Automatic hydraulic reclamation project leveling system and method based on Beidou positioning

Abstract

The invention relates to the technical field of engineering machinery automation, in particular to a hydraulic reclamation engineering automatic leveling system and method based on Beidou positioning. Beidou satellite signals are received through a base station, the real-time position and elevation of a bulldozer scraper knife are calculated through the RTK differential positioning technology, and a moving station transmits data to an industrial all-in-one machine; the vehicle-mounted guide screen displays the scraper knife elevation and the design deviation value in real time, and an operator is assisted in accurate adjustment. According to the system, fuel consumption caused by frequent adjustment and repeated operation can be reduced in the construction process, carbon emission is remarkably reduced, and the good energy-saving and emission-reducing effects are achieved. The leveling precision and the construction efficiency are greatly improved, the equipment cost is low, stable work can be achieved in the complex construction environment, manual intervention is reduced, and the construction cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery automation, and particularly to an automatic leveling system and method for hydraulic filling projects based on Beidou positioning. Background Art

[0002] Hydraulic filling projects refer to soil filling through waterborne or landfilling methods for land expansion or engineering construction. Such projects are characterized by large construction areas, tight construction periods, and high requirements for elevation control. Therefore, high construction precision and efficiency are required. Traditional automatic leveling for hydraulic filling projects usually relies on manual layout or laser-controlled bulldozers, but these methods have certain limitations and cannot effectively cope with large-scale construction and complex construction environments.

[0003] Existing technologies usually adopt the method of manual RTK bamboo pole elevation layout or the method of automatic leveling with laser-controlled bulldozers. Manual layout is not only inefficient but also extremely vulnerable to environmental factors, resulting in elevation measurement errors and ultimately affecting the leveling effect. Although the automatic leveling with laser-controlled bulldozers has high precision, the equipment cost is high, and it is greatly affected by the environment (such as haze, sunlight reflection, etc.). Relatively complex manual intervention is still required during the operation process. These technical means cannot fully adapt to the complex and dynamically changing operation environment of hydraulic filling projects, resulting in low leveling precision, low construction efficiency, and inability to ensure stability during continuous long-term operation. Summary of the Invention

[0004] In view of the many problems existing in the above-mentioned prior art, the present invention provides an automatic leveling system and method for hydraulic filling projects based on Beidou positioning. Based on Beidou high-precision positioning technology, the present invention uses RTK differential positioning technology to obtain the position information of the bulldozer blade in real time, and through the data interaction between the rover and the industrial all-in-one computer, the height, operation trajectory of the bulldozer blade and the deviation from the designed elevation are displayed in real time, helping the operator adjust the position and height of the blade to ensure the accurate execution of the leveling operation. Through highly automated technical means, the present invention greatly improves the leveling precision and construction efficiency, while reducing manual intervention and equipment maintenance costs, adapting to complex construction environments and being able to continuously and stably operate in large-scale construction.

[0005] An automatic leveling system for hydraulic filling projects based on Beidou positioning, comprising:

[0006] A reference station, configured to receive Beidou satellite signals and send differential signals to the rover through a data link;

[0007] A rover, configured to receive the differential signals and Beidou satellite signals sent by the reference station, calculate the real-time position and elevation data of the bulldozer blade, and transmit the calculated real-time position and elevation data to the industrial all-in-one computer through a data transmission serial port;

[0008] An industrial all-in-one computer is used to receive the real-time position and elevation data transmitted by a rover station, and display the elevation data of a scraper blade, the deviation value of the designed elevation, and the operation track of a bulldozer on an in-vehicle guiding screen, so as to provide real-time guiding information and assist an operator in adjusting the height and angle of the scraper blade of the bulldozer.

[0009] Preferably, the reference station transmits data with the rover station through wireless communication, and sends differential signals to the rover station after receiving Beidou satellite signals.

[0010] Preferably, the rover station includes at least one GNSS antenna, a receiver, and a controller. The GNSS antenna is used to receive the differential signals and Beidou satellite signals sent by the reference station; the receiver transmits the signals to the controller, and the controller is used to calculate the real-time position and elevation data of the scraper blade of the bulldozer.

[0011] Preferably, the rover station sends the calculated real-time position and elevation data of the scraper blade of the bulldozer to the industrial all-in-one computer through a data transmission serial port, and the industrial all-in-one computer is used to receive and process the real-time position and elevation data.

[0012] Preferably, the industrial all-in-one computer includes an in-vehicle guiding screen, which displays the elevation data of the scraper blade of the bulldozer, the deviation value between the scraper blade of the bulldozer and the designed elevation, and the operation track of the bulldozer, and provides real-time guiding information to assist the operator in adjusting the height and angle of the scraper blade of the bulldozer.

[0013] Preferably, the rover station further includes an inclination sensor, which is used to detect the inclination angle of the scraper blade of the bulldozer, and send the inclination angle information of the scraper blade of the bulldozer to the industrial all-in-one computer through data transmission.

[0014] Preferably, the industrial all-in-one computer includes a storage module, which is used to store the operation data and historical records of the bulldozer, and view the historical operation data as needed.

[0015] A method for automatic leveling of hydraulic fill engineering based on Beidou positioning is used to execute the automatic leveling system of hydraulic fill engineering based on Beidou positioning. The method includes:

[0016] Using a reference station to receive Beidou satellite signals, and sending differential signals to a rover station through a data link;

[0017] Using the rover station to receive the differential signals and Beidou satellite signals sent by the reference station, and calculating the real-time position and elevation data of the scraper blade of the bulldozer based on the received signals;

[0018] Using the rover station to transmit the calculated real-time position and elevation data of the scraper blade of the bulldozer to the industrial all-in-one computer through a data transmission serial port;

[0019] Use an industrial all-in-one computer to receive the real-time position and elevation data of the bulldozer blade transmitted by the rover, and display the elevation data of the bulldozer blade, the design elevation deviation value, and the operation trajectory of the bulldozer on the on-vehicle guidance screen;

[0020] Provide real-time guidance information based on the elevation of the bulldozer blade, the design elevation deviation value, and the operation trajectory of the bulldozer displayed on the on-vehicle guidance screen to assist the operator in adjusting the height and angle of the bulldozer blade.

[0021] Compared with the prior art, the advantages and beneficial effects of the present invention are as follows:

[0022] By adopting technical means based on Beidou positioning, the present invention realizes real-time high-precision monitoring and adjustment of the position and elevation of the bulldozer blade, thereby greatly improving the leveling accuracy and construction efficiency;

[0023] By combining Beidou high-precision positioning technology with RTK differential positioning technology, the present invention realizes centimeter-level high-precision positioning, avoids errors caused by environmental interference in traditional methods, and improves the stability and accuracy of the leveling operation;

[0024] Through automated data transmission and real-time display, the present invention reduces manual intervention and measurement work, greatly improves the operation efficiency, reduces the labor cost, and can still maintain high-precision operation in large-scale construction, significantly shortening the construction period. Brief Description of the Drawings

[0025] Figure 1 Schematic diagram for establishing the calculation coordinate system of the blade tip attitude in the present invention;

[0026] Figure 2 Schematic diagram for calculating the pitch angle in the present invention;

[0027] Figure 3 Schematic diagram of the positional relationship in the present invention;

[0028] Figure 4 Schematic diagram of the system integration design in the present invention;

[0029] Figure 5 Schematic diagram of the DSM before leveling in the embodiment of the present invention;

[0030] Figure 6 Schematic diagram of the DSM after leveling in the embodiment of the present invention;

[0031] Figure 7 Schematic diagram of the actual shot before leveling in the embodiment of the present invention;

[0032] Figure 8 Schematic diagram of the actual shot after leveling in the embodiment of the present invention;

[0033] Figure 9Schematic diagram of the process implemented in the present invention. Detailed implementation manners

[0034] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the following detailed description, for the sake of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. However, it is obvious that one or more embodiments can be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.

[0035] The terms used herein are merely for describing specific embodiments and are not intended to limit the present disclosure. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0036] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0037] In this embodiment, the automatic leveling system for hydraulic filling projects based on Beidou positioning includes a reference station, a rover station, an industrial all-in-one computer, and a bulldozer. The reference station is installed near the construction area, can receive Beidou satellite signals, and after processing using RTK differential positioning technology, sends the differential signals to the rover station installed on the blade of the bulldozer through a wireless data link. The rover station is equipped with a GNSS antenna and a receiver for simultaneously receiving the differential signals from the reference station and Beidou satellite signals, so as to calculate the real-time position and elevation of the blade of the bulldozer. The rover station sends the calculation results to the industrial all-in-one computer through a data transmission serial port. The industrial all-in-one computer is integrated in the cab of the bulldozer and displays the elevation of the blade of the bulldozer, the deviation between the designed elevation and the actual elevation, and the operation trajectory of the bulldozer through an in-vehicle guiding screen, and provides guiding information for the operator to adjust the height and angle of the blade of the bulldozer in real time.

[0038] As Figure 9 shown, to implement the above functions, the following specific calculation method is adopted by the controller in the rover station:

[0039] 1. Calculation of the real-time elevation of the blade:

[0040] Through RTK positioning technology, the rover station obtains the coordinates and elevation of the GNSS antenna in the coordinate system of the reference station. To solve the accurate pose of the blade of the bulldozer, the following coordinate system is established:

[0041] Calculate the position data and elevation data of the bulldozer blade based on the received differential signal and the signal received by its own GNSS antenna. Establish a coordinate system as shown in Figure 1 . Define two coordinate systems {A} and {B} at the upper position of the blade where the Beidou antenna is installed, corresponding to the main antenna and the slave antenna of the Beidou antenna respectively. The straight line where the two antennas are located is parallel to the blade edge. Coordinate systems {C} and {D} are defined on both sides of the blade edge respectively, and coordinate system {O} is the reference coordinate system, with the position of the reference station receiver antenna as the coordinate origin. Through three rotation transformations and one translation transformation, the transformation relationship between coordinate system {O} and {A} is obtained as:

[0042]

[0043] In the formula: C 1 = cosθ 1 , C 2 = cosθ 2 , C 3 = cosθ 3 , S 1 = sinθ 1 , S 2 = sinθ 2 , S 3 = sinθ 3 ; θ 1 , θ 2 and θ 3 are the azimuth angle, pitch angle and tilt angle of the blade respectively; x GNSS , y GNSS and z GNSS represent the position of the origin of coordinate system {A} relative to the reference coordinate system {O}, which can be obtained by differential solution between the main antenna and the reference station.

[0044] Based on this transformation relation matrix, the real-time coordinates measured by the GNSS antenna installed on the bulldozer blade in the reference coordinate system {O} can be converted into the real-time position and elevation in the bulldozer blade coordinate system {A}. Specifically, first obtain the coordinates (x GNSS , y GNSS , z GNSS ) of the GNSS antenna in the {O} coordinate system through RTK differential positioning, and then combine the attitude angles (azimuth angle, pitch angle, tilt angle, etc.) of the blade and the translation relationship between the antenna and the blade origin, and substitute them into the shown rotation and translation matrix to calculate the real-time position data and elevation data of the blade in the {O} coordinate system. In this way, the accurate three-dimensional coordinates of the bulldozer blade can be obtained at any time during the construction process, providing data support for real-time leveling control.

[0045] 2. Determination of baseline vector and antenna positioning angle:

[0046] The main antenna and the slave antenna form a baseline vector, and the high-precision orientation of the blade can be achieved by using the baseline vector. According to the coordinates (x e , y n , z u ) of the baseline vector in the ENU coordinate system, x e represents the coordinate component along the east (East) direction; y n represents the coordinate component along the north (North) direction; z u represents the coordinate component along the up (Up) direction; the azimuth angle θ 1 and the tilt angle θ 3 between the baseline vector and the due north direction can be obtained as follows:

[0047]

[0048] 3. Calculation of the blade lift angle and height change:

[0049] The simplified model of the blade and the push rod is as shown in Figure 2 . The blade is perpendicular to the push rod. When the bulldozer is stationary, the blade is placed on a flat ground or the design plane. Let θ 2 = 0°. When the blade is lifted and the push rod rotates by an angle θ 4 = θ 2 , then there is

[0050]

[0051] In the formula: the rotation radius r = |MA|, the chord length K = |AA 2 |, which can be calculated from the coordinates of the main antenna before and after the blade is lifted; in the kinematic analysis of the bulldozer blade lift, the chord length represents the straight-line distance corresponding to the arc after the push rod rotates. By calculating this chord length, the lift angle and height change of the bulldozer blade can be deduced, so as to achieve the accurate control and measurement of the blade attitude.

[0052] 4. Calculation of the horizontal projection position of the bulldozer blade:

[0053] When the bulldozer moves and the blade is lifted synchronously (such as when the bulldozer is placed on a slope and the blade is lifted by a certain angle), the coordinates A 2 of the corresponding blade push rod in the horizontal plane can be further deduced. The pose of the blade and the push rod when lifted by a certain angle, its projection on the horizontal plane, and its position relationship after rotating to the horizontal plane are as shown in Figure 3 . In the reference coordinate system, the coordinates of each point are recorded as A(x, y, z), M(x M , y M , z M ), A 2 (x M + Δx, y M+Δy, z M +Δz), from Equation (4), we get:

[0054]

[0055] Assume that after projection onto the horizontal plane, the blade is still perpendicular to the push rod (ME 1 ⊥A 1 B 1 ), the relationship between the coordinates of point M and point A is:

[0056] z M = z - rcos(90° - θ 5 -θ 2 ) (6)

[0058] x M = x - rsin(90° - θ 5 -θ 2 )cos(θ 6 +θ 1 ) (7)

[0060] y M = y - rsin(90° - θ 5 -θ 2 )sin(θ 6 +θ 1 ) (8)

[0062] Where: θ 5 is the angle between the line connecting point M and the main antenna and the push rod, θ 6 = ∠AME; (Δx, Δy, Δz) are the coordinate differences between point M and A when the push rod is placed on the horizontal plane, Δz is a constant measured value, Δx = r cos(θ 2 )), Δy = rsin(θ 6 +θ 1 ). Substituting the above parameters into Equation (5), θ 6 +θ 1 ) can be estimated. 2 .

[0063] 5. Coordinate transformation relationship inside the bulldozer:

[0064] Inside the bulldozer body, in order to facilitate data transmission and position correction between subsystems, multiple internal coordinate systems are also established. The coordinate systems {A}, {B}, {C}, and {D} are all established on the bulldozer, and the conversion relationship between them is

[0065]

[0066] Where: represents the width (distance in the horizontal direction) from the lower edge of the blade to the main antenna; represents the height (distance in the vertical direction) from the lower edge of the blade to the main antenna; represents the offset in the first direction (usually the horizontal direction) between the GNSS antenna and the reference point of the bulldozer blade; The offset in the second direction (usually the vertical direction) between the GNSS antenna and the reference point of the bulldozer blade.

[0067] Therefore, the positions of the coordinate system {C} and the coordinate system {D} relative to the coordinate system {O} can be expressed as:

[0068]

[0069] 6. Data processing and real-time display:

[0070] In this embodiment, as Figure 4 shown, the rover will transmit data such as the real-time position (Formula 4), elevation (Formula 9), and tilt angle (Formula 3) of the bulldozer blade calculated according to the above formulas to the industrial all-in-one computer through the data transmission serial port. After receiving the data, the industrial all-in-one computer compares the actual operating state of the bulldozer blade with the design requirements through a dedicated processing algorithm, and real-time displays on the vehicle-mounted guidance screen the deviation value between the elevation of the bulldozer blade, the designed elevation and the actual elevation, as well as the operating trajectory of the bulldozer. Based on this, the operator can timely adjust the height and angle of the bulldozer blade to ensure that the leveling operation meets the design accuracy requirements.

[0071] In Figure 4 shows the overall structure and data transmission process of the automatic leveling system for hydraulic fill projects based on Beidou positioning. Figure 4 mainly consists of three parts: a reference station, a rover, and an industrial all-in-one computer. The reference station obtains Beidou satellite signals in real time through a Beidou satellite signal receiving device, and uses RTK differential positioning technology to generate high-precision differential data, which is transmitted to the rover through a wireless data link. The rover is equipped with a GNSS antenna, a receiver, and a data processing controller, which can simultaneously receive the differential signal sent by the reference station and the Beidou satellite signal directly received, and calculate the real-time position and elevation information of the bulldozer blade after internal data fusion. Figure 4 In and They respectively represent the installation offsets of the GNSS antenna and the reference point of the bulldozer blade in the horizontal and vertical directions. These two parameters are crucial for coordinate transformation and data correction. After the calculation is completed, the rover station sends the real-time position and elevation data to the industrial all-in-one computer through a data transmission interface such as the RS232 serial port. The industrial all-in-one computer is installed in the cab of the bulldozer. The built-in vehicle-mounted guidance screen can display the elevation of the bulldozer blade, the deviation from the designed elevation, and the operation trajectory in real time, helping the operator adjust the height and angle of the blade according to the real-time guidance information on the screen. The entire system uses wireless data transmission technology and high-precision RTK differential positioning to achieve continuous data acquisition, processing, and display, ensuring stable and efficient operation even in a large-scale construction environment. Through the automatic leveling control of this system, the leveling accuracy during construction is greatly improved, while reducing the errors and operation delays that may occur in traditional manual measurements, thus effectively reducing the construction cost and improving the work efficiency.

[0072] 7. Other instructions:

[0073] In the embodiment, information interaction is realized between components through a wireless data link. The RTK differential positioning technology adopted greatly improves the positioning accuracy of the system, thus ensuring the efficiency and accuracy of the leveling operation. Each parameter (such as the rotation radius r, fixed distance L, horizontal distance W, and vertical height H, etc.) in the above-mentioned implementation can be obtained through precise on-site measurement, and its value should be determined according to the actual construction conditions. The angle unit in each formula is in radians, and unit conversion can be carried out if necessary.

[0074] In a specific embodiment, as Figures 5 - 8 shown, a bulldozer equipped with a Beidou high-precision positioning technology guidance system is selected to collect and compare data in the leveled area. The construction area is divided into standard grids of 50m×50m. After the area is leveled, GNSS-RTK (Global Navigation Satellite System Real-Time Kinematic Positioning) technology is used to collect detailed topographic data. Data is collected at a fixed interval of 10m×10m in each grid to cover the entire leveled construction area. The topographic data of each grid collected is compared with the designed stacking elevation data one by one, and the deviation value between the two is calculated (deviation value formula: deviation value = designed elevation - measured elevation). The allowable range of the elevation deviation of the project design stacking is ±0.3m. All topographic point deviations in the construction area must meet this requirement to ensure the accuracy of the stacking leveling and the overall construction quality. The comparison of the inspection area data is shown in Table 1;

[0075] Table 1 Comparison table of inspection area data

[0076]

[0077]

[0078] To evaluate the construction efficiency of different leveling methods, a 50m×50m standard plot with similar construction environments and similar leveling workloads was selected as the test area. The automatic leveling method of a bulldozer based on Beidou high-precision positioning technology and the leveling method of setting height marks by inserting bamboo poles were used for construction respectively. One bulldozer and one surveyor were configured for both methods. The surveyor was mainly responsible for system maintenance, mark layout, and inspection and measurement, etc.

[0079] The statistical scope of the leveling construction time covered the construction preparation stage (installation of construction documents by the Beidou group, mark layout by the bamboo pole insertion group), the construction stage, and the inspection and construction stage (inspection and measurement and possible rework). The leveling construction results needed to pass the inspection, and the site elevation reached the allowable range of deviation from the designed stacking elevation of the project. The QC team selected multiple groups of standard areas to statistically analyze the construction time of the two leveling methods. The comparison results are shown in Table 2, and the construction efficiency was analyzed through formula (12).

[0080]

[0081] Table 2 Comparison of efficiency analysis of the leveling area

[0082]

[0083]

[0084] It can be seen from the comparison results in Table 2 that on the premise of meeting the construction quality requirements, compared with the leveling method of setting height marks by inserting bamboo poles, the construction efficiency of the bulldozer equipped with the Beidou high-precision positioning technology guidance system was overall increased by 31%, which will effectively shorten the project progress and save costs.

[0085] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects.

[0086] The above are only the embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. An automatic leveling system for filling engineering based on Beidou positioning, characterized in that: include: The base station is used to receive BeiDou satellite signals and send differential signals to the mobile station via data links; The mobile station is used to receive the differential signal and Beidou satellite signal sent by the base station, calculate the real-time position and elevation data of the bulldozer blade, and transmit the calculated real-time position and elevation data to the industrial integrated machine through the data transmission serial port; The industrial all-in-one machine is used to receive the real-time position and elevation data transmitted by the mobile station, and display the elevation data of the blade, the design elevation deviation value and the operation trajectory of the bulldozer on the vehicle guidance screen to provide real-time guidance information to assist the operator in adjusting the height and angle of the bulldozer blade.

2. The automatic leveling system for filling engineering based on Beidou positioning according to claim 1 is characterized in that: The base station transmits data with the mobile station through wireless communication, and sends a differential signal to the mobile station after receiving the Beidou satellite signal.

3. The automatic leveling system for filling engineering based on Beidou positioning according to claim 1 is characterized in that: The mobile station includes at least one GNSS antenna and receiver and a controller. The GNSS antenna is used to receive differential signals and Beidou satellite signals sent by the base station; the receiver transmits the signal to the controller, and the controller is used to calculate the real-time position and elevation data of the bulldozer blade.

4. The automatic leveling system for filling engineering based on Beidou positioning according to claim 3 is characterized in that: The mobile station sends the calculated real-time position and elevation data of the bulldozer blade to the industrial integrated machine through the data transmission serial port, and the industrial integrated machine is used to receive and process the real-time position and elevation data.

5. The automatic leveling system for filling engineering based on Beidou positioning according to claim 4 is characterized in that: The industrial all-in-one machine includes a vehicle-mounted guidance screen, which displays the elevation data of the bulldozer blade, the deviation value of the bulldozer blade from the design elevation, and the operation trajectory of the bulldozer, and provides real-time guidance information to assist the operator in adjusting the height and angle of the bulldozer blade.

6. The automatic leveling system for filling engineering based on Beidou positioning according to claim 1 is characterized in that: The mobile station further includes an inclination sensor for detecting the inclination angle of the bulldozer blade, and sending the inclination angle information of the bulldozer blade to the industrial integrated machine through data transmission.

7. The automatic leveling system for filling engineering based on Beidou positioning according to claim 1 is characterized in that: The industrial all-in-one machine includes a storage module for storing the operation data and historical records of the bulldozer and viewing the historical operation data as needed.

8. An automatic leveling method for filling engineering based on Beidou positioning, used to execute the automatic leveling system for filling engineering based on Beidou positioning according to any one of claims 1 to 7, characterized in that: The method includes: The base station receives BeiDou satellite signals and sends differential signals to the mobile station via data links; The mobile station receives the differential signal and Beidou satellite signal sent by the base station, and calculates the real-time position and elevation data of the bulldozer blade based on the received signals; The mobile station transmits the calculated real-time position and elevation data of the bulldozer blade to the industrial integrated machine through the data transmission serial port; The industrial integrated machine is used to receive the real-time position and elevation data of the bulldozer blade transmitted by the mobile station, and the elevation data of the bulldozer blade, the design elevation deviation value and the operation track of the bulldozer are displayed on the vehicle guidance screen; Based on the bulldozer blade elevation, design elevation deviation value and bulldozer operation trajectory displayed on the on-board guidance screen, real-time guidance information is provided to assist the operator in adjusting the height and angle of the bulldozer blade.

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