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Excavator, bucket positioning method thereof, electronic equipment and storage medium

A positioning method and excavator technology, applied in mechanically driven excavators/dredgers, electrical digital data processing, design optimization/simulation, etc., can solve the problem that excavators are difficult to accurately calculate and locate the bucket position, and achieve the construction environment The effect of low requirements, high sensitivity and good adaptability

Pending Publication Date: 2019-04-12
GUANGZHOU HI TARGET SURVEYING INSTRUMENT CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] In order to overcome the deficiencies in the prior art, one of the purposes of the present invention is to provide an excavator, which can solve the problem that the excavator is difficult to accurately calculate and locate the bucket position

Method used

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  • Excavator, bucket positioning method thereof, electronic equipment and storage medium
  • Excavator, bucket positioning method thereof, electronic equipment and storage medium
  • Excavator, bucket positioning method thereof, electronic equipment and storage medium

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Embodiment Construction

[0040] Below, in conjunction with accompanying drawing and specific embodiment, the present invention is described further:

[0041] Such as Figure 1-3 As shown, it involves an excavator and a bucket positioning method thereof.

[0042] The excavator of the preferred example of the present invention is provided with four dynamic sensors, including a vehicle body inclination sensor, a boom inclination sensor, a stick inclination sensor, and a bucket inclination sensor. The arm inclination sensor is arranged on the arm of the excavator to measure the inclination of the boom, the arm inclination sensor is arranged on the arm of the excavator to measure the inclination of the arm, and the bucket inclination sensor is arranged on the bucket of the excavator to measure the inclination of the bucket.

[0043] The "GNSS" mentioned in the present invention refers to the global navigation satellite system adopted by the present invention based on satellite navigation and positioning t...

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Abstract

The invention discloses a bucket positioning method, which is applied to an excavator and comprises the following steps of: specifying a positive direction by adopting a right hand rule and establishing an excavator kinematics model; C; calculating a movable arm fulcrum coordinate according to the coordinate of the antenna phase center in the geographic coordinate system and the position vector ofthe antenna phase center measured by the RTK in the geographic coordinate system; C; calculating the rotating angle of the movable arm according to the excavator mechanical parameters and the movablearm inclination angle; C; calculating a bucket rod rotation angle according to the bucket rod inclination angle and the movable arm rotation angle; C; calculating the bucket rotation angle accordingto the bucket inclination angle, t, the movable arm rotation angle and the bucket rod rotation angle; A; and calculating the position of the shovel tip by establishing a DH matrix model according to the coordinates of the movable arm fulcrum. The method can solve the problem that the excavator is difficult to accurately calculate and position the bucket.

Description

technical field [0001] The invention relates to the technical field of excavators, in particular to an excavator and a bucket positioning method thereof, electronic equipment and a storage medium. Background technique [0002] At present, there are mainly three methods for calculating the coordinates of excavator buckets: [0003] 1. Laser guidance: By setting up the laser transmitter and the bucket laser receiver, the laser transmitter sweeps out the laser reference plane, the bucket laser receiver receives the laser signal, and the on-board controller guides the excavator to do plane excavation according to the laser reference plane Work. [0004] 2. Total station guidance: similar to laser guidance, but the total station can measure the three-dimensional coordinates of the bucket and perform three-dimensional guidance. [0005] 3. Global Positioning System Guidance: Three-dimensional guidance is also available. By installing satellite receivers and cable displacement se...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50E02F3/28E02F3/36E02F3/43
CPCE02F3/28E02F3/36E02F3/43G06F30/20
Inventor 杨伟伟黄金清林国利潘久辉韩伟浩黄东东
Owner GUANGZHOU HI TARGET SURVEYING INSTRUMENT CO LTD
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