A method, control device, and system for monitoring loader feeding based on BeiDou positioning.

Abstract

This invention discloses a loader feeding monitoring method, control device, and system based on BeiDou positioning, including: S1, receiving real-time weight data of the stone in the bucket measured by a weighing sensor; S2, determining whether the real-time weight data is decreasing; if so, proceeding to step S3; S3, acquiring the selected pile hole from multiple construction pile holes; S4, obtaining the feeding range based on the pile information; S5, obtaining the coordinate position of the bucket center; S6, determining whether the coordinate position is within the feeding range; if not, issuing an alarm. This invention combines a BeiDou positioning module and a loader weighing module, and wirelessly connects the output of the above modules to a PC for data recording and comparison, drawing a trajectory diagram of the loader throughout the construction process. It also compares the loader feeding position with the actual hole position to determine whether it is within the allowable feeding radius. For feeding points that do not meet the requirements, an alarm message is given.

Description

Technical Field

[0001] This invention relates to the field of vibratory compaction construction technology, specifically to a loader feeding monitoring method, control device, and system based on BeiDou positioning. Background Technology

[0002] In existing vibro-compaction stone pile construction, the filling method at the borehole opening often uses a loader to complete the stone filling operation. This operation is generally divided into two modes: 1. A hopper is placed at the borehole opening, the loader feeds the hopper, and then the filling process is completed through the hopper; 2. The loader directly completes the filling process at the borehole opening. The second mode is more economical and efficient, and is therefore more widely used. Currently, early monitoring systems for this filling operation mainly monitor the filling volume and vibration time. The control system's control level is not very high, and human factors inevitably appear, affecting project quality and leading to the potential for shoddy workmanship. Secondly, the monitoring parameters are limited, making it impossible to mark pile holes with abnormal construction. Therefore, it is necessary to monitor the quality of the backfill material to meet the requirements of subsequent vibro-compaction treatment. Summary of the Invention

[0003] The purpose of this invention is to provide a method, control device, and system for monitoring loader material feeding based on BeiDou positioning. It combines a BeiDou positioning module and a loader weighing module, and wirelessly connects the outputs of these modules to a PC for data recording and comparison, generating a trajectory map of the loader throughout the construction process. The method compares the loader's material feeding position with the actual borehole position to determine if it is within the allowable feeding radius. For feeding points that do not meet the requirements, an alarm message is issued. This addresses the problem of insufficient monitoring of fill material during existing vibratory compaction construction processes.

[0004] The method for monitoring loader feeding based on BeiDou positioning includes the following steps:

[0005] S1. Obtain the selected pile hole from multiple construction pile holes;

[0006] S2. Calculate the material feeding range of the pile hole;

[0007] S3. Receive the weight data of the stone in the bucket measured by the weighing sensor in real time;

[0008] S4. Obtain the coordinates of the bucket center;

[0009] S5. Determine based on the real-time weight data, the coordinate position of the bucket center, and the feeding range of the pile hole:

[0010] An alarm is issued when the real-time weight data is decreasing and the coordinate position of the bucket center is not within the feeding range of the pile hole.

[0011] Furthermore, the coordinate position of the bucket center is a geocentric coordinate system coordinate position, specifically including the following steps:

[0012] Receive the coordinates (Xd, Yd, Zd) transmitted by the positioning antenna;

[0013] The coordinates (Xo, Yo, Zo) of the receiving directional antenna are transmitted.

[0014] The coordinate positions (Xd, Yd, Zd) and (Xo, Yo, Zo) are transformed by parallel projection along the Z-axis to obtain the two-dimensional coordinate positions (Xd, Yd) and (Xo, Yo).

[0015] The heading angle is calculated based on the coordinate positions (Xd, Yd) and (Xo, Yo). .

[0016] Based on the coordinates (Xd, Yd) and heading angle of the positioning antenna And the measured vertical distance l between the positioning antenna and the center of the bucket, and the compensation angle. Calculate the coordinates of the bucket center.

[0017] Furthermore, the compensation angle for:

[0018] The loader is projected parallel along the Z-axis to obtain a two-dimensional loader graphic.

[0019] The line segment formed by the positioning antenna and the directional antenna is defined as L1;

[0020] The line segment formed by the positioning antenna and the center of the bucket is defined as L2;

[0021] The angle between L1 and L2 is defined as the compensation angle. .

[0022] Furthermore, the compensation angle Satisfy: cos = (a² + l² - b²) / 2al, where: a is the distance between the positioning antenna and the directional antenna; l is the distance between the positioning antenna and the center of the bucket; b is the distance between the directional antenna and the center of the bucket.

[0023] Furthermore, the coordinates of the bucket center (Xbucket, Ybucket) are determined by the following steps:

[0024] Based on coordinate position Xd and heading angle And the vertical distance l between the positioning antenna and the center of the bucket, and the compensation angle. Calculate the X-coordinate of the bucket center: Xbucket = Xd + l * sin( + );

[0025] Based on coordinate position Yd and heading angle And the vertical distance l between the positioning antenna and the center of the bucket, and the compensation angle. Calculate the Y-coordinate of the bucket center: Ybucket = Yd + l * cos( + ).

[0026] Furthermore, the coordinate position of the pile hole (XK, YK), and the feeding range is a circular area with a radius of r centered on the coordinate position of the designed hole to be filled.

[0027] Furthermore, the coordinate position of the bucket center is not within the feeding range of the pile hole, specifically including the following steps:

[0028] Determine whether the coordinate position (Xbucket, Ybucket) of the bucket center is within the feeding range;

[0029] If so, record the current coordinates of the bucket center (Xbucket, Ybucket) and the weight of the stone.

[0030] If not, a message will be displayed indicating that the current feeding position is not within the allowed feeding range.

[0031] Furthermore, it also includes outputting the trajectory curve of the loader when feeding is completed, and marking the feeding positions on the trajectory curve that are not within the feeding range.

[0032] The loader feeding monitoring device based on BeiDou positioning includes:

[0033] One or more processors;

[0034] A storage unit is used to store one or more programs, which, when executed by one or more processors, enable the one or more processors to implement the loader feeding monitoring method based on Beidou positioning.

[0035] The loader feeding monitoring system based on BeiDou positioning includes:

[0036] Directional antennas and positioning antennas are installed on top of the loader along a direction parallel to the loader's central axis;

[0037] A weighing sensor installed at the bottom of the loader's bucket measures the weight of the stones in the bucket and sends it to the controller.

[0038] It also includes a controller and a Beidou positioning receiver terminal installed on the loader;

[0039] The directional antenna is installed near the bucket to locate the coordinates (Xo, Yo, Zo) of the current loader location and send them to the Beidou positioning receiving terminal.

[0040] The positioning antenna is installed at a position away from the bucket to locate the coordinates (Xd, Yd, Zd) of the current loader location and send them to the Beidou positioning receiving terminal.

[0041] The controller is connected to the weighing sensor and to the directional antenna and positioning antenna respectively through the Beidou positioning receiver terminal. It is used to receive weight data, coordinate position (Xo,Yo,Zo), and coordinate position (Xd,Yd,Zd). Based on the real-time weight data, the coordinate position of the bucket center and the feeding range of the pile hole, the controller makes a judgment. When the real-time weight data is decreasing and the coordinate position of the bucket center is not within the feeding range of the pile hole, an alarm is issued.

[0042] The beneficial effects of this invention are as follows:

[0043] 1. The purpose of this study is to develop a loader-based material feeding monitoring system using BeiDou positioning. This system will be installed on a loader to monitor and record in real-time the main factors affecting the filling process during vibratory compaction stone pile construction, according to the construction process requirements. During construction, if relevant parameters fail to meet the set requirements (indicating non-compliant material feeding points), an alarm will be triggered promptly to remind construction personnel to operate according to the requirements, ensuring that the filling process of each vibratory compaction stone pile meets the construction process requirements. The recording of the construction process provides effective technical means for on-site management and supervision personnel to promptly identify non-standard construction practices, ensuring that the overall construction quality is under monitoring. Therefore, the loader-based material feeding monitoring system using BeiDou positioning is a means of ensuring the quality of vibratory compaction stone pile filling construction.

[0044] 2. This system can use a single-chip microcomputer as the core of the control system to ensure that the reliability, size, and operational flexibility of the device can meet the requirements of the construction site. The system is easy to operate and monitors the construction filling process in real time to ensure the integrity of the filling process. The filling data is automatically collected and recorded, avoiding the drawbacks of manual recording. The recording can be used to objectively judge the filling construction quality, thus providing an effective monitoring method for the quality control of the vibratory compaction stone pile construction process. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the feeding monitoring method of the present invention;

[0046] Figure 2 This is a schematic diagram of the feeding monitoring system of the present invention;

[0047] Figure 3 This is a two-dimensional schematic diagram of a loader according to the present invention;

[0048] Figure 4 This is a schematic diagram of the loader of the present invention within the permissible feeding range;

[0049] Figure 5 This is a schematic diagram of the compensation angle and heading angle of the present invention;

[0050] Figure 6 This is a schematic diagram of the WGS-84 coordinate system of the present invention;

[0051] Reference numerals: 1-Directional antenna, 2-Positioning antenna, 3-Controller, 4-Weighing sensor, 5-BeiDou positioning receiver terminal. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention.

[0054] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0055] Furthermore, for clarity and brevity, descriptions of well-known structures, functions, and configurations may have been omitted. Those skilled in the art will recognize that various changes and modifications can be made to the examples described herein without departing from the spirit and scope of this disclosure.

[0056] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0057] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0058] Example 1

[0059] In existing technologies, the construction process of vibratory compaction of crushed stone piles can be roughly divided into several steps: positioning of construction machinery, hole drilling, hole cleaning, filling, and vibration. After the construction machinery is in place, a vibratory compactor is first used to drill and clean the hole in the ground. Then, coarse filler such as crushed stone is filled into the hole, and the pile body is then fully vibrated with the vibratory compactor to compact the filler and form a columnar crushed stone pile body, which forms a composite foundation with the original foundation. During the construction process, factors such as drilling depth, water pressure, filler quantity, and vibration intensity have a direct impact on the quality of the crushed stone piles. During the drilling process, the water pressure and current of the vibratory compactor must be kept within the specified range. During the cleaning process, the water pressure of the vibratory compactor should be reduced and the cleaning time should be maintained to dilute the mud concentration in the hole. After filling, the vibratory compactor is used for compaction. The compaction intensity can be controlled by the vibratory compactor current and the vibration duration, which are usually called compaction current and vibration time. The change in compaction current reflects the compaction degree and diameter of the crushed stone pile, while the vibration time reflects whether the compaction is sufficient. The compaction current, vibration time, and filling amount are the main factors to ensure the quality of vibratory compacted crushed stone piles.

[0060] Therefore, the Beidou positioning-based loader feeding monitoring system of this application combines a Beidou positioning module and a loader weighing module, and wirelessly connects the output of the above modules to a PC for data recording and comparison, drawing a trajectory diagram of the loader throughout the construction process. It also compares the loader's feeding position with the actual hole position to determine whether it is within the allowable feeding radius. For feeding points that do not meet the requirements, an alarm message is given. Monitoring is conducted from two aspects during vibratory compaction: the adjustment position of the filler and the amount of filler, ensuring the integrity of the filling construction process.

[0061] This Beidou-based loader feeding monitoring system combines a Beidou positioning module and a loader weighing module. The module's output is wirelessly connected to a PC for data recording and comparison, generating a trajectory map of the loader throughout the construction process. The system compares the loader's feeding position with the actual hole location to determine if it falls within the permissible feeding radius. For feeding points that do not meet the requirements, alarm messages are issued. Specifically, this includes:

[0062] Directional antennas and positioning antennas are installed on top of the loader along a direction parallel to the loader's central axis;

[0063] A weighing sensor installed at the bottom of the loader's bucket measures the weight of the stones in the bucket and sends it to the controller.

[0064] It also includes a controller and a Beidou positioning receiver terminal installed on the loader;

[0065] The directional antenna is installed near the bucket to locate the coordinates (Xo, Yo, Zo) of the current loader location and send them to the Beidou positioning receiving terminal.

[0066] The positioning antenna is installed at a position away from the bucket to locate the coordinates (Xd, Yd, Zd) of the current loader location and send them to the Beidou positioning receiving terminal.

[0067] The controller is connected to the weighing sensor and to the directional antenna and positioning antenna respectively through the Beidou positioning receiver terminal. It is used to receive weight data, coordinate position (Xo,Yo,Zo), and coordinate position (Xd,Yd,Zd). Based on the real-time weight data, the coordinate position of the bucket center and the feeding range of the pile hole, the controller makes a judgment. When the real-time weight data is decreasing and the coordinate position of the bucket center is not within the feeding range of the pile hole, an alarm is issued.

[0068] Its working process is described as follows:

[0069] 1. Operators use the accompanying software on the main unit to import construction plan information;

[0070] 2. The operator selects the designed hole position to be filled in the host's software and obtains the designed coordinate value of the hole position;

[0071] 3. The loader operator starts the loader and begins the filling process;

[0072] 4. Data detected by the weighing module and the Beidou positioning module are transmitted to the host in real time via a wireless module;

[0073] 5. The host stores the received data in a data log file;

[0074] 6. The host combines the positioning information and weighing information in real time to make judgments. When the feeding operation is detected, the positioning information is compared with the design hole position of the selected pile, and an alarm prompt is given if the feeding radius is not met.

[0075] 7. Operators use the accompanying software to generate trajectory curves from the data in the recording file, and mark the feeding positions that do not conform to the feeding radius with red.

[0076] The process of vibratory compaction pile making can be divided into four main stages: construction preparation, hole making, hole cleaning, and pile compaction. The pile making steps are as follows:

[0077] (1) Vibratory compaction positioning: Lift the vibratory compactor and align it with the pile position, turn on the water supply pump, start the vibratory compactor, press the work button, and start data recording.

[0078] (2) Vibratory compaction: The vibratory compactor is lowered by a crane at a speed of 1-2 m / min. During the hole-making process, the current value and time of the vibratory compactor at each depth are recorded to qualitatively reflect the changes in soil strength and the speed of hole formation.

[0079] (3) Vibration time and upward speed: After the vibratory punch reaches the designed depth, the vibration is held for 30 seconds, and then the vibratory punch is moved back and forth 1 to 2 times to expand the hole.

[0080] (4) Hole cleaning: repeatedly raise and lower the vibratory compactor about 3 times, and then stop the vibratory compactor at a depth of 30-50cm above the hole depth to prepare for filling.

[0081] (5) Filling: Intermittent filling is used. A set amount of stone is poured into the hole, and the vibratory compactor is lowered into the filling and vibrated once. After reaching the compaction current, the vibration is maintained for about 10 seconds. This process is repeated until the pile is completed.

[0082] (6) Pile construction completed: When the pile is reinforced to 0.5m above the design elevation of the pile top, press the work completion button to stop the operation of the vibratory compactor and data recording, and then stop the water supply pump to complete the single pile construction.

[0083] Example 2

[0084] The purpose of this embodiment is to provide a method for monitoring the feeding of loaders based on BeiDou positioning, which specifically includes the following steps:

[0085] S1. Obtain the selected pile hole from multiple construction pile holes;

[0086] S2. Calculate the material feeding range of the pile hole;

[0087] S3. Receive the weight data of the stone in the bucket measured by the weighing sensor in real time;

[0088] S4. Obtain the coordinates of the bucket center;

[0089] S5. Determine based on the real-time weight data, the coordinate position of the bucket center, and the feeding range of the pile hole:

[0090] An alarm is issued when the real-time weight data is decreasing and the coordinate position of the bucket center is not within the feeding range of the pile hole.

[0091] In this application, the coordinate positions obtained by the positioning antenna and the directional antenna are coordinates in the WGS-84 coordinate system, where the origin O coincides with the Earth's center of mass, the Z-axis points to the Earth's North Pole, the X-axis points to the intersection of the Greenwich Meridian and the Earth's equator, and the Y-axis is perpendicular to the XOZ plane, forming a right-handed coordinate system.

[0092] For ease of calculation, the controller of this application performs a parallel projection transformation from the coordinate positions measured and received by the positioning antenna and directional antenna in the WGS-84 coordinate system along the Z-axis to a two-dimensional coordinate system. It can be understood that the two-dimensional coordinate system is a two-dimensional rectangular coordinate system in which the origin O coincides with the center of mass of the Earth, the X-axis points to the intersection of the Greenwich Meridian and the Earth's equator, and the Y-axis is perpendicular to the X-axis.

[0093] Specifically, determining whether real-time weight data is decreasing includes:

[0094] The weight of the stone in the bucket at the current moment is compared with the weight of the stone in the bucket at the previous moment. If the weight of the stone in the bucket at the current moment is less than the weight of the stone in the bucket at the previous moment, it is determined that the real-time weight data is in a decreasing state.

[0095] Specifically, the coordinate position of the bucket center is based on the geocentric coordinate system, and includes the following steps:

[0096] Receive the coordinates (Xd, Yd, Zd) transmitted by the positioning antenna;

[0097] The coordinates (Xo, Yo, Zo) of the receiving directional antenna are transmitted.

[0098] The coordinate positions (Xd, Yd, Zd) and (Xo, Yo, Zo) are transformed by parallel projection along the Z-axis to obtain the two-dimensional coordinate positions (Xd, Yd) and (Xo, Yo).

[0099] The heading angle is calculated based on the coordinate positions (Xd, Yd) and (Xo, Yo). .

[0100] It is understandable that the heading angle The angle between the line segment formed by the positioning antenna and the directional antenna and the Y-axis.

[0101] Based on the coordinates (Xd, Yd) and heading angle of the positioning antenna And the measured vertical distance l between the positioning antenna and the center of the bucket, and the compensation angle. Calculate the coordinates of the bucket center.

[0102] Specifically, the compensation angle for:

[0103] The loader is projected parallel along the Z-axis to obtain a two-dimensional loader graphic.

[0104] The line segment formed by the positioning antenna and the directional antenna is defined as L1;

[0105] The line segment formed by the positioning antenna and the center of the bucket is defined as L2;

[0106] The angle between L1 and L2 is defined as the compensation angle. .

[0107] Understandable, from a compensation perspective The calculation process is as follows:

[0108] The distance 'a' between the positioning antenna and the directional antenna is calculated using the coordinate positions (Xd, Yd) and (Xo, Yo).

[0109] The distance l between the positioning antenna and the center of the bucket is obtained through actual measurement.

[0110] The distance b between the directional antenna and the center of the bucket is obtained through actual measurement.

[0111] According to the Law of Cosines for triangles, cos The compensation angle can be calculated using the formula: = (a² + l² - b²) / 2al. Size.

[0112] Specifically, the coordinates of the bucket center (Xbucket, Ybucket) include the following steps:

[0113] Based on coordinate position Xd and heading angle And the vertical distance l between the positioning antenna and the center of the bucket, and the compensation angle. Calculate the X-coordinate of the bucket center: Xbucket = Xd + l * sin( + );

[0114] Based on coordinate position Yd and heading angle And the vertical distance l between the positioning antenna and the center of the bucket, and the compensation angle. Calculate the Y-coordinate of the bucket center: Ybucket = Yd + l * cos( + ).

[0115] Specifically, the tooling information refers to the coordinates (XK, YK, ZK) of the designed hole position of the stone to be filled, and the feeding range is a spherical area with a radius of r centered on the coordinates of the designed hole position of the stone to be filled. The coordinates of the bucket center are not within the feeding range of the pile hole. The specific steps include:

[0116] The sphere is projected parallel along the Z-axis to obtain a two-dimensional circular region, which is then defined as the feeding range.

[0117] Determine whether the coordinate position (Xbucket, Ybucket) of the bucket center is within the feeding range;

[0118] If so, record the current coordinates of the bucket center (Xbucket, Ybucket) and the weight of the stone.

[0119] If not, a message will be displayed indicating that the current feeding position is not within the allowed feeding range, and the current bucket position and net weight of the stone will be recorded.

[0120] Specifically, it also includes outputting the loader's trajectory curve when feeding is complete, and marking feeding positions on the trajectory curve that are not within the feeding range.

[0121] Specifically, after the system starts, there are also steps for loading parameters and confirming the connection, as follows:

[0122] Determine whether the loading of calculation parameters was successful. If it fails, prompt that the loading of calculation parameters failed and the bucket positioning conversion is abnormal.

[0123] If successful, check if the positioning module (directional antenna, positioning antenna) communication is successful; if it fails, indicate that the positioning module communication is abnormal and needs to be checked.

[0124] If successful, check if the communication connection of the weighing module (weighing sensor) is successful; if it fails, indicate that the weighing module communication is abnormal and needs to be checked.

[0125] If successful, the touch operation of the selected construction pile on the touch screen is detected, and the hole position design information of the selected construction pile is obtained based on the touch operation.

[0126] Receive location information from the BeiDou positioning module;

[0127] Calculate the position of the bucket based on the above location information and preset parameters;

[0128] Receive weighing information sent by the weighing module in real time;

[0129] The loader determines whether it is in a feeding state based on whether the weighing information has decreased.

[0130] If not, record the current position of the bucket and the net weight of the stone;

[0131] If so, determine whether the bucket position is within the allowable feeding range;

[0132] If not, a message will be displayed indicating that the material feeding location is outside the allowed range;

[0133] If not, record the current position of the bucket and the net weight of the stone.

[0134] Example 3: A computer-readable storage medium storing a computer program thereon, which, when executed by a processor, enables the aforementioned loader feeding monitoring method based on BeiDou positioning.

[0135] Example 4

[0136] The loader feeding monitoring device based on BeiDou positioning includes:

[0137] One or more processors;

[0138] A storage unit is used to store one or more programs, which, when executed by one or more processors, enable the one or more processors to implement the loader feeding monitoring method based on Beidou positioning.

[0139] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Based on the technical essence of the present invention, any simple modifications, equivalent substitutions, and improvements made to the above embodiments within the spirit and principles of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A loader feeding monitoring method based on BeiDou positioning, characterized in that, Specifically, the following steps are included: S1. Obtain the selected pile hole from multiple construction pile holes; S2. Calculate the material feeding range of the pile hole; S3. Receive the weight data of the stone in the bucket measured by the weighing sensor in real time; S4. Obtain the coordinates of the bucket center; S5. Determine based on the real-time weight data, the coordinate position of the bucket center, and the feeding range of the pile hole: An alarm is issued when the real-time weight data is decreasing and the coordinate position of the bucket center is not within the feeding range of the pile hole.

2. The loader feeding monitoring method based on Beidou positioning according to claim 1, characterized in that, The coordinate position of the bucket center is based on the geocentric coordinate system, and specifically includes the following steps: Receive the coordinates (Xd, Yd, Zd) transmitted by the positioning antenna; The coordinates (Xo, Yo, Zo) of the receiving directional antenna are transmitted. The coordinate positions (Xd, Yd, Zd) and (Xo, Yo, Zo) are transformed by parallel projection along the Z-axis to obtain the two-dimensional coordinate positions (Xd, Yd) and (Xo, Yo). The heading angle is calculated based on the coordinate positions (Xd, Yd) and (Xo, Yo). ; Based on the coordinates (Xd, Yd) and heading angle of the positioning antenna And the measured vertical distance l between the positioning antenna and the center of the bucket, and the compensation angle. Calculate the coordinates of the bucket center.

3. The loader feeding monitoring method based on Beidou positioning according to claim 2, characterized in that, The compensation angle for: The loader is projected parallel along the Z-axis to obtain a two-dimensional loader graphic. The line segment formed by the positioning antenna and the directional antenna is defined as L1; The line segment formed by the positioning antenna and the center of the bucket is defined as L2; The angle between L1 and L2 is defined as the compensation angle. .

4. The loader feeding monitoring method based on Beidou positioning according to claim 3, characterized in that, The compensation angle Satisfy: cos = (a² + l² - b²) / 2al, where: a is the distance between the positioning antenna and the directional antenna; l is the distance between the positioning antenna and the center of the bucket; b is the distance between the directional antenna and the center of the bucket.

5. The loader feeding monitoring method based on Beidou positioning according to claim 3, characterized in that, The coordinates of the bucket center (Xbucket, Ybucket) are determined by the following steps: Based on coordinate position Xd and heading angle And the vertical distance l between the positioning antenna and the center of the bucket, and the compensation angle. Calculate the X-coordinate of the bucket center: Xbucket = Xd + l * sin( + ); Based on coordinate position Yd and heading angle And the vertical distance l between the positioning antenna and the center of the bucket, and the compensation angle. Calculate the Y-coordinate of the bucket center: Ybucket = Yd + l * cos( + ).

6. The loader feeding monitoring method based on Beidou positioning according to claim 5, characterized in that, The coordinates of the pile hole (XK, YK) are defined as follows: the feeding range is a circular area with a radius of r centered on the coordinates of the designed hole position to be filled.

7. The loader feeding monitoring method based on Beidou positioning according to claim 6, characterized in that, The coordinates of the bucket center are not within the feeding range of the pile hole, specifically including the following steps: Determine whether the coordinate position (Xbucket, Ybucket) of the bucket center is within the feeding range; If so, record the current coordinates of the bucket center (Xbucket, Ybucket) and the weight of the stone. If not, a message will be displayed indicating that the current feeding position is not within the allowed feeding range.

8. The loader feeding monitoring method based on Beidou positioning according to claim 1, characterized in that, It also includes outputting the loader's trajectory curve when feeding is complete, and marking feeding positions on the trajectory curve that are not within the feeding range.

9. A loader feeding monitoring device based on Beidou positioning, characterized in that, include: One or more processors; A storage unit is used to store one or more programs, which, when executed by one or more processors, enable the one or more processors to implement the loader feeding monitoring method based on Beidou positioning according to any one of claims 1 to 8.

10. A loader feeding monitoring system based on BeiDou positioning, characterized in that, include: Directional antennas and positioning antennas are installed on top of the loader along a direction parallel to the loader's central axis; A weighing sensor installed at the bottom of the loader's bucket measures the weight of the stones in the bucket and sends it to the controller. It also includes a controller and a Beidou positioning receiver terminal installed on the loader; The directional antenna is installed near the bucket to locate the coordinates (Xo, Yo, Zo) of the current loader location and send them to the Beidou positioning receiving terminal. The positioning antenna is installed at a position away from the bucket to locate the coordinates (Xd, Yd, Zd) of the current loader location and send them to the Beidou positioning receiving terminal. The controller is connected to the weighing sensor and to the directional antenna and positioning antenna respectively through the Beidou positioning receiver terminal. It is used to receive weight data, coordinate position (Xo, Yo, Zo), and coordinate position (Xd, Yd, Zd). It makes a judgment based on the real-time weight data, the coordinate position of the bucket center and the feeding range of the pile hole. When the real-time weight data is decreasing and the coordinate position of the bucket center is not within the feeding range of the pile hole, an alarm prompt is issued.

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