Method of intelligent excavator

Abstract

The embodiment of the invention discloses a method for an intelligent excavator, and the method comprises the steps: carrying out the space division of an operation region according to the space information of a geological database; real-time position information and posture information of the bucket are obtained through the Beidou high-precision real-time dynamic positioning technology; combining data information of the GIS system to generate operation tasks, and matching operation areas and the operation tasks; position information and posture information of the bucket are displayed in real time, and the operation progress of the excavator is displayed on the three-dimensional topographic map in real time; technicians for excavator operation are intelligently guided, and the excavator is controlled to execute operation tasks. By implementing the embodiment of the invention, the working efficiency and quality of the excavator are improved, and more comprehensive guidance is provided for excavator technicians.

Description

Technical Field

[0001] The present application relates to the field of excavator control technology, and in particular to a method for an intelligent excavator. Background Art

[0002] Excavators are one of the most commonly used construction machinery. Their main uses in the construction process are excavation, leveling and slope repairing. Technicians rely on experience to operate the bucket to perform excavation, leveling or slope repairing operations to achieve the designed height or slope, which is inefficient and not very accurate. If the position coordinates of the shovel tip based on the vehicle body coordinate system are obtained in real time, the operation efficiency and accuracy can be greatly improved by providing guidance to technicians based on the coordinates. Therefore, the positioning of the excavator bucket has become a research hotspot. From various literature and the results of on-site surveys, the existing bucket positioning method can locate the coordinates of the vehicle and the bucket, and can obtain the height information of the working surface through the z coordinate value of the bucket, but cannot obtain the slope information, and the guidance information is limited; and when visualized, only the excavation trajectory, designed elevation, current elevation, vehicle speed and other information are displayed, there is no three-dimensional topographic map of the construction area, and the construction volume and other information cannot be counted, and the information visualization is not comprehensive enough. Summary of the invention

[0003] The embodiment of the present application discloses a method for an intelligent excavator, which improves the efficiency and quality of excavator operations and provides more comprehensive guidance for excavator technicians.

[0004] The present application embodiment discloses a method for an intelligent excavator, the method comprising:

[0005] According to the spatial information of the geological database, the operation area is spatially divided;

[0006] The real-time position and posture information of the bucket can be obtained through Beidou high-precision real-time dynamic positioning technology;

[0007] Generate work tasks in combination with data information from the GIS system, and match the work area with the work tasks;

[0008] Displaying the position information and the posture information of the bucket in real time, and displaying the excavator operation progress in real time on a three-dimensional terrain map;

[0009] Intelligently guide technicians who are working on the excavator and control the excavator to perform the work tasks.

[0010] As an optional implementation, the method includes:

[0011] The excavator has two GIS antennas installed on the top of the vehicle cab, with the main antenna at the rear and the auxiliary antenna at the front; high-precision dynamic tilt sensors are installed on the excavator body, boom, dipper rod and bucket hinge respectively.

[0012] As an optional implementation, the method of obtaining the real-time position information and posture information of the bucket by using Beidou high-precision real-time dynamic positioning technology includes:

[0013] The real-time posture information of the bucket is obtained by using dynamic tilt sensors installed on the excavator body, boom, dipper arm and bucket hinge;

[0014] Read the data information from the GIS system, and calculate the real-time position information of the bucket according to the data information;

[0015] The data information includes: the longitude of the main antenna, the latitude of the main antenna, the elevation and the heading angle; the heading angle is the angle between the side lines of the main antenna and the auxiliary antenna and the true north direction.

[0016] As an optional implementation, the real-time posture information of the bucket is obtained through the dynamic tilt sensors installed on the excavator body, boom, dipper arm and bucket hinge, including:

[0017] Obtaining the pitch angle and roll angle or left and right tilt angle of the excavator body according to the body dynamic tilt sensor;

[0018] Acquiring the boom inclination angle of the excavator according to the boom dynamic inclination angle sensor;

[0019] Obtaining the inclination angle of the bucket arm of the excavator around the axis according to the bucket arm dynamic inclination angle sensor;

[0020] The bucket inclination angle of the excavator is obtained according to the bucket dynamic inclination angle sensor.

[0021] As an optional implementation manner, the reading of the data information of the GIS system and calculating the real-time position information of the bucket according to the data information includes:

[0022] Establish five coordinate systems with the main antenna fulcrum, boom fulcrum, dipper arm fulcrum, bucket fulcrum and the center of the shovel tip as the center;

[0023] Read the data information of the GIS system to obtain the excavator position coordinates of the boom fulcrum in the main antenna fulcrum coordinate system;

[0024] Get the boom length, arm length and bucket length;

[0025] Substituting the data parameters into the improved DH algorithm to calculate the shovel tip position coordinates and shovel tip attitude angle based on the main antenna coordinate system;

[0026] Calculate the back shovel attitude angle according to the shovel tip attitude angle, and obtain the current slope according to the shovel back attitude angle;

[0027] Among them, the main antenna fulcrum is located on the vehicle body; the data parameters include: the excavator position coordinates, the boom length, the dipper arm length, the bucket length, the pitch angle, the roll angle, the left and right tilt angles, the boom inclination angle, the dipper arm inclination angle around the axis and the bucket inclination angle; the shovel tip attitude angle is the angle between the bucket and dipper arm hinge point and the bucket tooth tip and the horizontal line.

[0028] As an optional implementation, the real-time display of the position information and the posture information of the bucket and the real-time display of the excavator operation progress on the three-dimensional terrain map include:

[0029] Displaying the excavator position coordinates, the shovel tip position coordinates and the posture information of the bucket in real time in the data window;

[0030] Obtain target excavation depth, target slope and target excavation volume;

[0031] According to the current excavation depth and the current slope, an excavation depth deviation value, a slope deviation value, a current excavation volume and an excavation volume deviation value are calculated;

[0032] Displaying the current excavation depth, the current slope, the current excavation volume, the excavation depth deviation value, the slope deviation value, and the excavation volume deviation value in real time on a three-dimensional topographic map;

[0033] The current excavation depth is the z-coordinate value of the shovel tip position coordinate.

[0034] As an optional implementation manner, the technician who intelligently guides the excavator operation controls the excavator to perform the operation task, including:

[0035] If the excavation depth deviation value exceeds the excavation depth threshold, feedback is given to the technician that the excavation depth deviation value is large;

[0036] If the slope deviation value exceeds the slope threshold, feedback is given to the technician that the slope deviation value is large;

[0037] If the excavation volume deviation value exceeds the excavation volume threshold, feedback is given to the technician that the excavation volume deviation value is large.

[0038] The present application embodiment discloses an intelligent excavator device, the device comprising:

[0039] The spatial division module is used to divide the operation area into spaces according to the spatial information of the geological database;

[0040] The acquisition module is used to obtain the real-time position information and posture information of the bucket through Beidou high-precision real-time dynamic positioning technology;

[0041] A matching module, used to generate a job task in combination with data information of a GIS system, and match the job area with the job task;

[0042] A visualization module, used for displaying the position information and the posture information of the bucket in real time, and displaying the excavator operation progress in real time on a three-dimensional terrain map;

[0043] The execution module is used to intelligently guide the technicians working on the excavator and control the excavator to perform the working tasks.

[0044] An embodiment of the present application discloses an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor implements any one of the intelligent excavator methods disclosed in the embodiment of the present application.

[0045] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, any one of the intelligent excavator methods disclosed in the embodiment of the present application is implemented.

[0046] Compared with the related art, the embodiments of the present application have the following beneficial effects:

[0047] The embodiment of the present application provides a method for intelligent excavation, which divides the working area spatially according to the spatial information of the geological database, obtains the real-time position information and posture information of the bucket through the Beidou high-precision real-time dynamic positioning technology, generates the working task in combination with the data information of the GIS system, matches the working area and the working task, displays the position information and posture information of the bucket in real time, displays the working progress of the excavator in real time on the three-dimensional topographic map, intelligently guides the technicians of the excavator operation, and controls the excavator to perform the working task. The embodiment of the present application is implemented, and the back slope measurement information of the shovel is displayed in combination with the three-dimensional topographic map. The GIS reads the information and displays the excavator operation image including the excavator operation motion trajectory, the three-dimensional image of the excavation surface, the current excavation volume, and the excavation volume deviation value in real time, so as to realize the visualization of the excavation operation, detect and display the position information and posture information of the excavator bucket, the elevation of the working area, the slope, the excavation volume and other important parameters, and the deviation value from the design target in real time, and guide the excavator technicians to perform the operation in real time, while improving the construction efficiency and quality, reducing the workload of the technicians, improving the efficiency and quality of the excavator operation, and providing more comprehensive guidance for the excavator technicians. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 It is a flow chart of a method of an intelligent excavator disclosed in an embodiment of the present application;

[0050] Figure 2 It is a schematic diagram of a process for obtaining real-time position information and posture information of a bucket through Beidou high-precision real-time dynamic positioning technology disclosed in an embodiment of the present application;

[0051] Figure 3 It is a structural schematic diagram of an intelligent excavator device disclosed in an embodiment of the present application; DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0054] The embodiment of the present application discloses a method for intelligent excavator, which improves the efficiency and quality of excavator operation and provides more comprehensive guidance for excavator technicians. Detailed descriptions are given below.

[0055] See also Figure 1 , Figure 1 It is a flow chart of a method for an intelligent excavator disclosed in an embodiment of the present application.

[0056] like Figure 1 As shown, the method of an intelligent excavator may include the following steps:

[0057] Step S101, spatially divide the operation area according to the spatial information of the geological database.

[0058] An excavator is a heavy-duty mechanical equipment used in earthworks, mining and other fields. It has powerful operating capabilities and high construction efficiency. However, due to the special nature and high risk of excavators, the management of their operational safety must be taken seriously to ensure the life safety of excavator technicians and the normal operation of equipment. For the management of the operating area, the traditional model is to divide the operating area by pulling wires and inserting flags on the working surface. This method of dividing the operating area is not perfect. According to the needs of the excavator operation, the operating area should be reasonably divided to ensure that there is enough safety distance from other operating areas, pedestrian passages, etc.

[0059] Step S102, obtaining the real-time position information and posture information of the bucket through Beidou high-precision real-time dynamic positioning technology.

[0060] GIS system stands for Geographic Information System. GIS stores, analyzes and visualizes data on geographic locations on the earth's surface. It is a computer-based tool used to examine geospatial relationships, patterns and trends. GIS mapping visualizes geospatial information, creates geographic data, manages this data in a database, analyzes this geographic data, and visualizes it on a map. Since viewing and analyzing data on a map affects our understanding of the data, we can use GIS to make better decisions.

[0061] The working device is the main component of the excavator. Currently, the excavator is equipped with a backhoe working device, which is mainly used to excavate the soil below the parking surface, but it can also excavate the soil below the maximum cutting height. In addition to digging pits, trenching and loading, it can also perform simple site leveling work. The backhoe working device consists of a boom, an arm, a bucket, a rocker, a connecting rod and the working device hydraulic pipeline including the boom cylinder, the arm cylinder and the bucket cylinder.

[0062] As an optional implementation, the excavator installs two GIS antennas on the top of the vehicle cab, with the main antenna at the rear and the auxiliary antenna at the front. The data information of the GIS system is read through the main antenna and the auxiliary antenna for excavator body positioning and heading angle detection. High-precision dynamic inclination sensors are respectively installed on the excavator body, boom, dipper arm and bucket hinges. The angle information on the body, boom, dipper arm and bucket is obtained through the body dynamic inclination sensor, boom dynamic inclination sensor, dipper arm dynamic inclination sensor and bucket dynamic inclination sensor. The prior art is to install a positioning device on the excavator to realize the positioning of the equipment, which is generally of low precision and can only realize rough position positioning monitoring of the equipment. A few high-precision positioning devices are installed. The excavator is large and the bucket positioning accuracy is insufficient, resulting in a large error in the actual excavation position.

[0063] Step S103, generating operation tasks in combination with the data information of the GIS system, and matching the operation areas and operation tasks.

[0064] A GIS is a system for creating, managing, analyzing, and mapping all types of data. A GIS connects data to maps, integrating location data with all types of descriptive information. A GIS is a computer system that analyzes and displays geographically referenced information. It uses data attached to a unique location. A GIS is a computer system used to capture, store, examine, and display data related to locations on the Earth's surface.

[0065] As an implementation method, the GIS system and four high-precision dynamic inclination sensors are connected to a computer. The computer reads their data at a certain frequency. By reading the GIS system based on the geographic information and division of the work area, the computer generates corresponding multiple work tasks and integrates them with the geographic information of each divided work area, so that each work area can accurately carry out excavation operations.

[0066] Step S104, displaying the position information and posture information of the bucket in real time, and displaying the excavator operation progress in real time on the three-dimensional terrain map.

[0067] As an implementation method, while displaying the excavator operation image, the real-time excavator position coordinates, shovel tip position coordinates, shovel tip attitude angle, shovel back attitude angle, vehicle body pitch angle and roll angle or left and right tilt angle, boom inclination angle, dipper arm axis inclination angle and bucket inclination angle of the excavator are displayed through a data window, and the current excavation depth, excavation depth deviation value, current slope, slope deviation value, current excavation volume and excavation volume deviation value of the excavator operation are displayed in real time on a three-dimensional topographic map.

[0068] In some embodiments, the excavator position coordinates, shovel tip position coordinates and posture information of the bucket are displayed in real time in the data window, the target excavation depth, target slope and target excavation volume are obtained, the excavation depth deviation value, slope deviation value, current excavation volume and excavation volume deviation value are calculated according to the current excavation depth and the current slope, and the current excavation depth, current slope, current excavation volume, excavation depth deviation value, slope deviation value and excavation volume deviation value are displayed in real time on the three-dimensional topographic map. Specifically, in the excavation operation, the current operation and the designed operation target deviation information are obtained according to the current excavation depth, the target excavation depth, the current slope, the target slope, the current excavation volume and the target excavation volume, and the current operation and the designed operation target deviation information are displayed to the excavator technician through the data window for operation guidance. For example, the difference between the current excavation depth and the target excavation depth is calculated as the excavation depth deviation value, the difference between the current slope and the target slope is calculated as the slope deviation value, and the difference between the current excavation volume and the target excavation volume is calculated as the excavation volume deviation value, so as to realize the visualization of the excavation operation.

[0069] Step S105, intelligently guiding the technicians working on the excavator to control the excavator to perform the working task.

[0070] As an implementation method, if the excavation depth deviation value exceeds the excavation depth threshold, the technician is fed back that the excavation depth deviation value is large; if the slope deviation value exceeds the slope threshold, the technician is fed back that the slope deviation value is large; if the excavation volume deviation value exceeds the excavation volume threshold, the technician is fed back that the excavation volume deviation value is large. By visualizing the position information, posture information and operation progress of the excavator in the excavation operation, the technician of the excavator operation can obtain this information in real time. Furthermore, in the actual excavator operation process, it is difficult to pay attention to the changes in each parameter at all times. Therefore, real-time computer-assisted monitoring is used to judge the situation of the excavation operation. If the position information, posture information and operation progress of the monitored excavator are abnormal, the data window is used to promptly feedback to the technician of the excavator operation. After receiving the feedback, the technician can adjust the operation of the excavator operation according to the obtained information, and then re-measure the deviation information between the current operation and the designed operation target through the system, so that the error in the excavator operation can be adjusted in time and accurately.

[0071] For example, during excavation operations, excavator technicians only need to place the shovel tip on the working surface to obtain the current excavation depth and the deviation value from the designed target excavation depth, and understand the deviation value between the shovel tip position coordinates and the designed excavation target in real time when operating the excavator to dig; during slope repair operations, excavator technicians only need to place the shovel back close to the working slope to obtain the current slope and the deviation value from the designed target slope, thereby guiding the technicians' operations.

[0072] In an embodiment of the present application, the working area is spatially divided according to the spatial information of the geological database, and the real-time position information and posture information of the bucket are obtained through the Beidou high-precision real-time dynamic positioning technology. The working task is generated in combination with the data information of the GIS system, the working area and the working task are matched, and the position information and posture information of the bucket are displayed in real time. The excavator working progress is displayed in real time on the three-dimensional topographic map, and the technicians working on the excavator are intelligently guided to control the excavator to perform the working task. The back slope measurement information of the shovel is displayed in combination with the three-dimensional topographic map. The GIS reads the information and displays the excavator working image including the excavator working motion trajectory, the three-dimensional image of the excavation surface, the current excavation volume, and the excavation volume deviation value in real time, so as to realize the visualization of the excavation operation, and detect and display the excavator bucket position information and posture information, the working area elevation, slope, excavation volume and other important parameters, as well as the deviation value from the design target and other information in real time, and guide the excavator technicians to perform the operation in real time. While improving the construction efficiency and quality, it reduces the workload of the technicians, improves the efficiency and quality of the excavator operation, and provides more comprehensive guidance for the excavator technicians.

[0073] Figure 2 The present invention discloses a flowchart of obtaining the real-time position information and posture information of a bucket by using Beidou high-precision real-time dynamic positioning technology, which also includes the following steps:

[0074] Step S201, obtaining real-time posture information of the bucket through dynamic tilt sensors installed on the excavator body, boom, dipper arm and bucket hinge.

[0075] As an optional implementation, the pitch angle and roll angle or left and right tilt angle of the excavator body are obtained according to the dynamic tilt angle sensor of the body, the value of the dynamic tilt angle sensor of the body is read, and after processing, the pitch angle and roll angle or left and right tilt angle of the excavator body is obtained.

[0076] In some embodiments, the boom inclination of the excavator is obtained according to the boom dynamic inclination sensor, the arm inclination of the excavator is obtained according to the arm dynamic inclination sensor, the bucket inclination of the excavator is obtained according to the bucket dynamic inclination sensor, the boom inclination of the excavator is read from the boom dynamic inclination sensor, and after processing, the boom inclination of the excavator is obtained, the arm dynamic inclination sensor is read from the boom dynamic inclination sensor, and after processing, the arm inclination of the excavator is obtained, the bucket dynamic inclination sensor is read from the bucket dynamic inclination sensor, and after processing, the bucket inclination of the excavator is obtained, and the GIS system and four high-precision dynamic inclination sensors are connected to a computer, and the computer reads their data at a certain frequency, performs calculation processing, and displays the calculated excavator position coordinates, shovel tip position coordinates and posture information, and displays the excavator operation trajectory image, current excavation volume, target excavation volume, current excavation depth, target excavation depth, current slope and target slope information in real time on the three-dimensional topographic map, wherein the current excavation depth is obtained by the z coordinate value of the shovel tip position coordinates, and since the system has developed a shovel back slope measurement function, the current slope can be directly measured through the shovel back.

[0077] Step S202, read the data information of the GIS system, and calculate the real-time position information of the bucket according to the data information.

[0078] Two GIS antennas are installed on the top of the vehicle cab, with the main antenna at the back and the auxiliary antenna at the front. The data information of the GIS system is read through the main antenna and the auxiliary antenna. The data information includes: the main antenna longitude, the main antenna latitude, elevation and heading angle. The heading angle is the angle between the side lines of the main antenna and the auxiliary antenna and the north direction.

[0079] In some embodiments, five coordinate systems are established with the main antenna fulcrum, boom fulcrum, arm fulcrum, bucket fulcrum and the center of the shovel tip as the center, and the data information of the GIS system is read to obtain the excavator position coordinates of the boom fulcrum in the main antenna fulcrum coordinate system, and the boom length, arm length and bucket length are obtained. Specifically, the current excavation depth is obtained through the z coordinate value of the shovel tip position coordinates, and the current slope is measured by the back of the shovel, so as to collect data for calculating the excavator position coordinates, the shovel tip position coordinates and the progress of the excavation operation.

[0080] As an optional implementation method, the data parameters are substituted into the improved DH algorithm to calculate the shovel tip position coordinates and shovel tip attitude angle based on the main antenna coordinate system, and the excavator position coordinates, boom length, arm length, bucket length, pitch angle, roll angle, left and right tilt angles, boom inclination angle, arm axis inclination angle and bucket inclination angle obtained by the above measurements are substituted into the improved DH algorithm to obtain the shovel tip position coordinates and shovel tip attitude angle based on the main antenna coordinate system, wherein the main antenna fulcrum is located on the vehicle body, and the data parameters include: excavator position coordinates, boom length, arm length, bucket length, pitch angle, roll angle, left and right tilt angles, boom inclination angle, arm axis inclination angle and bucket inclination angle, and the shovel tip attitude angle is the angle between the horizontal line and the line connecting the bucket and arm hinge point and the bucket tooth tip.

[0081] Among them, the improved DH algorithm based on the vehicle coordinate system: veh =x d ,y veh =y d +cos(l1cos(θ1+θ fb )+l2cos(θ1+θ2+θ fb )+l3cos(θ1+θ2+θ3+θ fb )), z veh =z d +sin(l1sin(θ1+θ fb )+l2sin(θ1+θ2+θ fb )+l3sin(θ1+θ2+θ3+θ fb )), x veh is the x coordinate value of the vehicle position, y veh is the y coordinate value of the vehicle position coordinate, z veh is the z coordinate value of the vehicle position coordinate, x d is the x coordinate value of the excavator position coordinates, y d is the y coordinate value of the excavator position coordinates, z d is the z coordinate value of the excavator position coordinate, l1 is the boom length, l2 is the arm length, l3 is the bucket length, θ fb is the vehicle body pitch angle, θ1 is the boom inclination angle, θ2 is the dipper arm inclination angle around the axis, θ3 is the bucket inclination angle, the vehicle position coordinates are calculated by the improved DH algorithm based on the vehicle coordinate system, and the shovel tip position coordinates are calculated by multiplying the vehicle position coordinates by the inverse matrix of R, where R is the rotation matrix obtained by applying the Euler formula.

[0082] As an optional implementation, the shovel back attitude angle is calculated according to the shovel tip attitude angle, and the current slope is obtained according to the shovel back attitude angle to realize the shovel back slope measurement function. The shovel tip attitude angle value is calculated according to the improved DH algorithm based on the vehicle coordinate system, and after geometric operation processing, the shovel back attitude angle is calculated. The shovel back is pressed against the slope surface, and the slope is measured using the shovel back attitude angle to realize the shovel back slope measurement function, wherein the geometric operation processing includes: ξ=θ1+θ2+θ3, a2=180-ξ-a1, wherein ξ is the shovel tip attitude angle, θ1 is the boom inclination angle, θ2 is the dipper arm inclination angle around the axis, θ3 is the bucket inclination angle, a2 is the shovel back attitude angle, and a1 is the angle between the line connecting the bucket and dipper arm hinge point and the bucket tooth tip and the shovel back.

[0083] During excavation operations, the excavator technician places the shovel tip on the working surface to obtain the current excavation depth and the deviation between the current excavation depth and the designed target excavation depth, and understands the deviation between the shovel tip position coordinates and the designed excavation target in real time when operating the excavator. During slope repair operations, the excavator technician places the shovel back close to the working slope to obtain the current slope value and the deviation between the current slope value and the designed target slope, thereby guiding the technician's work.

[0084] See also Figure 3 , Figure 3 Schematic diagram of the structure of an intelligent excavator device disclosed in the embodiment of the present application. Figure 3 As shown, the intelligent excavator device 300 may include: a space division module 301, an acquisition module 302, a matching module 303, a visualization module 304 and an execution module 305.

[0085] The space division module 301 is used to perform space division on the operation area according to the space information of the geological database;

[0086] An acquisition module 302 is used to acquire the real-time position information and posture information of the bucket through Beidou high-precision real-time dynamic positioning technology;

[0087] Matching module 303, used to generate operation tasks in combination with data information of GIS system, and match operation areas and operation tasks;

[0088] A visualization module 304 is used to display the position information and posture information of the bucket in real time, and to display the excavator operation progress in real time on a three-dimensional terrain map;

[0089] The execution module 305 is used to intelligently guide the technicians working on the excavator and control the excavator to perform the working tasks.

[0090] In one embodiment, the excavator installs two GIS antennas on the top of the vehicle cab, with the main antenna at the rear and the auxiliary antenna at the front; high-precision dynamic tilt sensors are respectively installed on the excavator body, boom, dipper arm and bucket hinge.

[0091] In one embodiment, the acquisition module 302 further includes a posture acquisition unit and a position acquisition unit:

[0092] The posture acquisition unit is used to obtain the real-time posture information of the bucket through the dynamic tilt sensors installed on the excavator body, boom, dipper arm and bucket hinge;

[0093] The position acquisition unit is used to read the data information of the GIS system and calculate the real-time position information of the bucket according to the data information;

[0094] The data information includes: main antenna longitude, main antenna latitude, elevation and heading angle; the heading angle is the angle between the side lines of the main antenna and the secondary antenna and the true north direction.

[0095] In one embodiment, the posture acquisition unit is also used to obtain the pitch angle and roll angle or left and right tilt angle of the excavator body according to the dynamic tilt angle sensor of the body; to obtain the inclination angle of the boom of the excavator according to the dynamic inclination angle sensor of the boom; to obtain the inclination angle of the dipper arm of the excavator around the axis according to the dynamic inclination angle sensor of the dipper arm; and to obtain the inclination angle of the bucket of the excavator according to the dynamic inclination angle sensor of the bucket.

[0096] In one embodiment, the position acquisition unit is also used to establish five coordinate systems with the main antenna fulcrum, the boom fulcrum, the stick fulcrum, the bucket fulcrum and the center of the shovel tip as the center; read the data information of the GIS system to obtain the excavator position coordinates of the boom fulcrum in the main antenna fulcrum coordinate system; obtain the boom length, the stick length and the bucket length; substitute the data parameters into the improved DH algorithm to calculate the shovel tip position coordinates and the shovel tip attitude angle based on the main antenna coordinate system; calculate the shovel back attitude angle according to the shovel tip attitude angle, and obtain the current slope according to the shovel back attitude angle.

[0097] Among them, the main antenna fulcrum is located on the vehicle body; the data parameters include: excavator position coordinates, boom length, dipper arm length, bucket length, pitch angle, roll angle, left and right tilt angles, boom inclination angle, dipper arm inclination angle around the axis and bucket inclination angle; the shovel tip attitude angle is the angle between the bucket and dipper arm hinge point and the bucket tooth tip and the horizontal line.

[0098] In one embodiment, the visualization module 304 further includes a first visualization unit, a progress acquisition unit, a deviation calculation unit, and a second visualization unit:

[0099] A first visualization unit is used to display the excavator position coordinates, shovel tip position coordinates and posture information of the bucket in real time in the data window;

[0100] A progress acquisition unit, used to acquire a target excavation depth, a target slope, and a target excavation volume;

[0101] The deviation calculation unit is used to calculate the excavation depth deviation value, the slope deviation value, the current excavation volume and the excavation volume deviation value according to the current excavation depth and the current slope;

[0102] A second visualization unit is used to display the current excavation depth, current slope, current excavation volume, excavation depth deviation value, slope deviation value and excavation volume deviation value in real time on a three-dimensional topographic map;

[0103] Among them, the current excavation depth is the z coordinate value of the shovel tip position coordinate.

[0104] In one embodiment, the execution module 305 is also used to, if the excavation depth deviation value exceeds the excavation depth threshold, provide feedback to the technician that the excavation depth deviation value is large; if the slope deviation value exceeds the slope threshold, provide feedback to the technician that the slope deviation value is large; if the excavation volume deviation value exceeds the excavation volume threshold, provide feedback to the technician that the excavation volume deviation value is large.

[0105] The embodiments of the present application disclose a computer program product, including a computer program, and the computer program can be executed by a processor to implement the methods described in the above embodiments.

[0106] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0107] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0108] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0109] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0110] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for a computer device (which can be a personal computer, a server or a network device, etc., specifically a processor in a computer device) to perform some or all of the steps of the above-mentioned methods of various embodiments of the present application.

[0111] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0112] The above is a detailed introduction to a method of an intelligent excavator disclosed in an embodiment of the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. At the same time, for those of ordinary skill in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for an intelligent excavator, characterized in that: The method comprises: According to the spatial information of the geological database, the operation area is spatially divided; The real-time position and posture information of the bucket can be obtained through Beidou high-precision real-time dynamic positioning technology; Generate work tasks in combination with data information from the GIS system, and match the work area with the work tasks; Displaying the position information and the posture information of the bucket in real time, and displaying the excavator operation progress in real time on a three-dimensional terrain map; Intelligently guide technicians who are working on the excavator and control the excavator to perform the work tasks.

2. The method of an intelligent excavator according to claim 1, characterized in that: The method comprises: The excavator has two GIS antennas installed on the top of the vehicle cab, with the main antenna at the rear and the auxiliary antenna at the front; high-precision dynamic tilt sensors are installed on the excavator body, boom, dipper rod and bucket hinge respectively.

3. The method of an intelligent excavator according to claim 1, characterized in that: The method of obtaining the real-time position information and posture information of the bucket by using Beidou high-precision real-time dynamic positioning technology includes: The real-time posture information of the bucket is obtained by using dynamic tilt sensors installed on the excavator body, boom, dipper arm and bucket hinge; Read the data information from the GIS system, and calculate the real-time position information of the bucket according to the data information; The data information includes: the longitude of the main antenna, the latitude of the main antenna, the elevation and the heading angle; the heading angle is the angle between the side lines of the main antenna and the auxiliary antenna and the true north direction.

4. The method of an intelligent excavator according to claim 3, characterized in that: The real-time posture information of the bucket is obtained by using dynamic tilt sensors installed on the excavator body, boom, dipper arm and bucket hinge, including: Obtaining the pitch angle and roll angle or left and right tilt angle of the excavator body according to the body dynamic tilt sensor; Acquiring the boom inclination angle of the excavator according to the boom dynamic inclination angle sensor; Obtaining the inclination angle of the bucket arm of the excavator around the axis according to the bucket arm dynamic inclination angle sensor; The bucket inclination angle of the excavator is obtained according to the bucket dynamic inclination angle sensor.

5. The method of an intelligent excavator according to claim 3, characterized in that: The step of reading the data information of the GIS system and calculating the real-time position information of the bucket according to the data information includes: Establish five coordinate systems with the main antenna fulcrum, boom fulcrum, dipper arm fulcrum, bucket fulcrum and the center of the shovel tip as the center; Read the data information of the GIS system to obtain the excavator position coordinates of the boom fulcrum in the main antenna fulcrum coordinate system; Get the boom length, arm length and bucket length; Substituting the data parameters into the improved DH algorithm to calculate the shovel tip position coordinates and shovel tip attitude angle based on the main antenna coordinate system; Calculate the back shovel attitude angle according to the shovel tip attitude angle, and obtain the current slope according to the shovel back attitude angle; Among them, the main antenna fulcrum is located on the vehicle body; the data parameters include: the excavator position coordinates, the boom length, the dipper arm length, the bucket length, the pitch angle, the roll angle, the left and right tilt angles, the boom inclination angle, the dipper arm inclination angle around the axis and the bucket inclination angle; the shovel tip attitude angle is the angle between the bucket and dipper arm hinge point and the bucket tooth tip and the horizontal line.

6. The method of an intelligent excavator according to claim 1, characterized in that: The real-time display of the position information and the posture information of the bucket and the real-time display of the excavator operation progress on the three-dimensional terrain map include: Displaying the excavator position coordinates, the shovel tip position coordinates and the posture information of the bucket in real time in the data window; Obtain target excavation depth, target slope and target excavation volume; According to the current excavation depth and the current slope, an excavation depth deviation value, a slope deviation value, a current excavation volume and an excavation volume deviation value are calculated; Displaying the current excavation depth, the current slope, the current excavation volume, the excavation depth deviation value, the slope deviation value, and the excavation volume deviation value in real time on a three-dimensional topographic map; The current excavation depth is the z-coordinate value of the shovel tip position coordinate.

7. The method of an intelligent excavator according to claim 1, characterized in that: The technician who intelligently guides the excavator operation controls the excavator to perform the operation task, including: If the excavation depth deviation value exceeds the excavation depth threshold, feedback is given to the technician that the excavation depth deviation value is large; If the slope deviation value exceeds the slope threshold, feedback is given to the technician that the slope deviation value is large; If the excavation volume deviation value exceeds the excavation volume threshold, feedback is given to the technician that the excavation volume deviation value is large.

8. An intelligent excavator device, characterized in that: include: The spatial division module is used to divide the operation area into spaces according to the spatial information of the geological database; The acquisition module is used to obtain the real-time position information and posture information of the bucket through Beidou high-precision real-time dynamic positioning technology; A matching module, used to generate a job task in combination with data information of a GIS system, and match the job area with the job task; A visualization module, used for displaying the position information and the posture information of the bucket in real time, and displaying the excavator operation progress in real time on a three-dimensional terrain map; The execution module is used to intelligently guide the technicians working on the excavator and control the excavator to perform the working tasks.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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