Method and system for determining real-time motion state of construction machinery
The real-time motion state of the construction machinery is determined through RTK positioning equipment and external processing equipment, which solves the problems of insufficient accuracy and safety hazards in the prior art, and realizes cost-effective motion state detection.
Patent Information
- Application Number
- CN202410134358.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-30
- Publication Date
- 2025-08-01
AI Technical Summary
In the prior art, when determining the real-time motion state of construction machinery, there is insufficient accuracy and modification of wiring harnesses may lead to safety hazards and increase operational costs.
RTK positioning equipment is used to detect real-time position information of construction machinery, and process this information through external processing equipment to determine the motion state, avoiding modification of mechanical and electrical systems.
Accurate motion status determination is achieved, reducing safety risks and operational costs, while adapting to more models of equipment.
Smart Images
Figure CN120404195A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a method and a system for determining the real-time motion state of construction machinery, especially unmanned mining machinery. Background Art
[0002] Construction machinery, especially unmanned mining operation machinery, is widely used in the engineering field. Such construction machinery includes bulldozers, excavators, etc. During operation, it is often necessary to determine the real-time motion state of the construction machinery, that is, to determine whether the construction machinery is currently moving or stopped and to determine the direction of movement. To determine the real-time motion state of the construction machinery, external devices are usually used to obtain the motion state of the construction machinery, and in this case, the wiring harness needs to be modified. Generally, the gear position information of the instrument panel is connected to the external device through the modified wiring harness, and based on this, the movement direction of the construction machinery is judged. Possibly, the reverse horn signal is also connected to the external device as a supplement or replacement for the gear position signal.
[0003] However, when the construction machinery is in the scenarios of skidding and sliding, neither the gear position signal of the instrument nor the reverse horn signal can accurately represent the real motion state of the construction machinery. In addition, modifying the wiring harness of the mining operation machinery will cause potential safety hazards because the modification may damage the original electrical structure. At the same time, due to the long-term harsh working conditions of the mining operation machinery, it frequently bears vibrations, impacts, and attitude changes, so it is necessary to regularly inspect the safety performance of the modified equipment during long-term operation. This also increases the operating cost. Summary of the Invention
[0004] The technical problem to be solved by the present invention is: to provide a method and a system for determining the real-time motion state of construction machinery, which on the one hand realizes accurate determination of the motion state, on the other hand improves the safety of modifying the construction machinery, and at the same time does not increase the operating cost.
[0005] According to a first aspect of the present invention, a method for determining the real-time motion state of construction machinery is provided, the method comprising:
[0006] Detecting at least two groups of real-time position information of the construction machinery by a positioning device, the at least two groups of real-time position information corresponding to different detection time points respectively;
[0007] Receiving the at least two groups of real-time position information from the positioning device by an external processing device;
[0008] Determining the real-time motion state of the construction machinery by the external processing device based on the received real-time position information.
[0009] The method according to the present invention achieves the following advantages: Since a positioning device that can be simply installed is adopted, not only is an accurate determination of the motion state achieved, but also there is no need to modify the original electrical system of the construction machinery. Thus, the safety risk is reduced, and the operating cost does not need to be increased due to regular inspections of the modification. While reducing the complexity of the modification, it can also be adapted to more different models of machines and equipment.
[0010] Another aspect of the present invention relates to a system for determining the real-time motion state of construction machinery, which includes a positioning device that can be installed on the construction machinery without electrical modification of the construction machinery and an external processing device arranged outside the construction machinery. The system is configured to execute the method according to the present invention. Brief Description of the Drawings
[0011] Figure 1 is a schematic block diagram of a system for determining the real-time motion state of construction machinery according to the present invention.
[0012] Figure 2 is a flowchart of an exemplary embodiment of a method for determining the real-time motion state of construction machinery.
[0013] Figure 3 is a schematic diagram for understanding the method of the present invention.
[0014] List of Reference Numerals
[0015] 1 Construction machinery
[0016] 2 System for determining the real-time motion state of construction machinery
[0017] 21 Positioning device
[0018] 22 External processing device
[0019] 23 Indicator device
[0020] 11 Position of the construction machinery at the first time point
[0021] 12 Position of the construction machinery at the second time point Detailed Description of the Embodiment
[0022] The method and system for determining the real-time motion state of construction machinery according to the present invention will be described below with reference to the drawings and through specific embodiments. However, the exemplary embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; on the contrary, these embodiments are provided so that the present invention is thorough and complete, and the concept of the exemplary embodiments is fully conveyed to those skilled in the art.
[0023] Figure 1The schematic block diagram of the system for determining the real-time motion state of the construction machinery 1 according to the present invention is shown. Here, the construction machinery 1 can be an unmanned mining operation device, such as a wheel loader or a bulldozer, etc. As shown in the figure, the system 2 for determining the real-time motion state of the construction machinery 1 includes a positioning device 21 installed on the construction machinery 1. According to this embodiment, the positioning device 21 installed on the construction machinery 1 is a real-time kinematic measurement device, that is, an RTK (Real-time kinematic) device. In GPS measurement, the RTK technology is a real-time differential GPS technology (RTDGPS) based on carrier phase observation. Such a positioning device 21, especially an RTK device, can be simply installed on the construction machinery without modifying the electrical system of the construction machinery. For example, the RTK device can be simply installed on the main body of the construction machinery with screws.
[0024] The real-time kinematic measurement device detects the real-time position information of the construction machinery 1, that is, the longitude value, the latitude value, and the azimuth angle. In addition, the real-time kinematic measurement device communicates with an external processing device 22 and transmits the real-time position information of the construction machinery 1 to the external processing device 22. Here, the external processing device 22 is arranged outside the construction machinery and communicates with the real-time kinematic measurement device in a wireless manner. The external processing device 22 can be a computing platform or a processing module of a management system, etc. For example, communication is carried out through a local area network, a 5G link, etc. The external processing device 22 stores the received real-time position information and processes it to determine the real-time motion state of the construction machinery 1. Optionally, the external processing device 22 is connected to an indicating device 23, and the indicating device 23 indicates the real-time motion state. The real-time motion state includes a stationary state, a moving state, and the direction of motion.
[0025] Figure 2 The flowchart of an exemplary embodiment of the method for determining the real-time motion state of the construction machinery is shown. As shown in the figure, first, in the first step S01, the positioning device 21 detects the real-time position information of the construction machinery 1, and the real-time position information at least includes the real-time longitude value x, the real-time latitude value y, and the real-time azimuth angle θ of the construction machinery 1. For example, the positioning device 21 repeatedly detects the real-time position information of the construction machinery 1 at a certain detection period T1. That is to say, the real-time position information is detected at different detection time points. Optionally, the real-time position information can also include the time point when the detection is carried out.
[0026] The real-time azimuth angle θ should be understood as the included angle between the longitudinal axis of the construction machinery 1 at the detection instant and a specific direction, such as the due north direction (see Figure 3 ), where the longitudinal axis of the construction machinery points to the front direction of the construction machinery.
[0027] In the second step S02, the external processing device 22 receives the real-time position information of the construction machinery 1 from the positioning device 21. Optionally, the external processing device 22 stores the received real-time position information in its storage unit (not shown) and retrieves the required real-time position information from the storage unit in further processing work. For example, the positioning device 21 repeatedly transmits the real-time position information of the construction machinery 1 to the external processing device 22 at a certain transmission period T2. The transmission period T2 can be the same as the detection period T1, that is, whenever a set of real-time position information is detected, it is transmitted to the external processing device 22. Alternatively, the transmission period T2 can also be greater than the detection period T1. For example, it can be an integer multiple of the detection period T1. In this case, multiple sets of real-time position information detected in multiple detection periods are transmitted to the external processing device 22 at the same moment.
[0028] Then, in the third step S03, it is determined whether the received data is sufficient to determine the real-time motion state of the construction machinery. Here, for example, in the case where the following conditions are met, it is determined that the received data is sufficient to determine the real-time motion state of the construction machinery:
[0029] 1. The external processing device 22 has received at least two sets of real-time position information from the positioning device 21 and has stored these real-time position information in the storage unit if necessary; and / or
[0030] 2. A predetermined time value has elapsed since the start of the method. The predetermined time value can be specified, for example, as at least two transmission periods T2. In this case, since at least two transmission periods T2 have elapsed, the external processing device 22 has received at least two sets of real-time position information from the positioning device 21 and stored them in the storage unit. Of course, the predetermined time value can also be specified as a longer time. For example, this longer time allows the position or attitude of the construction machinery to change significantly, so that the motion state of the construction machinery can be determined from this change. The predetermined time value can be specified, for example, as a value from 0.5 seconds to 1.5 seconds; and / or
[0031] 3. The external processing device 22 has received at least two sets of real-time position information from the positioning device 21, and the detection time points of these two sets of real-time position information are separated by a specific time interval. The specific time interval can be specified, for example, as a value from 0.5 seconds to 1.5 seconds. These real-time position information has been stored in the storage unit of the external processing device 22 if necessary.
[0032] If it is determined in the third step S03 that the received data is sufficient to determine the real-time motion state of the construction machinery, proceed to the fourth step S04. If it is determined in the third step S03 that the received data is not sufficient to determine the real-time motion state of the construction machinery, return to the first step S01 and continue to acquire data.
[0033] In the fourth step S04, the external processing device 22 determines the real-time motion state of the construction machinery based on the real-time position information received from the positioning device 21. Here, as described above, there are at least two sets of real-time position information in the storage unit of the external processing device 22. The first set of real-time position information detected at the first time point t1 and the second set of real-time position information detected at the second time point t2 are selected from them. For example, the real-time position information with the detection time point closest to the current time can be selected as the second set of real-time position information. In addition, the detection time of the selected first set of real-time position information is determined to be separated from the detection time of the second set of real-time position information by a specific time interval, and this specific time interval allows the calculation of the position change of the construction machinery using these two sets of real-time position information. The specific time interval can be specified as a value from 0.5 seconds to 1.5 seconds, for example.
[0034] Of course, it is also possible to consider the case where the real-time position information does not include the detection time. In this case, the two latest received sets of real-time position information can be directly selected for calculation. Or the latest received set of real-time position information and the third-to-last set of real-time position information can be selected for calculation. Of course, other data selection methods can also be considered, which are not listed one by one here.
[0035] For example, the first set of real-time position information includes the first longitude value x1, the first latitude value y1, and the first azimuth angle θ1. The second set of real-time position information that is later in time includes the second longitude value x2, the second latitude value y2, and the second azimuth angle θ2.
[0036] First, it is determined whether the vehicle is in a stationary state or in motion. Herein, the longitude change amount Δx and the latitude change amount Δy are calculated.
[0037] Δx = x2 - x1
[0038] Δy = y2 - y1
[0039] If the longitude change amount Δx is less than the change amount threshold, and the latitude change amount Δy is less than the change amount threshold, it is determined that the construction machinery is in a stationary state; otherwise, it is determined that the construction machinery is in a motion state. Here, the change amount threshold is a relatively small amount considering the measurement error, and a position change amount less than this change amount threshold is generally considered to be caused by measurement error or equipment tolerance and can be ignored.
[0040] If it is determined that the construction machinery is in a motion state, then the motion course angle δ of the construction machinery is calculated based on the longitude change amount Δ x and the latitude change amount Δy using the following formula.
[0041]
[0042] The course angle δ of the construction machinery movement should be understood as the moving direction determined by the position change of the construction machinery within the specific time interval.
[0043] Then, compare the course angle δ with the second real-time azimuth angle θ2 at a later time. If the azimuth angle θ2 satisfies
[0044] δ - 90° ≤ θ2 ≤ δ + 90°
[0045] it is determined that the construction machinery is moving forward; otherwise, it is determined that the construction machinery is moving backward.
[0046] Of course, the average azimuth angle can also be used here to replace the second real-time azimuth angle θ2. That is, it is determined that the construction machinery is moving forward when the following formula is satisfied; otherwise, it is determined that the construction machinery is moving backward.
[0047]
[0048] Finally, optionally, in step S05, output the real-time movement state of the construction machinery determined in step S04. Here, the real-time movement state result of the construction machinery can be output to the indicating device 23. This indicating device 23 can be, for example, a display or a simple indicator light. The real-time movement state result can also be output to other devices for work management or other processing.
[0049] This method can be continuously executed cyclically at a certain period, or it can also be started and executed when needed.
[0050] Industrial applicability
[0051] The working modes of the method and system for determining the real-time movement state of construction machinery are introduced below.
[0052] In Figure 3 a schematic diagram of the position change of the construction machinery is shown. The figure shows the construction machinery position 11 at the first time point t1 and the construction machinery position 12 at the second time point t2. As shown in the figure, the positioning device 21 installed on the construction machinery 1 detects the first set of real-time position information (the first longitude value x1, the first latitude value y1, the first real-time azimuth angle θ1) at the first time point t1, and detects the second set of real-time position information (the second longitude value x2, the second latitude value y2, the second real-time azimuth angle θ2) at the second time point t2. The positioning device 21 transmits the first set of real-time position information and the second set of real-time position information to the external processing device 22.
[0053] The external processing device 22 calculates the longitude change amount Δx and the latitude change amount Δy. When both the longitude change amount Δx and the latitude change amount Δy are less than the change amount threshold, it is determined that the motion state of the construction machinery is stationary.
[0054] Otherwise, it is determined that the motion state of the construction machinery is in motion, and the heading angle δ of the construction machinery's motion is calculated. When the included angle between the second azimuth angle θ2 and δ is less than 90 degrees, it is determined that the construction machinery is moving forward. Otherwise, it is determined that the construction machinery is moving backward.
[0055] Therefore, the method and system according to the present invention can simply determine the motion state of the construction machinery. This method makes full use of the positioning ability of the cooperative equipment, accurately describes the spatial change of the construction machinery through longitude and latitude, and avoids the mismatch between the actual driving direction and the gear due to slipping and landsliding. In addition, since an externally installed independent device that can be simply installed is adopted, there is no need to perform wire control modification on the construction machinery itself. Thus, the safety risk and the cost of inspecting the safety performance of the modified equipment are reduced, and at the same time, it can be adapted to more different models of machines and equipment.
[0056] Obviously, for those skilled in the art, various modifications and variations can be made to the embodiments disclosed above without departing from the scope or spirit of the present invention. Based on the practice of the present invention disclosed in this specification, other embodiments of the present invention will be obvious to those skilled in the art. This specification and the examples disclosed therein should be considered illustrative only.
Claims
1. A method for determining the real-time motion state of construction machinery, the method comprising: Detecting at least two sets of real-time position information of the construction machinery by a positioning device (21), the at least two sets of real-time position information corresponding to different detection time points respectively; Receiving the at least two sets of real-time position information from the positioning device (21) by an external processing device (22); Determining the real-time motion state of the construction machinery by the external processing device (22) based on the received real-time position information.
2. The method according to claim 1, wherein The positioning device (21) is a real-time kinematic surveying device installed on the construction machinery.
3. The method according to claim 1, characterized in that, The real-time position information includes: longitude value, latitude value, and azimuth angle.
4. The method according to claim 3, wherein The real-time position information includes: the time point of detection.
5. The method according to claim 4, wherein Determination of the real-time motion state is performed only when the detection time points of at least two sets of real-time position information in the real-time position information are separated by a specific time interval from each other.
6. The method according to claim 3, wherein The determination of the real-time motion state includes: Selecting a first set of real-time position information and a second set of real-time position information from the at least two sets of real-time position information, wherein the detection time point of the second set of real-time position information is later than the detection time point of the first set of real-time position information; The first set of real-time position information includes a first longitude value x1, a first latitude value y1, and a first azimuth angle θ1; The second set of real-time position information includes a second longitude value x2, a second latitude value y2, and a second azimuth angle θ2; Calculating a longitude change amount Δx and a latitude change amount Δy; Δx = x2 - x1 Δy = y2 - y1 If the longitude change amount Δx is less than the change amount threshold and the latitude change amount Δy is less than the change amount threshold, it is determined that the construction machinery is in a stationary state, otherwise it is determined that the construction machinery is in a moving state.
7. The method according to claim 6, characterized in that, The determination of the real-time motion state further includes: In the case where it is determined that the construction machinery is in a moving state, Calculating a motion course angle δ of the construction machinery based on the longitude change amount Δx and the latitude change amount Δy; Determining the motion direction of the construction machinery based on the motion course angle δ.
8. The method according to claim 7, wherein The motion course angle δ is calculated according to the following formula:
9. The method according to claim 7, wherein In the case where the following formula is satisfied, it is determined that the construction machinery is moving forward, δ - 90° ≤ θ2 ≤ δ + 90° Otherwise, it is determined that the construction machinery is moving backward.
10. The method according to claim 7, wherein In the case where the following formula is satisfied, it is determined that the construction machinery is moving forward, Otherwise, it is determined that the construction machinery is moving backward.
11. The method according to claim 1, wherein The external processing device (22) stores the received real-time position information in the storage unit of the external processing device (22), and retrieves the received real-time position information from the storage unit when determining the real-time motion state of the construction machinery.
12. The method according to claim 1, wherein The method further includes: outputting the determined real-time motion state of the construction machinery.
13. A system for determining the real-time motion state of construction machinery, comprising: A positioning device (21) installed on the construction machinery; An external processing device (22) provided outside the construction machinery; Characterized in that The system is configured to execute the method according to any one of claims 1-12.