Excavator construction guiding system and construction method

Abstract

The invention discloses an excavator construction guiding system which comprises an excavator body, a movable arm, a bucket rod and a bucket. The excavator body and / or the movable arm are / is providedwith a positioning module used for measuring pose information of the movable arm, the excavator is provided with a measuring assembly used for measuring the telescopic length of a bucket rod hydraulicoil cylinder and / or a bucket hydraulic oil cylinder, the excavator construction guiding system further comprises a measuring terminal, the measuring terminal is used for receiving measuring information of the positioning module and the measuring assembly, a sensor of the measuring bucket is far away from the severe environment, and the system is easier to maintain. The construction method comprises the following steps: calculating pose information of the movable arm, the bucket rod and the bucket according to the measurement information; establishing a construction site terrain model by utilizing software, and determining the pose of a bucket simulation model according to the pose information of the bucket; and guiding construction according to a plane graph and a section graph, and dynamically simulating the topographic construction excavation condition of the construction site according to the path track of the shovel teeth. By comparing an excavated terrain model with a designed terrain section, the actual excavation condition of the construction site is determined, and the phenomena of over-excavation, under-excavation, missed excavation and repeated excavation are avoided.

Description

technical field [0001] The invention relates to the technical field of measurement, in particular to an excavator construction guidance system and a construction method. Background technique [0002] The excavator includes excavator car body, boom, stick and bucket. The stick is hinged with the boom and is driven by the stick hydraulic cylinder to rotate between the stick and the boom. The joint is hinged, and the rotation between the bucket and the stick is driven by the bucket hydraulic cylinder. The existing excavator measurement system is generally two GNSS satellite receiving antennas installed on the car body, and the angle measuring sensor is directly installed on the car body, boom, stick, the rotating shaft of the car body and boom, the boom and stick On the rotating shaft, the rotating shaft of the arm and bucket, and the rocker of the bucket, the three-dimensional coordinates of the bucket teeth need to be estimated from the vehicle body to calculate the spatial ...

AI Technical Summary

Problems solved by technology

The existing excavator measurement system is generally two GNSS satellite receiving antennas installed on the car body, and the angle measuring sensor is directly installed on the car body, boom, stick, the rotating shaft of the car body and boom, the boom and stick On the rotating shaft, the rotating shaft of the arm and bucket, and the rocker of the bucket, the three-dimensional coordinates of the bucket teeth need to be estimated from the vehicle body to calculate the spatial position of the boom’s rotating shaft. Compared with directly measuring and calculating the pose of the boom, the accumulated measurement calculation Error, if the angle sensor chooses the inclination sensor, the dynamic measurement accuracy of the inclination sensor is required to be high, and the dynamic measurement accuracy of the inclination sensor is far worse than the static measurement accuracy, so the dynamic performance of the inclination sensor is required to be higher

[0003] The angle measuring sensor is installed on the rotating shaft and rocker of the bucket and arm, and its position needs to be close to the construction object. If the construction object is relatively hard, it will cause greater vibration during construction. Therefore, the angle measuring sensor is required to be highly resistant to vibration. The protection requirements for anti-falling and anti-collision are relatively high. If the construction is carried out underwater, the angle sensor will be completely soaked in water, and the waterproof requirements are high. When disassembling the bucket, it will be very difficult to disassemble the angle sensor It is inconvenient and difficult to use and maintain; the angle measuring sensor is installed on the stick, the boom and the shaft of the stick, and its position is relatively close to the construction object. When the construction object is relatively hard, the angle measuring sensor is also required to have a larger Excellent anti-vibration performance, good waterproof performance is also required in deep water construction. When disassembling the stick, it is inconvenient to disassemble and assemble the stick angle sensor, and it is difficult to use and maintain

[0004] The existing construction method of the excavator construction guidance system with visualization requires additional equipment to collect the actual terrain. When installing the equipment, it is also necessary to extend the bracket on the excavator to install the equipment to reduce blind spots. The installation of the equipment is troublesome, but it is still unavoidable The angle of view is sometimes blocked by the bucket, and the terrain data at the bucket teeth cannot be collected in real time, and the amount of data collected, transmitted and processed in real time is huge, which requires high performance of the processing equipment, and the system operation burden is heavy. When dredging underwater Affected by turbid water quality, the quality of collected topographic data is poor, and the influence of underwater floating objects and air bubbles will also bring wrong data. There are many uncertain factors in environmental changes, which reduces the stability of the system. Therefore, the existing excavator The construction guidance system pays attention to the design terrain but fails to consider or handle the actual terrain well, and cannot grasp the phenomenon of over-excavation, under-excavation, missing excavation, and repeated excavation as a whole

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