Backhoe boat bucket tooth top positioning device and inland waterway excavation method

Abstract

The invention discloses a backhoe ship bucket tooth tip spatial position positioning device and an inland waterway excavation method. The positioning device is composed of a positioning module, an angle sensor, a data processing module, a waterproof pressure sensor and a display terminal, the multiple tilt angle sensors are distributed at key positions of the backhoe ship, and the waterproof pressure sensor is located at the root of bucket teeth. The device can accurately position the space position of the tooth tip of the bucket tooth and feed back related construction information in real time. The inland waterway excavation method is based on the positioning device, and comprises the links of preparation before construction, excavation operation and data recording and analysis. Constructing a model and debugging equipment before construction; during excavation, an operator can control the backhoe boat to work accurately according to data of the visual human-computer interaction interface; during construction, data is automatically recorded to assist decision making and process optimization. The real-time position of the tooth tip of the bucket tooth is determined according to a multi-connecting-rod structure kinematics equation of the mechanical arm of the backhoe ship, the excavation precision of the inland waterway can be improved, back break is reduced, the construction efficiency is improved, the cost and the safety risk are reduced, and the method is suitable for the underwater excavation engineering of the inland waterway.

Description

Technical Field

[0001] The present invention relates to the technical field of inland waterway excavation, and particularly relates to an anti-excavator bucket tooth tip spatial position positioning device and an inland waterway excavation method based on this device, aiming to solve problems such as poor positioning accuracy and low construction efficiency in underwater excavation construction of inland waterways, and to achieve precise and efficient inland waterway excavation operations. Background Technique

[0002] With the continuous advancement of inland waterway construction, the requirements for the accuracy and efficiency of waterway excavation are increasing day by day. Taking the Pinglu Canal as an example, the underwater precision excavation project in its HD1 section includes underwater concrete-filled bag works and thin-layer rock excavation works at the bottom of the waterway, facing many construction problems. The requirements for leveling the slope of the concrete-filled bag are that the height difference between the highest point and the lowest point of the slope is less than 15 cm. However, the existing construction water depth is about 10 m, the vision of construction personnel is limited, and it is difficult for traditional construction methods to meet the accuracy requirements. The thin-layer rock excavation at the bottom of the waterway is widely distributed and the excavation volume is small. Over-excavation is not conducive to cost control. In addition, there are many drawbacks in traditional underwater slope cutting construction. For example, the tasks of measurement layout and zoning before slope cutting are large and require a lot of personnel; the construction process depends on the experience of the excavator driver, and over-excavation or under-excavation is likely to occur; during construction, it is necessary to continuously measure the slope control indicators; the water depth and turbidity affect the accuracy of the measuring instrument, etc., resulting in a complex operation process, difficult quality control, and high personnel safety risks.

[0003] Patent document CN202311824531.8 discloses an excavator bucket tooth tip positioning method, device and excavator, which relates to the technical field of bucket positioning; the method includes obtaining the kinematic model of the excavator, obtaining the body coordinate system, boom coordinate system, stick coordinate system and bucket coordinate system according to the right-hand rule, obtaining the body attitude information of the excavator, and obtaining the body rotation angle θ1, boom cylinder length l1, stick cylinder length l2 and bucket cylinder length l3; it calculates the position coordinates of the bucket tooth tip relative to the rotation center of the excavator body through the body rotation angle θ1, boom cylinder length l1, stick cylinder length l2 and bucket cylinder length l3, etc. The boom cylinder length l1, stick cylinder length l2 and bucket cylinder length l3 are calculated by obtaining the cylinder telescopic amount through displacement sensors installed on the hydraulic cylinders. However, this method does not consider the influence of underwater water pressure on the position when excavating the river channel.

[0004] Patent document CN202410909641.2 discloses an excavator and a bucket tooth tip positioning system and method based on the Beidou system. The position information a of the excavator body is sent to the Beidou satellite through the Beidou transmission signal. The Beidou satellite transmits the positioning information a' back to the Beidou transmission antenna. The real-time coordinates are obtained through the controller. The signal b transmitted by the transmitter set in the bucket tooth tip is sent to the controller. The receiver then transmits the received signal through the guide piece to send the signal b' to the Beidou satellite. The Beidou satellite then transmits its position information b" back to the Beidou transmission antenna. The coordinates of the bucket tooth tip are obtained through the controller panel. Through the wireless position sensor set at the bucket tooth tip and the limit range set before construction, if the bucket tooth tip approaches the limit range, the wireless position sensor receives the signal. However, this method has poor accuracy and does not consider the influence of underwater operation water pressure.

[0005] Therefore, it is extremely urgent to develop a high-precision positioning device for the spatial position of the backhoe bucket tooth tip and a supporting inland waterway excavation method. Summary of the Invention

[0006] In order to achieve the above object, the present invention provides a positioning device for the spatial position of the backhoe bucket tooth tip, including:

[0007] It includes a positioning module, an angle sensor, a data processing module, a waterproof pressure sensor and a display terminal; the positioning module is used to obtain the real-time position information of the backhoe; the angle sensor is used to measure the rotation angles of each component; the data processing module is connected to the positioning module and the angle sensor, and is used to receive and process the data transmitted by both, and calculate the precise spatial position of the bucket tooth tip; the display terminal is connected to the data processing module, and is used to display in real time information such as the spatial position of the bucket tooth tip, the excavation depth, and the over-excavation and under-excavation conditions.

[0008] Further, the positioning module includes a high-precision GNSS antenna and a K20 high-precision split RTK. The K20 high-precision split RTK is fixedly installed at an open position on the backhoe body, and the high-precision GNSS antenna is installed on the backhoe.

[0009] Further, a plurality of inclination sensors are deployed at the joints of the backhoe slewing platform, boom, dipper arm and bucket.

[0010] Further, the waterproof pressure sensor is integrated at the root of the bucket tooth, monitors the underwater operation pressure, and is used to correct the water flow impact error.

[0011] The present invention also provides an inland waterway excavation method based on the above positioning device, which is characterized by including the following steps:

[0012] Prepare before construction, install the positioning module, angle sensor, data processing module and waterproof pressure sensor and ensure their normal operation, construct the channel geological model and the three-dimensional model of the underwater surface to be excavated, establish a visual human-computer interaction interface and connect the positioning device;

[0013] Excavation operation: The operator obtains the real-time position of the bucket tooth tip and relevant construction data through the visual human-computer interaction interface, controls the backhoe to excavate, the positioning device real-time feedbacks the position data, and the system generates correction parameters to assist the operator in adjusting the operation;

[0014] Data recording and analysis: The construction auxiliary software automatically records the construction data, stores and analyzes it, generates a construction report, and the engineering personnel make construction decisions and optimize the process based on the report.

[0015] Furthermore, the real-time position of the bucket tooth tip is based on the multi-link structure of the backhoe boom. The kinematic equation of the bucket tooth tip is established as follows:

[0016]

[0017] Among them, L1 and L2 represent the lengths of different links of the boom. In the actual structure of the backhoe boom, these link lengths are determined by the design and manufacture of the boom and are fixed geometric parameters as the boom length. θ1 and θ2 are the rotation angles of the boom joints, and these angles are dynamically changed. The control system of the backhoe controls the drive devices (such as hydraulic motors, etc.) of the joints to achieve adjustment. Usually, θ1 is the rotation angle of the first link relative to the fixed base, and θ2 is the rotation angle of the second link relative to the first link. By changing these angles, the position of the bucket tooth tip in space can be adjusted. P 水压 is the data of the pressure sensor. During the operation of the backhoe, especially during underwater operation, the pressure sensor can real-time monitor the water pressure situation at the position where the bucket tooth is located. This parameter is introduced into the kinematic equation in the Z direction because the water pressure will affect the operation of the backhoe. For example, during underwater excavation, the water pressure may change the force state of the boom, and thus affect the movement of the bucket tooth in the vertical direction (Z direction) - the data of the pressure sensor. L is the effective length of the boom that controls the vertical movement of the bucket tooth, θ3 is the joint angle that controls the vertical movement of the bucket tooth, A is the equivalent area of the bucket tooth under the action of water pressure, and K is the stiffness coefficient of the mechanical system.

[0018] Furthermore, in the preparation stage before construction, use geological exploration data and survey materials to construct the model. In the excavation operation stage, the positioning device and the visual human-computer interaction interface interact data in real time.

[0019] Furthermore, fuse the angle sensor data through Kalman filtering to eliminate mechanical vibration and signal drift errors.

[0020] Beneficial effects

[0021] Improve excavation accuracy: By accurately obtaining the spatial position of the bucket tooth tip through the positioning device, combined with the visual human-machine interaction interface and construction simulation algorithm, it can real-time feedback the over-excavation and under-excavation situations, assist the operator to precisely control the backhoe operation, effectively solve the problem that it is difficult to ensure the accuracy in the underwater excavation construction of inland river channels, meet the high-precision requirements of slope trimming and leveling of the geomembrane bag concrete, reduce the over-excavation and under-excavation phenomena, and improve the excavation quality.

[0022] Enhance construction efficiency: This positioning device and excavation method do not require complex measurement layout and zoning work before construction, nor do they require surveyors to continuously measure and guide on-site. The operator can obtain comprehensive construction information through the visual human-machine interaction interface, make decisions quickly, reduce construction links and waiting time, and greatly improve construction efficiency.

[0023] Reduce construction costs: Precise excavation control avoids the additional costs caused by over-excavation and reduces the rework rate. At the same time, the mechanization and high efficiency of the measurement work reduce the labor cost and effectively control the construction cost of the inland river channel excavation.

[0024] Enhance construction safety: It reduces the work of surveyors on-site and reduces the safety risks of personnel in the deep and turbid water environment. The operator remotely obtains construction information through the visual interface, avoiding direct exposure to the dangerous environment and improving the construction safety. Brief Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is the composition diagram of the ECS900 equipment construction system.

[0027] Figure 2 It is the visual human-machine interaction interface.

[0028] Explanation of the reference numerals in the drawings: 100: Angle sensor; 200: GNSS antenna; 300: Waterproof pressure sensor. Detailed Embodiments

[0029] The following will further describe in detail the specific embodiments of the present invention in combination with the drawings and embodiments. The following embodiments are used to illustrate the present invention but not to limit the scope of the present invention.

[0030] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups.

[0031] For the sake of simplicity of the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product as a whole. In addition, for the sake of simplicity and easy understanding of the drawings, among the parts with the same structure or function in some figures, only one of them is schematically shown, or only one of them is labeled. In this article, "one" not only means "only this one", but also means the situation of "more than one".

[0032] It should be further understood that the term "and / or" used in the description of this application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0033] In the embodiments shown in the drawings, the indication of directions (such as up, down, left, right, front and back) is used to explain that the structures and movements of various components of the present invention are not absolute but relative. When these components are in the positions shown in the drawings, these descriptions are appropriate. If the descriptions of the positions of these components change, then the indication of these directions also changes accordingly.

[0034] In addition, in the description of this application, the terms "first", "second", etc. are only used for distinguishing descriptions, and cannot be understood as indicating or implying relative importance.

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings, and other implementation manners can also be obtained.

[0036] This embodiment takes the section of Pingle Canal from K8 + 500 to K11 + 000 as the object, and elaborates in detail the specific implementation steps of the excavation of the inland waterway. In this section, underwater concrete filled fabric bag projects and thin layer rock excavation projects at the bottom of the waterway are involved. In view of the construction difficulties, the key technology of precise excavation of inland waterways is used for construction.

[0037] I. Preparation before construction

[0038] Data collection and model construction: Using geological exploration equipment, conduct a detailed geological exploration of the section from K8+500 to K11+000 to obtain geological data such as rock types, hardness, and soil layer distribution. Collect underwater terrain data through measuring instruments. Combine the geological data and use professional modeling software to construct a channel geological model. During the construction process, use Kriging interpolation method to perform spatial interpolation on discrete data points to generate a continuous geological body model, and assign physical parameters to the model, such as the density and elastic modulus of rocks. According to the channel design requirements, determine the excavation boundary and depth, create a channel excavation model, and integrate it with the geological model to form a complete channel excavation scenario model.

[0039] Equipment preparation and debugging: Select the "Zhonghaida ECS900 Excavator 3D Guidance System" originally used for onshore excavation. For the underwater construction environment, perform technical improvements on the equipment's oil pipes, sensors, and signal transmission methods to enhance the equipment's waterproofness, seismic resistance, and signal stability. As Figure 1 shown, install the high-precision GNSS antenna 200 at the open position on the top of the backhoe ship according to the design requirements to ensure that it can clearly receive satellite signals. Install inclination sensors 100 at each joint of the robotic arm and the connection part of the bucket teeth. Pay attention to the installation direction and position of the sensors to ensure that the angle changes of the robotic arm and bucket teeth can be accurately measured. Install a waterproof pressure sensor 300 at the root of the bucket teeth to monitor the underwater operation pressure (range 0-10 MPa) for correcting the water flow impact error. After installation, debug the positioning device to check whether the data collection and transmission functions of each sensor are normal. Verify the accuracy of the data processing unit in calculating the spatial position of the bucket tooth tip by simulating the movement of the bucket teeth. Install the K20 high-precision split RTK on the backhoe ship to ensure normal connection between devices and accurate data transmission. Debug the in-vehicle excavator construction auxiliary guidance system tablet computer to enable it to accurately receive and display the data collected by the equipment.

[0040] II. Underwater formwork bag concrete slope trimming and leveling construction

[0041] Positioning and planning: After the backhoe ship arrives at the designated construction area of the section from K8+500 to K11+000, accurately identify the spatial coordinates of the bucket tooth tip of the backhoe ship's bucket through Beidou space positioning technology and angle sensing technology.

[0042] The spatial coordinates of the bucket tooth tip of the backhoe ship are based on the multi-link structure of the robotic arm of the backhoe ship to establish the kinematic equation of the bucket tooth tip, which can accurately describe the position of the bucket tooth tip. The kinematic equation of the bucket tooth tip is obtained as follows:

[0043]

[0044] Among them, L1 and L2 represent the lengths of different connecting rods of the robotic arm. In the actual structure of the backhoe dredger's robotic arm, these connecting rod lengths are determined by the design and manufacture of the robotic arm and are fixed geometric parameters as the robotic arm length. θ1 and θ2 are the rotation angles of the robotic arm joints. These angles are dynamically variable and are adjusted by controlling the driving devices (such as hydraulic motors, etc.) of the joints by the control system of the backhoe dredger. Usually, it is the rotation angle of the first connecting rod relative to the fixed base and the rotation angle of the second connecting rod relative to the first connecting rod. By changing these angles, the position of the tooth tip of the bucket can be adjusted in space. P 水压 P is the data of the pressure sensor. During the operation of the backhoe dredger, especially during underwater operation, the pressure sensor can monitor the water pressure situation at the position of the bucket tooth in real time. This parameter is introduced into the kinematic equation in the Z direction because the water pressure will affect the operation of the backhoe dredger. For example, during underwater excavation, the water pressure may change the force state of the robotic arm, thereby affecting the movement of the bucket tooth in the vertical direction (Z direction). The data of the pressure sensor. L is the effective length of the robotic arm that controls the vertical movement of the bucket tooth, θ3 is the joint angle that controls the vertical movement of the bucket tooth, A is the equivalent area of the bucket tooth under the action of water pressure, and K is the stiffness coefficient of the mechanical system.

[0045] x = L1cosθ1 + L2cos(θ1 + θ2)+.... This equation is obtained by adding the projected lengths of each connecting rod in the x direction. Taking two connecting rods as an example, L1cosθ1 represents the projected length of the first connecting rod in the x direction, which changes with the change of θ1. K2cos(θ1 + θ2) represents the projected length of the second connecting rod in the x direction, which is related not only to θ2 but also to the angle θ1 of the first connecting rod. When the joint angles of the robotic arm change, these projected lengths will also change accordingly, so that the position of the tooth tip of the bucket moves in the x direction. If the robotic arm has more connecting rods, the subsequent terms are similar calculations of projected lengths and are accumulated in turn.

[0046] y = L1sinθ1 + L2sin(θ1 + θ2)+.... Similar to the x direction, L1sinθ1 is the projected length of the first connecting rod in the y direction, and L2sin(θ1 + θ2) is the projected length of the second connecting rod in the y direction. By calculating trigonometric functions, the projected lengths of each connecting rod in the y direction are added to obtain the position coordinates of the tooth tip of the bucket in the y direction. Similarly, with the change of the joint angles θ1 and θ2, the position of the tooth tip of the bucket in the y direction will also change accordingly.

[0047] In actual situations, when adjusting the joint angle, the bucket teeth will move up and down in the vertical direction. At the same time, the water pressure will also affect the position of the bucket teeth in the vertical direction. When excavating in deep water areas, the relatively large water pressure may exert an additional downward pressure on the robotic arm, resulting in a difference between the actual position of the bucket teeth in the vertical direction and the position when only considering the joint angle. This equation quantifies the influence of water pressure on the vertical position of the bucket teeth and can be used for real-time compensation by the control system.

[0048] The operator plans the construction path for slope cutting and leveling according to the relationship between the three-dimensional excavator attitude displayed on the tablet computer of the vehicle-mounted excavator construction auxiliary guidance system and the designed slope position, as well as the correction parameters. The computer display interface is as Figure 2 shown, displaying the real-time position of the bucket tooth tip and construction parameters.

[0049] Slope cutting and leveling operation: The operator controls the backhoe dredger for slope cutting and leveling operations. During the construction process, the system uses a spatial aggregation automatic recognition algorithm to obtain the precise three-dimensional position information of the bucket tooth tip in real time, and through a construction simulation algorithm, it updates the slope correction situation in real time. The operator adjusts the operation actions of the backhoe dredger in a timely manner according to the real-time data displayed on the tablet computer to ensure the accuracy of slope cutting and leveling. In the section from K8+700 to K8+800, through this technology, the elevation difference between the highest and lowest points of the slope is controlled within 15 cm, meeting the flatness requirements for slope cutting and leveling of the formwork bag concrete.

[0050] Data recording and quality inspection: The construction auxiliary software automatically records the slope quality control parameters and data, such as the slope of slope cutting, flatness, etc., and stores and exports them for use by engineering personnel. During the construction process, the informatization system for slope quality inspection lots is used to realize the automatic detection of the construction quality of the slope by the excavator. After each section of slope cutting and leveling operation is completed, the slope is randomly inspected. The inspection results show that this technology has significantly increased the one-time slope formation rate of the underwater slope, improving it by approximately 30% compared to traditional methods.

[0051] III. Excavation construction of thin-layer rock at the bottom of the waterway

[0052] Formulation of excavation plan: According to the waterway excavation scenario model, combined with the geological conditions and design requirements, an excavation plan for the thin-layer rock at the bottom of the waterway in the section from K8+500 to K11+000 is formulated. For the thin-layer rock in different areas, reasonable excavation sequences, excavation depths, and excavation methods are determined. In the section from K9+000 to K9+200, due to the relatively high hardness of the thin-layer rock, a layered and segmented excavation method is adopted, and the excavation depth of each layer is controlled within 30 cm.

[0053] Precision Excavation Operation: The backhoe dredger travels to the designated excavation area, and the operator starts the positioning device and the visual human-machine interaction system. During the operation, the operator can view the spatial position information of the bucket tooth tip in real time through the visual human-machine interaction interface. Combining the channel geological model and the design excavation requirements, the operator controls the backhoe dredger to carry out the excavation operation. When the bucket tooth touches the underwater rock and soil, the positioning device monitors the position change of the bucket tooth tip in real time and transmits the data to the visual human-machine interaction system. The system calculates the difference between the current excavation position and the design excavation surface according to the construction simulation algorithm, generates slope correction parameters, and displays them on the interface. The operator adjusts the operation of the backhoe dredger in a timely manner according to these parameters to ensure the excavation accuracy. During the excavation process, the operator of the backhoe dredger conducts precision excavation based on the feedback of the channel geology, excavation depth, depth to be excavated, and over-excavation and under-excavation conditions on the tablet computer of the vehicle-mounted excavator construction auxiliary guidance system. The system monitors the position of the bucket tooth tip in real time to ensure the excavation accuracy and effectively control the over-excavation phenomenon. In the construction of this section, the over-excavation rate (over 30 cm) of the channel bottom is reduced from 80% by the traditional method to 3%, reducing the construction cost.

[0054] Data Recording and Analysis: During the construction process, the construction auxiliary software automatically records the construction data such as the spatial position data of the bucket tooth tip collected by the positioning device, excavation time, and excavation volume. After the construction ends every day, the engineering personnel use the construction auxiliary software to analyze the construction data of the day and generate a construction daily report. During the whole construction process, the construction data is regularly summarized and analyzed to draw construction progress charts, quality control charts, etc. According to the analysis results, the construction plan and technology are adjusted in a timely manner to ensure the construction quality and progress.

[0055] Resource Utilization and Monitoring: Using this technology, the distribution of earthwork resources such as channel sand, stones, and silt is visually displayed, and precise layered and classified excavation is carried out on the section of K10+000 - K10+500 to realize the resource utilization of earthwork resources. During the excavation process, the construction data such as excavation volume and resource distribution changes are continuously monitored, and the excavation plan is adjusted in a timely manner according to the actual situation to ensure the smooth progress of the construction.

[0056] IV. Dynamic Adjustment and Optimization during the Construction Process

[0057] Real-time Data Collection and Analysis: During the whole construction process of the section of K8+500 - K11+000, various sensors installed at the construction site are used to collect data such as excavation progress, slope displacement, and soil stress in real time. These data are transmitted to the model management system in real time to dynamically update the channel excavation scenario model.

[0058] Plan adjustment and decision-making: Construction workers timely adjust the excavation plan and construction parameters according to the updated model. At K9+500, it was found that the slope displacement was approaching the warning value, and the excavation was immediately stopped. According to the model analysis results, plan adjustments such as increasing support measures were taken to ensure construction safety and quality.

[0059] Through the above specific implementation steps, the key technology of precise excavation of inland waterways is applied in the section of K8+500-K11+000 of the Pingle Canal, effectively solving problems such as high precision requirements for underwater formwork bag concrete slope trimming and leveling, difficult control of the excavation cost of thin-layer rock at the bottom of the waterway, and utilization of earthwork and stone resources in this section, improving construction efficiency and quality, and achieving good economic and environmental benefits.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific implementation manners of the present invention, and any modification or equivalent replacement without departing from the spirit and scope of the present invention should be covered within the protection scope of the claims of the present invention.

Claims

1. A backhoe bucket tooth tip spatial position positioning device, characterized in that: include: It includes a positioning module, an angle sensor, a data processing module, a waterproof pressure sensor and a display terminal; the positioning module is used to obtain the real-time position information of the backhoe boat; the angle sensor is used to measure the rotation angle of each component; the data processing module is connected with the positioning module and the angle sensor, and is used to receive and process the data transmitted by the two, and calculate the precise spatial position of the bucket tooth tip; the display terminal is connected with the data processing module, and is used to display the spatial position of the bucket tooth tip, excavation depth, over-excavation and under-excavation and other information in real time.

2. The backhoe bucket tooth tip spatial position positioning device according to claim 1, characterized in that: The positioning module includes a high-precision GNSS antenna and a K20 high-precision split RTK. The K20 high-precision split RTK is fixedly installed in an open position on the backhoe hull, and the high-precision GNSS antenna is installed on the backhoe boat.

3. The backhoe bucket tooth tip spatial position positioning device according to claim 1, characterized in that: Multiple tilt sensors are deployed on the backhoe's slewing platform, boom, arm and bucket joints.

4. The backhoe bucket tooth tip spatial position positioning device according to claim 1, characterized in that: The waterproof pressure sensor is integrated at the root of the bucket tooth to monitor the underwater operating pressure and is used to correct the water flow impact error.

5. An inland waterway excavation method based on the positioning device according to any one of claims 1 to 4, characterized in that: The following steps are involved: Pre-construction preparation: install the positioning module, angle sensor, data processing module and waterproof pressure sensor and ensure their normal operation, build the waterway geological model and the three-dimensional model of the underwater excavation surface, establish a visual human-computer interaction interface and connect the positioning device; During excavation operations, the operator obtains the real-time position of the bucket tooth tip and related construction data through a visual human-computer interaction interface, controls the backhoe to excavate, and the positioning device feeds back the position data in real time. The system generates correction parameters to assist the operator in adjusting the operation. Data recording and analysis: Construction assistance software automatically records construction data, stores and analyzes it, and generates construction reports. Engineering personnel make construction decisions and optimize processes based on the reports.

6. The backhoe bucket tooth tip spatial position positioning device according to claim 5, characterized in that: The real-time position of the bucket tooth tip is based on the multi-link structure of the backhoe boat mechanical arm, and the kinematic equation of the bucket tooth tip is established as follows: Among them, L1 and L2 represent the lengths of different links of the robot arm, θ1 and θ2 are the rotation angles of the robot arm joints, and P 水压 is the pressure sensor data; L is the effective length of the mechanical arm that controls the vertical movement of the bucket tooth, θ3 is the joint angle that controls the vertical movement of the bucket tooth, A is the equivalent area of ​​the bucket tooth affected by water pressure, and K is the stiffness coefficient of the mechanical system.

7. The inland waterway excavation method according to claim 5, characterized in that: In the pre-construction preparation stage, the model is constructed using geological exploration data and measurement information. During the excavation operation stage, the positioning device and the visual human-computer interaction interface exchange data in real time.

8. The inland waterway excavation method according to claim 6, characterized in that: The angle sensor data is fused through Kalman filtering to eliminate mechanical vibration and signal drift errors.

Images