).
3. The pitch method excavator real-time spatial attitude analysis and automation control system according to claim 2, wherein: the data acquisition system (4) comprises an angular displacement sensor (41) on a slewing mechanism, a plurality of displacement sensors (42) on a working device and a pressure sensor on a hydraulic loop of the excavator (1), wherein the angular displacement sensor (41) is coaxially connected to an output shaft of a slewing motor (17) of the excavator (1) through a flexible coupling (44), and the plurality of displacement sensors (42) are respectively arranged at positions of an oil cylinder of the movable arm (12), an oil cylinder of the bucket rod (13), an oil cylinder of the bucket (14) and an oil cylinder of the bulldozer blade (15) and parallel to the central axis of the oil cylinder;
the angular displacement sensor (41) is used for measuring the horizontal rotation angle of the driving gear (18) and sending the rotation angle value to the central processing unit (2);
the displacement sensors (42) are respectively used for measuring strokes of the movable arm (12) oil cylinder, the bucket rod (13) oil cylinder, the bucket (14) oil cylinder and the bulldozer blade (15) oil cylinder and sending stroke values to the central processing unit (2);
The pressure sensor is used for measuring the pressure of hydraulic oil in a hydraulic circuit of the excavator (1) and sending a pressure value to the central processing unit (2);
The central processing unit (2) is used for calculating the real-time internal angle of each variable triangle on the working device according to the displacement value of the oil cylinder measured by the displacement sensor (42) so as to calculate the real-time zenith distance of the connecting line of the adjacent nodes, calculating the elevation increment and the horizontal distance of each node according to the calculation principle of branch wire measurement by utilizing the zenith distance and the node distance, obtaining the plane coordinate increment of each node according to the horizontal distance and the horizontal azimuth angle measured by the electronic compass in the AHRS module (312), obtaining the three-dimensional coordinate of each node by superposing the three-dimensional coordinate value of the rotation center of the rotary rolling disc (16), dividing the rotation angle value of the driving gear (18) by the reduction ratio between the gear ring of the rotary rolling disc (16) and the driving gear (18), obtaining the coordinate azimuth of the longitudinal axis of the lower travelling mechanism by utilizing the structural size calculation of the excavator, and obtaining the coordinates of the crawler angular points of the lower travelling mechanism by utilizing the structural size calculation of the excavator.
4. A pitch method excavator real time spatial attitude analysis and automation control system according to claim 3, wherein: the utility model provides a bucket, including angle displacement sensor (41), install U type frame (43) in the upper end of angle displacement sensor (41), U type frame (43) are installed in the below of the steel sheet at the bottom of the revolving stage in excavator (1), and drive gear (18) of excavator (1) are located U type frame (43), and the output shaft of gyration motor (17) has flexible shaft coupling (44), the one end of flexible shaft coupling (44) is passed behind U type frame (44) and is connected with angle displacement sensor (41), and a plurality of displacement sensor (42) include stay wire sensor (421), and wherein three stay wire sensor (421) are installed respectively on the piston rod end round pin axle central line of scraper bowl (15) hydro-cylinder, swing arm (12) hydro-cylinder, dipper (13) hydro-cylinder, and install mounting (422) on the cylinder of dipper (14) hydro-cylinder respectively, and wherein a plurality of stay wire sensor (421) correspond with fixed part (422) of the stay wire sensor (421) and are located the stay wire sensor (14) of stay wire (14) and are connected with the center sensor (14) of stay wire hydro-cylinder, and are handled respectively.
5. The pitch method excavator real-time spatial attitude analysis and automation control system according to claim 1, wherein: the automatic lubrication system (5) comprises a plurality of grease guns which are arranged beside each motion node of the working position of the excavator (1) through anchor clamps;
The grease gun comprises a base (51), a gun body (52), an upper cover (53), an oil storage cylinder (54) and a grease nipple connector (55), wherein the base (51) is connected to the lower side of the gun body (52), the upper cover (53) is connected to the upper side of the gun body (52), a crankshaft cavity (57) is formed in the upper side of the base (51), a first piston cavity (58) and a second piston cavity (59) are respectively formed in the gun body (52) along the vertical direction, a guide groove (510) is formed in the center of the upper cover (53), the lower ends of the first piston cavity (58) and the second piston cavity (59) are communicated with the crankshaft cavity (57), the upper ends of the first piston cavity (58) and the second piston cavity (59) are communicated with the guide groove (510), a crankshaft (511) is arranged in the crankshaft cavity (57), one end of the crankshaft (511) is connected with a driving motor (512) along the vertical direction, the other end of the crankshaft (51) is connected with a driving motor (512), the other end of the crankshaft (58) is connected with a piston (59) in the second piston cavity (59), and the second piston cavity (59) is connected with a piston (514) through a piston (514) and a piston (59) which is connected with a piston (514) The second piston (515) is respectively connected with the shaft neck of the crankshaft (511) through a first connecting rod (516) and a second connecting rod (517), two exhaust holes (518) are formed in the outer side, close to the upper end, of the gun body (52) in the radial direction, the exhaust holes (518) are connected with exhaust valves (519), the two exhaust holes (518) are respectively communicated with the first piston cavity (58) and the second piston cavity (59), two butter inlets (520) are formed in the outer side, close to the middle, of the gun body (52), the two butter inlets (520) are positioned in the middle of the first piston cavity (58) and the second piston cavity (59), the butter inlets (520) are positioned between the bottom dead center and the top dead center of the first piston (514) and the second piston (515), one-way valves (521) are arranged at the communication positions of the first piston cavity (58) and the second piston cavity (59) and the guide groove (510), the oil nozzle interfaces (55) are communicated with the upper ends of the guide groove (510) through hoses (56), and the oil nozzle interfaces (55) are communicated with the oil nozzles (52) of the excavating machine (1), and the oil nozzles (52) are communicated with the oil storage nozzles (52);
The novel oil storage device is characterized in that a third piston cavity (522) is formed in the oil storage cylinder (54), an oil outlet (523) is formed in one end of the oil storage cylinder (54), one end of the oil outlet (523) is communicated with two butter inlets (520), the other end of the oil outlet (523) is communicated with the third piston cavity (522), a third piston (524) is slidably connected in the third piston cavity (522), a pull rod (525) is arranged at the other end of the oil storage cylinder (54), a handle (526) is connected to one end of the pull rod (525), the other end of the pull rod (525) is communicated with the third piston (524) after penetrating through the oil storage cylinder (54), one end of the third piston (524) close to the pull rod (525) is connected with a spring (527), one end of the spring (527) is connected to the inner bottom wall of the third piston cavity (522), a travel switch (528) is arranged at the other end of the oil storage cylinder (54), and the travel switch (528), a driving motor (512) and a central processor (2) are connected.
6. The pitch method excavator real-time spatial attitude analysis and automation control system according to claim 1, wherein: the remote control system (7) comprises a data wireless transmission system (71), an analog operation bin (75), a remote control operation system (72), a remote operation system (73) and a signal execution unit (74), wherein the data wireless transmission system (71) is arranged on the excavator (1), the analog operation bin (75) is arranged in an after-sales service center or a driving center, the remote control operation system (72) is in signal connection with the signal execution unit (74), the remote operation system (73) is arranged in an enterprise equipment management center, and the signal execution unit (74) is arranged on the excavator (1) and connected with the data wireless transmission system (71) and the central processor (2);
The data wireless transmission system (71) is used for synchronously feeding back the data acquired by the data acquisition system (4) and the data processed by the central processing unit (2) to the simulation operation bin (75) and the remote operation system (73) through a network to realize remote control;
the simulated operation bin (75) is used for providing remote assistance for an after-sales service center and providing a designated driving service for a designated driving center;
The remote operation system (73) is used for a user to remotely control the work of the excavator (1) and the monitoring of an enterprise equipment management department;
the remote control operation system (72) is used for remotely controlling the excavator (1) to work through an industrial remote controller;
The signal execution unit (74) is used for receiving analog signals or digital signals sent by the central processing unit (2), the analog operation bin (75), the remote control operation system (72) and the remote control operation system (73) according to the data wireless transmission system (71), enabling equipment to start and stop through remote control of the starting relay and the arc extinguishing relay, enabling corresponding electromagnetic valves to act through remote control of a plurality of working device relays, and controlling the hydraulic circuit of the excavator (1) to execute corresponding passages to enable the working devices to perform preset actions.
7. The pitch method excavator real-time spatial attitude analysis and automation control system according to claim 1, wherein: the cruise detection system (8) comprises a 3D industrial scanning camera (81), a mounting seat (82), a motor (85), three-color warning lamps (88), a support column (89), a panoramic camera (810) and four laser radars (811), wherein the support column (89) and the three-color warning lamps (88) are all installed at the top of a cab (11), the panoramic camera (810) is installed at the upper end of the support column (89), the mounting seat (82) and the motor (85) are respectively installed on a movable arm (12) of an excavator (1), a rotating shaft (83) is rotationally connected to the center of the mounting seat (82), a base (84) is sleeved on the outer peripheral surface of the rotating shaft (83), the 3D industrial scanning camera (81) is installed at the upper side of the base (84), the output end of the motor (85) is connected with a driving gear (86), one end of the rotating shaft (83) is connected with a driven gear (87), the driven gear (87) is meshed and connected with the driving gear (86), and three radars (811) are respectively installed at the left side and the right side of the left side of the laser radars (811) are respectively installed at the front side and the left side of the laser radars (811;
the 3D industrial scanning camera (81) is used for controlling the excavator (1) to rotate up and down and always scanning the position of the bucket (18) through the central processing unit (2) when the excavator works;
the panoramic camera (810) is used for all-weather panoramic video monitoring and humanoid tracking;
The laser radar (811) is used for measuring the distance of the obstacle with high precision;
the three-color warning lamp (88) is used for warning when the excavator (1) works.
8. A real-time space attitude analysis and automation control method for a pitch method excavator is characterized in that: the control method is applied to the real-time space attitude analysis and automation control system of the pitch method excavator, which is disclosed in claim 3, and comprises the following steps:
S1, establishing a two-stage space rectangular coordinate system according to a coordinate resolving principle, namely firstly establishing a ground first-stage space rectangular coordinate system, wherein the ground first-stage space rectangular coordinate system takes the true north of a geographic azimuth as the positive direction of a plane coordinate X axis, the positive east of the geographic azimuth as the positive direction of a plane coordinate Y axis and the zenith of the geographic azimuth as the positive direction of an elevation Z axis, and then establishing the space rectangular coordinate system of the excavator (1) which is respectively parallel to the ground first-stage space rectangular coordinate system X, Y, Z axes by taking the rotation center of the rotation roller (16) of the excavator (1) as an origin;
s2, simplifying the structure of a working device of the excavator (1), connecting all adjacent nodes of the excavator (1) to obtain a plurality of fixed polygons and a plurality of variable triangles, obtaining a rotation angle measured by an angular displacement sensor (41) on the excavator (1), a coordinate azimuth angle and a three-dimensional coordinate value measured by a positioning navigation unit (31), and the length of each oil cylinder measured by a displacement sensor (42), firstly calculating the three-dimensional coordinate of a A, N node by using a trigonometric function through the coordinate azimuth angle and the 3-axis inclination angle in an AHRS module (312), obtaining the initial edge of a Gao Chengzhi wire, then calculating the elevation increment DeltaZ and the average distance DeltaL of each node by using an elevation branch wire from the movable arm (12) to the direction of the bucket (14), calculating the DeltaX and DeltaY of the plane coordinate increment by using a plane branch wire, and finally, superposing the three-dimensional coordinate of the A node to obtain the three-dimensional coordinate of each node;
S3, obtaining high-precision ground surface three-dimensional model information by using modeling software according to 5 azimuth of an aerial photographing ground object by unmanned aerial vehicle photogrammetry, selecting a front shovel, a back shovel and a bucket wheel excavator (1) according to three-dimensional models, engineering geology and operation characteristics, inputting a working range, excavator parameters, line parameters, a construction sequence and an operation method into a central processing unit (2), planning an operation line, enabling the excavator (1) to reach a preset working place by a positioning navigation system (3) and a cruise detection system (8), and enabling the excavator (1) to select a station and an orientation according to the maximum excavation depth, the maximum unloading height, the maximum excavation radius and the maximum excavation height which are set by input, and automatically adjusting the position of the excavator (1) when the operation condition is not met.
9. The pitch method excavator real-time spatial attitude analysis and automation control method according to claim 8, wherein the method comprises the following steps: the specific steps of the step S2 are as follows:
S21, simplifying the movable arm (12) into a fixed quadrilateral ABCD, simplifying the bucket rod (13) into a fixed pentagon DEFGL and simplifying the bucket (14) into a fixed quadrilateral GHIJ, and combining with other nodes on the excavator (1) to obtain variable triangles delta ABN, delta CDE, delta FLK and variable quadrilateral KLGH; the KG nodes of the variable quadrilaterals KLGH are connected, decomposed and combined to obtain variable triangles delta FGK and delta GKH, fixed edges formed by the five variable triangles and adjacent fixed polygons thereof are NA, AB, CD, DE, FL, LK, LG, GH respectively, the variable edges are BN, CE, FK, KG, and the lengths of BN, CE and FK edges are measured through a displacement sensor (42);
S22, directly calling the coordinate of the rotation center of the excavator (1) in the positioning navigation unit (31), the coordinate azimuth angle in the AHRS module (312), the 3-axis inclination angle and the X, Y, Z-axis three-way fixed distance through software in the central processing unit (2), calculating to obtain A, N node three-dimensional coordinates on the base of the movable arm (12) through trigonometric function, reversely calculating a flat distance value between the two three-dimensional coordinates through the calculated A, N node plane coordinates in a Gao Chengzhi wire, using the elevation value and the flat distance value as the starting coordinates of the Gao Chengzhi wire, reversely calculating through the coordinates to obtain the starting azimuth angle of AN edge of a starting side, solving 3 internal angles of a variable triangle through cosine theorem according to 2 fixed edges and the measured variable edge length, subtracting the variable angle BAN from the angle of the AN edge of the starting side to obtain AB edge zenith distance, transmitting the angle through the wire principle, finally transmitting the angle to the IJ edge of AN end working edge, calculating the elevation Z and delta L of each node by trigonometric function according to the zenith distance of each edge and node distance, and finally superposing the elevation increment of each node to obtain each node elevation increment;
S23, obtaining delta X and delta Y of the plane coordinate increment of each node step by step through coordinate calculation in the plane branch wire by utilizing the plane coordinate of the node A, the coordinate azimuth angle in the AHRS module (312) and the plain distance delta L calculated by the Gao Chengzhi wire, and finally, superposing the plane coordinate of the node A to obtain the plane coordinate of each node;
s24, measuring the variable edge distance by using an added displacement sensor (42) when the combined movable arm (12) turns or rotates, and repeating the steps of S22 and S23 to calculate the elevation increment and the plane coordinate increment;
And S25, overlapping the elevation and the coordinates of each node to obtain the three-dimensional coordinates of each node.
10. The pitch method excavator real-time spatial attitude analysis and automation control method according to claim 9, wherein the method comprises the following steps: in the step S22, the specific steps of transmitting the angles through the wire principle are as follows:
Taking a node M in the positive direction of a vertical axis of a space rectangular coordinate system of the excavator (1), taking the zenith distance angle of AN AN side of a starting side fixed on AN upper turntable of the excavator (1) as a starting azimuth angle, namely +.MAN, and AN side of the starting side as a measurement base line, superposing the calculated variable triangle +.BAN to obtain AN AB side angle, fixing a quadrilateral ABCD through a movable arm (12) to obtain a CD side angle, superposing the calculated variable triangle +.CDE to obtain a DE side angle, fixing a polygon DEFGL through a bucket rod (13) to obtain a GF side angle, superposing the calculated variable triangle +.FGK to obtain a GK side angle, superposing the calculated variable triangle +.KGH to obtain a GH side angle, fixing a quadrilateral GHIJ through a bucket (14), and transmitting the angle to a terminal working side IJ so as to obtain the angle of the working side IJ, and completing the angle transmission of a Gao Chengzhi wire;
The solution of the angle FGH is that the angle FLG is a fixed value in a fixed polygon DEFGL, wherein two fixed side lengths of a variable delta FLK are FL and LK, the variable angle FLK is obtained by using a cosine function according to the measured variable side FK, the angle KLG is obtained by using the fixed angle FLG-variable angle FLK, the variable angle LGK and the variable side GK are calculated according to the fixed side lengths LK and LG and the angle KLG, the variable angle FGK is obtained by using the side lengths FG, FK and GK in the variable triangle delta FGK, the variable angle KGH is obtained by using the side lengths GK, KH and LH in the variable triangle delta GKH, and the angle FGH is obtained by adding the variable angle KGK and the angle KGH.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410207761.8A CN118292515A (en) | 2024-02-26 | 2024-02-26 | Real-time space attitude analysis and automatic control system and method for pitch method excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410207761.8A CN118292515A (en) | 2024-02-26 | 2024-02-26 | Real-time space attitude analysis and automatic control system and method for pitch method excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118292515A true CN118292515A (en) | 2024-07-05 |
Family
ID=91675049
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410207761.8A Pending CN118292515A (en) | 2024-02-26 | 2024-02-26 | Real-time space attitude analysis and automatic control system and method for pitch method excavator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118292515A (en) |
-
2024
- 2024-02-26 CN CN202410207761.8A patent/CN118292515A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200399869A1 (en) | Image display system for work machine, remote operation system for work machine, and work machine | |
| US11613873B2 (en) | Shovel and work support system for construction machine | |
| AU683165B2 (en) | Method and apparatus for determining the location of a work implement | |
| JP3662587B2 (en) | Method and apparatus for determining the position and orientation of a work machine | |
| KR101695914B1 (en) | Excavator 3-dimensional earthwork bim system for providing realtime shape information of excavator in executing earthwork construction | |
| JP2020159192A (en) | Display system, construction machine, and display method | |
| CN107905275A (en) | A kind of excavator digitlization auxiliary construction system and its auxiliary construction method | |
| CN111485879B (en) | Heading machine vehicle body and positioning method and positioning system of cutting drum of heading machine vehicle body | |
| US20210309352A1 (en) | Systems and methods for generating earthmoving prescriptions | |
| EP0956397A1 (en) | Device and method for determining the position of a working part | |
| JP2019196630A (en) | Unmanned construction system and bulldozer | |
| CN212866139U (en) | Excavator automatic guidance system based on big dipper rtk | |
| Yoo et al. | Development of a 3D local terrain modeling system of intelligent excavation robot | |
| CN111708067B (en) | Automatic guide system of excavator | |
| CN118292515A (en) | Real-time space attitude analysis and automatic control system and method for pitch method excavator | |
| CN116057417A (en) | Work machine | |
| CN118029481A (en) | System and method for analyzing spatial attitude of rotary excavator | |
| CN211121250U (en) | Excavation machine earthwork operation measurement data acquisition device | |
| CN118292513A (en) | Digital intelligent excavator and control system and method thereof | |
| CN117926877A (en) | Directional line method excavator space position analysis and automatic control system and method | |
| JPH09159450A (en) | Land surveying system | |
| CN116518924A (en) | Tunnel measurement and laser projection robot system and measurement method | |
| CN115795580A (en) | Intelligent excavation construction management system based on cloud computing | |
| CN116242363A (en) | Unmanned aerial vehicle guided excavator autonomous operation method and system thereof | |
| van der Tas | Data acquisition for an electric mining shovel pose estimator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination |