A backhoe bucket tooth tip positioning device and an inland waterway excavation method

Abstract

The application discloses a backhoe bucket tooth tip space 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. Multiple inclination sensors are distributed at key positions of the backhoe, and the waterproof pressure sensor is located at the root of the bucket tooth. The device can accurately position the space position of the bucket tooth tip and real-time feedback relevant construction information. The inland waterway excavation method is based on the positioning device and covers the preparation before construction, excavation operation, data recording and analysis. A model is constructed and the equipment is debugged before construction; during excavation, the operator can control the backhoe to accurately operate according to the data of the visual human-computer interaction interface; and the data is automatically recorded during construction to assist decision-making and process optimization. The real-time position of the bucket tooth tip is determined according to the kinematic equation of the multi-link structure of the backhoe mechanical arm. The application can improve the excavation accuracy of the inland waterway, reduce overbreak and underbreak, improve the construction efficiency, reduce the cost and safety risk, and is suitable for underwater excavation engineering of the inland waterway.

Description

Technical Field

[0001] This invention relates to the field of inland waterway excavation technology, specifically to a spatial positioning device for the tip of the bucket teeth of a backhoe dredger and an inland waterway excavation method based on the device. The aim is to solve the problems of poor positioning accuracy and low construction efficiency in underwater excavation of inland waterways, and to achieve precise and efficient inland waterway excavation operations. Background Technology

[0002] With the continuous advancement of inland waterway construction, the requirements for the precision and efficiency of waterway excavation are increasing. Taking the Pinglu Canal as an example, its HD1 section's underwater precision dredging project includes underwater geotextile concrete engineering and thin-layer rock excavation at the bottom of the waterway, facing numerous construction challenges. Geotextile concrete slope cutting and leveling requires the height difference between the highest and lowest points of the slope to be less than 15cm, but the current construction water depth is approximately 10m, limiting the visibility of construction personnel, making it difficult to achieve the required precision using traditional methods. The thin-layer rock excavation at the bottom of the waterway is widespread and involves a small amount of work; over-excavation is detrimental to cost control. Furthermore, traditional underwater slope cutting construction has many drawbacks, such as a large workload and personnel requirements for pre-cutting surveying and zoning; reliance on excavator operator experience during construction, leading to over-excavation or under-excavation; the need for continuous measurement of slope control indicators during construction; and the impact of deep and turbid water on the accuracy of measuring instruments, resulting in complex work processes, difficult quality control, and high personnel safety risks.

[0003] Application number CN202311824531.8 discloses a method, device, and excavator for positioning the bucket teeth of an excavator, relating to the field of bucket positioning technology. The method includes obtaining a kinematic model of the excavator, using the right-hand rule to obtain the vehicle body coordinate system, boom coordinate system, stick coordinate system, and bucket coordinate system, obtaining the excavator vehicle body attitude information, and obtaining the vehicle body rotation angle θ1, boom cylinder length l1, stick cylinder length l2, and bucket cylinder length l3. The method calculates the position coordinates of the bucket teeth relative to the rotation center of the excavator vehicle body using the vehicle body rotation angle θ1, boom cylinder length l1, stick cylinder length l2, and bucket cylinder length l3. The boom cylinder length l1, stick cylinder length l2, and bucket cylinder length l3 are calculated by obtaining the cylinder extension and retraction amount using displacement sensors installed on the hydraulic cylinders. However, this method does not consider the influence of underwater water pressure on the position when excavating a river channel.

[0004] Application number CN202410909641.2 discloses an excavator and bucket tooth tip positioning system and method based on the Beidou system. The system transmits the excavator's position information 'a' to the Beidou satellite via Beidou transmission signals. The Beidou satellite then transmits the positioning information 'a' back to the Beidou transmission antenna. The controller obtains the real-time coordinates and sends a signal 'b' to the controller via a transmitter located in the bucket tooth tip. The receiver then transmits the received signal 'b' back to the Beidou satellite via a guide plate. The Beidou satellite then transmits its position information 'b' back to the Beidou transmission antenna. The controller panel obtains the coordinates of the bucket tooth tip. The system utilizes a wireless position sensor located in the bucket tooth tip and a pre-set limit range. 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 water pressure during underwater operations.

[0005] Therefore, it is urgent to develop a high-precision spatial positioning device for the tips of the bucket teeth of backhoe shovels and a matching method for dredging inland waterways. Summary of the Invention

[0006] To achieve the above objectives, the present invention provides a spatial positioning device for the tips of bucket teeth of a backhoe shovel, comprising:

[0007] The system 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 acquire the real-time position information of the backhoe vessel. The angle sensor is used to measure the rotation angle of each component. The data processing module is connected to the positioning module and the angle sensor to receive and process the data transmitted from both, and to calculate the precise spatial position of the bucket teeth tip. The display terminal is connected to the data processing module to display information such as the spatial position of the bucket teeth tip, excavation depth, and over- or under-excavation status in real time.

[0008] Furthermore, the positioning module includes a high-precision GNSS antenna and a K20 high-precision split-type RTK. The K20 high-precision split-type RTK is fixedly installed in an open area on the backhoe hull, while the high-precision GNSS antenna is installed on the backhoe.

[0009] Furthermore, multiple tilt sensors are deployed on the slewing platform, boom, stick, and bucket joints of the backhoe.

[0010] Furthermore, the waterproof pressure sensor is integrated into the root of the bucket teeth to monitor underwater operating pressure and correct for water flow impact errors.

[0011] The present invention also provides a method for dredging inland waterways based on the above-mentioned positioning device, characterized by comprising the following steps:

[0012] Before construction, install positioning modules, angle sensors, data processing modules and waterproof pressure sensors and ensure their normal operation; construct a waterway geological model and a three-dimensional model of the underwater excavation surface; establish a visual human-machine interface and connect the positioning device.

[0013] During excavation operations, the operator obtains the real-time position of the bucket teeth and related construction data through a visual human-machine interface, controls the backhoe vessel to excavate, the positioning device provides real-time feedback of position data, and the system generates correction parameters to assist the operator in adjusting the operation.

[0014] Data recording and analysis: Construction auxiliary software automatically records, stores, and analyzes construction data, generates construction reports, and engineers make construction decisions and optimize processes based on these reports.

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

[0016]

[0017] Here, L1 and L2 represent the lengths of different links in the robotic arm. In the actual structure of a backhoe loader robotic arm, these link lengths are determined by the design and manufacturing of the robotic arm and are fixed geometric parameters representing the robotic arm length. θ1 and θ2 are the rotation angles of the robotic arm joints, which are dynamically changing and adjusted by the backhoe loader's control system controlling the joint drive device (such as a hydraulic motor). Typically, it represents the rotation angle of the first link relative to the fixed base, and the rotation angle of the second link relative to the first link. By changing these angles, the position of the bucket teeth tips in space can be adjusted. P 水压 This refers to pressure sensor data. During backhoe operations, especially underwater operations, pressure sensors monitor the water pressure at the location of the bucket teeth in real time. This parameter is incorporated into the kinematic equations in the Z direction because water pressure affects the backhoe's operations. For example, during underwater excavation, water pressure may alter the force state of the robotic arm, thus affecting the vertical (Z-direction) movement of the bucket teeth. L represents the effective length of the robotic arm controlling the vertical movement of the bucket teeth, θ3 is the joint angle controlling the vertical movement of the bucket teeth, A is the equivalent area of ​​the bucket teeth subjected to water pressure, and K is the stiffness coefficient of the mechanical system.

[0018] Furthermore, during the pre-construction preparation stage, a model is constructed using geological exploration data and measurement data. During the excavation operation stage, the positioning device interacts with the visual human-machine interface in real time to exchange data.

[0019] Furthermore, by fusing angle sensor data through Kalman filtering, mechanical vibration and signal drift errors are eliminated.

[0020] Beneficial effects

[0021] Improve excavation accuracy: The positioning device accurately obtains the spatial position of the bucket tooth tip. Combined with a visual human-machine interface and construction simulation algorithm, it can provide real-time feedback on over-excavation and under-excavation, assisting the operator in accurately controlling the backhoe vessel operation. This effectively solves the problem of difficulty in ensuring accuracy in underwater excavation construction of inland waterways, meets the high-precision requirements of geotextile concrete slope cutting and leveling, reduces over-excavation and under-excavation, and improves excavation quality.

[0022] Improved construction efficiency: This positioning device and excavation method eliminates the need for complex pre-construction surveying and zoning, as well as the need for continuous on-site measurement and guidance by surveyors. Operators can obtain comprehensive construction information through a visual human-machine interface, enabling them to make quick decisions, reducing construction steps and waiting time, and significantly improving construction efficiency.

[0023] Reduced construction costs: Precise excavation control avoided the additional costs associated with over-excavation and reduced rework rates. Simultaneously, the mechanization and efficiency of surveying reduced labor costs, effectively controlling the construction costs of inland waterway excavation.

[0024] Enhanced construction safety: Reduced on-site work for surveyors lowered safety risks in deep and murky water. Operators can remotely access construction information via a visual interface, avoiding direct exposure to hazardous environments and improving construction safety. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a diagram of the ECS900 equipment construction system.

[0027] Figure 2 It is a visual human-computer interaction interface.

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

[0029] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0030] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of a descriptive feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or sets.

[0031] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0032] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0033] In the embodiments shown in the accompanying drawings, the directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of the various components of the invention are relative rather than absolute. These descriptions are appropriate when these components are in the positions shown in the drawings. If the descriptions of the positions of these components change, these directional indications also change accordingly.

[0034] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0036] This embodiment takes the Pinglu Canal K8+500-K11+000 section as an example to illustrate the specific implementation steps of inland waterway excavation. This section involves underwater geotextile concrete engineering and thin-layer rock excavation at the bottom of the waterway. To address the construction difficulties, key technologies for precise inland waterway excavation are applied.

[0037] I. Pre-construction preparation

[0038] Data Acquisition and Model Building: Detailed geological exploration was conducted on the K8+500-K11+000 section using geological exploration equipment to obtain geological data such as rock type, hardness, and soil layer distribution. Underwater topographic data was collected using surveying instruments, and combined with the geological data, a channel geological model was constructed using professional modeling software. During the construction process, Kriging interpolation was used to spatially interpolate discrete data points, generating a continuous geological model, and assigning physical parameters to the model, such as rock density and elastic modulus. Based on the channel design requirements, the excavation boundary and depth were determined, a channel excavation model was created, and this model was integrated with the geological model to form a complete channel excavation scenario model.

[0039] Equipment Preparation and Commissioning: The "Hitachi ECS900 Excavator 3D Guidance System," originally used for onshore excavation, was selected. For underwater construction environments, technical modifications were made to the equipment's oil pipes, sensors, and signal transmission methods to enhance its waterproofing, shock resistance, and signal stability. Figure 1 As shown, the high-precision GNSS antenna 200 is installed in an open area on top of the backhoe hull, as per design requirements, to ensure clear satellite signal reception. Tilt sensors 100 are installed at various joints of the robotic arm and at the connection points of the bucket teeth. Care is taken to ensure accurate measurement of angular changes in the robotic arm and bucket teeth. A waterproof pressure sensor 300 is installed at the root of the bucket teeth to monitor underwater operating pressure (range 0-10MPa) and correct for water flow impact errors. After installation, the positioning device is debugged, and the data acquisition and transmission functions of each sensor are checked for normal operation. The accuracy of the data processing unit's calculation of the spatial position of the bucket teeth tip is verified by simulating the movement of the bucket teeth. A K20 high-precision split-type RTK is installed on the backhoe hull, ensuring proper connection between devices and accurate data transmission. The tablet computer of the vehicle-mounted excavator construction auxiliary guidance system is debugged to ensure accurate reception and display of data collected by the equipment.

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

[0041] Positioning and Planning: After the backhoe vessel arrives at the designated construction area of ​​section K8+500-K11+000, the spatial coordinates of the bucket teeth tips of the backhoe vessel are accurately identified through Beidou spatial positioning technology and angle sensing technology.

[0042] The spatial coordinates of the bucket teeth tips on a backhoe loader are established based on the multi-link structure of the loader's robotic arm, creating kinematic equations for the teeth tips that accurately describe their positions. The kinematic equations for the bucket teeth tips are obtained as follows:

[0043]

[0044] Here, L1 and L2 represent the lengths of different links in the robotic arm. In the actual structure of a backhoe loader robotic arm, these link lengths are determined by the design and manufacturing of the robotic arm and are fixed geometric parameters representing the robotic arm length. θ1 and θ2 are the rotation angles of the robotic arm joints, which are dynamically changing and adjusted by the backhoe loader's control system controlling the joint drive device (such as a hydraulic motor). Typically, it represents the rotation angle of the first link relative to the fixed base, and the rotation angle of the second link relative to the first link. By changing these angles, the position of the bucket teeth tips in space can be adjusted. P 水压 This refers to pressure sensor data. During backhoe operations, especially underwater operations, pressure sensors monitor the water pressure at the location of the bucket teeth in real time. This parameter is incorporated into the kinematic equations in the Z direction because water pressure affects the backhoe's operations. For example, during underwater excavation, water pressure may alter the force state of the robotic arm, thus affecting the vertical (Z-direction) movement of the bucket teeth. L represents the effective length of the robotic arm controlling the vertical movement of the bucket teeth, θ3 is the joint angle controlling the vertical movement of the bucket teeth, A is the equivalent area of ​​the bucket teeth subjected to 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 link in the x-direction. Taking two links as an example, L1cosθ1 represents the projected length of the first link in the x-direction, which changes with θ1. L2cos(θ1 + θ2) represents the projected length of the second link in the x-direction, which depends not only on θ2 but also on the angle θ1 of the first link. When the joint angle of the robotic arm changes, these projected lengths also change accordingly, causing the position of the tooth tip in the x-direction to move. If the robotic arm has more links, subsequent terms are calculated using similar projected length calculations and are accumulated sequentially.

[0046] y = L1sinθ1 + L2sin(θ1 + θ2) + ... Similar to 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 using trigonometric functions, the projected lengths of each connecting rod in the y-direction are added together to obtain the position coordinates of the bucket tooth tip in the y-direction. Similarly, as the joint angles θ1 and θ2 change, the position of the bucket tooth tip in the y-direction will also change accordingly.

[0047] In practice, when adjusting the joint angle, the bucket teeth rise and fall vertically. Simultaneously, water pressure also affects the vertical position of the bucket teeth. During deep-water excavation, higher water pressure can exert additional downward pressure on the robotic arm, causing the actual vertical position of the bucket teeth to differ from that considering only the joint angle. This equation quantifies the impact of water pressure on the vertical position of the bucket teeth and can be used for real-time compensation in the control system.

[0048] Based on the 3D relationship between the excavator's posture and the designed slope position, along with correction parameters, displayed on the tablet of the vehicle-mounted excavator's construction assistance and guidance system, the operator plans the slope cutting and leveling construction path. The computer display interface is as follows: Figure 2 As shown, the real-time position of the bucket teeth tip and construction parameters are displayed.

[0049] Slope trimming and leveling operations: The operator maneuvers the backhoe dredger to perform slope trimming and leveling operations. During construction, the system utilizes a spatial aggregation automatic recognition algorithm to acquire precise three-dimensional position information of the bucket teeth tips in real time, and updates the slope correction status in real time through a construction simulation algorithm. The operator adjusts the backhoe dredger's actions promptly based on the real-time data displayed on a tablet computer to ensure slope trimming and leveling accuracy. In the K8+700-K8+800 section, this technology controls the height difference between the highest and lowest points of the slope to within 15cm, meeting the flatness requirements for geotextile concrete slope trimming and leveling.

[0050] Data Recording and Quality Inspection: The construction auxiliary software automatically records slope quality control parameters and data, such as slope gradient and smoothness, and stores and exports them for use by engineering personnel. During construction, the slope quality inspection batch information system enables excavators to automatically inspect the construction quality of the slope. After each section of slope cutting and leveling is completed, the slope is randomly inspected. The inspection results show that this technology significantly increases the one-time slope completion rate of underwater slopes, improving it by approximately 30% compared to traditional methods.

[0051] III. Excavation of Thin Rock Layers at the Bottom of the Channel

[0052] Excavation Scheme Development: Based on the channel excavation scenario model and considering geological conditions and design requirements, an excavation scheme was developed for the thin-layered rock at the bottom of the channel in the K8+500-K11+000 section. For different areas of thin-layered rock, a reasonable excavation sequence, depth, and method were determined. In the K9+000-K9+200 section, due to the high hardness of the thin-layered rock, a layered and segmented excavation method was adopted, with the excavation depth of each layer controlled within 30cm.

[0053] Precision Excavation Operation: The backhoe excavator travels to the designated excavation area, and the operator activates the positioning device and the visual human-machine interface system. During operation, the operator views the spatial position information of the bucket teeth tips in real time through the visual human-machine interface, and controls the backhoe excavator to carry out excavation operations in conjunction with the channel geological model and design excavation requirements. When the bucket teeth contact the underwater rock and soil, the positioning device monitors the positional changes of the bucket teeth tips in real time and transmits the data to the visual human-machine interface system. The system calculates the difference between the current excavation position and the design excavation surface based on the construction simulation algorithm, generates slope correction parameters, and displays them on the interface. The operator adjusts the backhoe excavator's operating actions in a timely manner based on these parameters to ensure excavation accuracy. During the excavation process, the backhoe excavator operator performs precise excavation based on the channel geology, excavation depth, depth to be excavated, and over-excavation / under-excavation status fed back by the tablet computer of the vehicle-mounted excavator construction assistance guidance system. The system monitors the position of the bucket teeth tips in real time to ensure excavation accuracy and effectively control over-excavation. During the construction of this section, the over-excavation rate (over-excavation of more than 30cm) of the channel bottom was reduced from 80% using traditional methods to 3%, thus reducing construction costs.

[0054] Data Recording and Analysis: During construction, the construction assistance software automatically records construction data such as the spatial position of the bucket teeth tips, excavation time, and excavation volume collected by the positioning device. At the end of each day's construction, engineers use the software to analyze the day's data and generate a daily construction report. Throughout the entire construction process, construction data is regularly summarized and analyzed to create construction progress charts, quality control charts, etc. Based on the analysis results, construction plans and processes are adjusted promptly to ensure construction quality and schedule.

[0055] Resource Utilization and Monitoring: This technology visualizes the distribution of earthwork resources such as sand, gravel, and silt in the waterway, enabling precise layered and categorized excavation of the K10+000-K10+500 section, thus achieving resource utilization of earthwork resources. During the excavation process, construction data, such as excavation volume and changes in resource distribution, are continuously monitored, and the excavation plan is adjusted promptly based on the actual situation to ensure smooth construction.

[0056] IV. Dynamic Adjustment and Optimization During Construction

[0057] Real-time data acquisition and analysis: Throughout the construction process of the K8+500-K11+000 section, various sensors installed at the construction site collected data in real time on excavation progress, slope displacement, soil stress, and other data. This data was then transmitted to the model management system for dynamic updates to the channel excavation scenario model.

[0058] Scheme Adjustment and Decision-Making: Based on the updated model, the construction team promptly adjusted the excavation plan and construction parameters. At K9+500, it was found that the slope displacement was approaching the warning value, so excavation was immediately stopped. Based on the model analysis results, adjustments were made to the plan, such as adding support measures, to ensure construction safety and quality.

[0059] Through the above specific implementation steps, the key technology of precision excavation of inland waterways was applied to the K8+500-K11+000 section of the Pinglu Canal. This effectively solved the problems of high precision requirements for underwater geotextile concrete slope cutting and leveling, difficulty in cost control of thin rock excavation at the bottom of the waterway, and utilization of earthwork resources. It improved construction efficiency and quality, and achieved 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 it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A spatial positioning device for the tips of bucket teeth on a backhoe shovel, characterized in that, include: The system comprises a positioning module, an angle sensor, a data processing module, a waterproof pressure sensor, and a display terminal. The positioning module is used to acquire the real-time position information of the backhoe vessel. The angle sensor is used to measure the rotation angle of each component. The data processing module is connected to the positioning module and the angle sensor to receive and process the data transmitted from both, and to calculate the precise spatial position of the bucket teeth tip. The display terminal is connected to the data processing module to display the spatial position of the bucket teeth tip, excavation depth, and over- or under-excavation status information in real time. Before construction, install positioning modules, angle sensors, data processing modules and waterproof pressure sensors and ensure their normal operation; construct a waterway geological model and a three-dimensional model of the underwater excavation surface; establish a visual human-machine interface and connect the positioning device. During excavation operations, the operator obtains the real-time position of the bucket teeth and related construction data through a visual human-machine interface, controls the backhoe vessel to excavate, the positioning device provides real-time feedback of position data, and the system generates correction parameters to assist the operator in adjusting the operation. Data recording and analysis: Construction auxiliary software automatically records, stores, and analyzes construction data, generates construction reports, and engineers make construction decisions and optimize processes based on the reports. The real-time position of the bucket tooth tip is based on the multi-link structure of the backhoe manipulator arm, and the kinematic equation of the bucket tooth tip is established as follows: ； in, , This represents the lengths of different links in the robotic arm. , It refers to the rotation angle of the robotic arm's joints. Data from a waterproof pressure sensor; The effective length of the robotic arm is used to control the vertical movement of the bucket teeth. It is the joint angle that controls the vertical movement of the bucket teeth, and A is the equivalent area of ​​the bucket teeth subjected to water pressure. This refers to the stiffness coefficient of the mechanical system. This equation is derived by considering the connections between the links. It is obtained by adding the projected lengths in the direction, taking two connecting rods as an example. Indicates the first link in Projected length in the direction, Indicates the second link in The projected length in the direction is calculated similarly for subsequent items if the robotic arm has more links, and these are accumulated sequentially. ,and Similar in direction It is the first link in Projected length in the direction, It is the second link in The projected length in the direction is calculated using trigonometric functions. The projected lengths of each link in the direction are then added together to obtain the tip length of the bucket tooth. Position coordinates in the direction.

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

3. The backhoe bucket tooth tip spatial positioning device according to claim 1, characterized in that, Multiple angle sensors are deployed on the slewing platform, boom, stick, and bucket joints of the backhoe.

4. The backhoe bucket tooth tip spatial positioning device according to claim 1, characterized in that, The waterproof pressure sensor is integrated into the root of the bucket teeth to monitor underwater operating pressure and correct for water flow impact errors.

5. The backhoe bucket tooth tip spatial positioning device according to claim 1, characterized in that, During the pre-construction preparation phase, a model is built using geological exploration data and measurement data. During the excavation phase, the positioning device interacts with the visual human-machine interface in real time to exchange data.

6. The backhoe bucket tooth tip spatial positioning device according to claim 1, characterized in that, Kalman filtering is used to fuse angle sensor data, eliminating errors caused by mechanical vibration and signal drift.

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