Excavator loading confirmation device and method based on satellite precision positioning technology

Abstract

The invention belongs to the technical field of equipment monitoring, and particularly discloses an excavator loading confirmation device and method based on the satellite precision positioning technology, and the device comprises a truck-mounted terminal, an excavator-mounted terminal and a remote server; the method comprises the steps of collecting the motion state of a truck to judge whether the truck is in a loading state or not, collecting the position of a truck-mounted terminal to calculate coordinates of four corners of a truck compartment, collecting the position of an excavator-mounted terminal to determine the position of an excavator bucket, and searching the excavator-mounted terminal in a rectangular range defined by the four corners of the truck compartment. And confirming the excavator loaded on the truck, and recording the loading quantity of the excavator and the transportation times of the truck. According to the invention, the excavator for loading the truck can be automatically determined, the loading quantity of the excavator and the transportation times of the truck are recorded, the management of the loading of the excavator is facilitated, and the accuracy of the loading confirmation of the excavator is improved. The method is suitable for truck loading confirmation of the excavator.

Description

Technical Field

[0001] The present invention belongs to the technical field of equipment monitoring, and in particular relates to an excavator loading confirmation device and method based on satellite precision positioning technology. Background Art

[0002] Excavators digging soil and loading trucks is a common scenario. Manual recording is often used to track the excavator's loading volume and the truck's transport volume, but manual recording is time-consuming and inefficient. Currently, there is a demand for monitoring systems installed on excavators and trucks. By installing short-range wireless communication devices on both the excavator and the truck, the system can determine the loading relationship between the excavator and the truck. If the wireless communication device on the excavator establishes communication with the wireless communication device on a truck, it indicates that the two are in close proximity and the excavator is loading this truck. The monitoring system then automatically determines the truck the excavator is loading and records the excavator's loading volume and the number of truck trips.

[0003] However, at dense loading sites where excavators are closely spaced, communication will occur as long as the wireless communication devices on the truck and the excavator are sufficiently close to each other, regardless of whether the excavator is loading itself. Therefore, using short-range communication as a confirmation indicator of whether an excavator is loading a truck is often prone to errors and lacks high accuracy. Summary of the Invention

[0004] The purpose of the present invention is to provide an excavator loading confirmation device and method based on satellite precision positioning technology to automatically determine the excavator loaded on the truck, record the number of excavators loaded and the number of truck transportation trips, and avoid errors in confirming the excavator loading by short-range communication, thereby improving the accuracy of excavator loading confirmation.

[0005] In order to achieve the above-mentioned purpose, the technical methods adopted by the present invention are as follows:

[0006] An excavator loading confirmation device based on satellite precision positioning technology includes a truck-mounted terminal installed on a truck, an excavator-mounted terminal installed on the excavator bucket or on a handle close to the bucket, and a remote server;

[0007] The truck's onboard terminal stores the truck's ID number and is used to monitor the truck's movement status, collect its own location information, and send the truck's ID number, its own location information, and the truck's movement status information to a remote server. Each truck has a unique truck ID number.

[0008] The excavator's onboard terminal stores the excavator's number and is used to collect its own location information and send the excavator number and its own location information to the remote server; each excavator has a unique excavator number;

[0009] The remote server determines whether the truck is in the loading state based on the truck's movement status information; if the truck is in the loading state, the remote server calculates the two-dimensional coordinates of the four corners of the truck compartment based on the position information transmitted by the truck's on-board terminal and the known length and width of the truck compartment, searches for the excavator's on-board terminal within the rectangular range surrounded by the two-dimensional coordinates of the four corners of the truck compartment, obtains the corresponding excavator number, and records the loading quantity of this excavator and the number of transportation trips of this truck.

[0010] As a limitation, truck-mounted terminals include:

[0011] a first satellite positioning module, configured to collect its own location information and transmit it to the first microcontroller;

[0012] A truck state monitoring module, configured to monitor the movement state of the truck and transmit the truck movement state information to the first microcontroller;

[0013] a first microcontroller storing a truck number, configured to receive location information transmitted by the first satellite positioning module and truck motion status information transmitted by the truck status monitoring module, and transmit the truck number, location information transmitted by the first satellite positioning module, and truck motion status information to the first communication module;

[0014] The first communication module is used to receive the truck number, the location information transmitted by the first satellite positioning module and the truck movement status information, and send them to the remote server.

[0015] As a further limitation, the first satellite positioning module includes a main antenna, an auxiliary antenna and a first RTK positioning unit. The main antenna and the auxiliary antenna are arranged on the top of the truck cab at intervals along the width of the truck compartment. The main antenna and the auxiliary antenna are used to receive the satellite's radio frequency signal and transmit it to the first RTK positioning unit; the first RTK positioning unit uses the RTK differential positioning algorithm to parse the two-dimensional coordinates of the main antenna and the azimuth of the line connecting the main antenna and the auxiliary antenna, and transmit them to the first microcontroller.

[0016] As a further limitation, the truck state monitoring module includes a motion sensor for collecting the driving state of the truck and a vibration sensor for collecting the vibration signal of the truck.

[0017] As another limitation, the excavator vehicle terminal includes:

[0018] a second satellite positioning module, configured to collect its own location information and transmit it to the second microcontroller;

[0019] a second microcontroller storing an excavator number, configured to receive location information transmitted by a second satellite positioning module, and transmit the excavator number and the location information of the second satellite positioning module to a second communication module;

[0020] The second communication module is used to receive the excavator number and the location information transmitted by the second satellite positioning module and send them to the remote server.

[0021] As a further limitation, the second satellite positioning module includes a first antenna and a second RTK positioning unit, the first antenna is used to receive the satellite's radio frequency signal and transmit it to the second RTK positioning unit; the second RTK positioning unit uses the RTK differential positioning algorithm to parse the two-dimensional coordinates of the first antenna and transmit it to the second microcontroller.

[0022] The present invention also provides a confirmation method for the excavator loading confirmation device based on the satellite precision positioning technology, comprising the following steps:

[0023] S1. The truck-mounted terminal monitors the truck's motion status, collects its own location information, and sends the truck number, truck motion status information, and its own location information to the remote server; the excavator-mounted terminal collects its own location information and sends the excavator number and its own location information to the remote server;

[0024] S2. The remote server receives the truck number, the corresponding truck movement status information, and the location information transmitted by the truck's onboard terminal, as well as the excavator number and the location information transmitted by the corresponding excavator's onboard terminal, and determines whether the truck is in a loading state based on the truck movement status information;

[0025] S3. If the truck is in the loading state, the two-dimensional coordinates of the four corners of the truck compartment are calculated based on the position information transmitted by the truck's on-board terminal and the known length and width of the truck compartment. The excavator's on-board terminal is searched within the rectangular range surrounded by the two-dimensional coordinates of the four corners of the truck compartment, the corresponding excavator number is obtained, and the loading quantity of this excavator and the number of transport trips of this truck are recorded. If the truck is not in the loading state, continue to determine whether the truck is in the loading state based on the received information.

[0026] As a limitation, step S1 is specifically as follows:

[0027] The first satellite positioning module in the truck's onboard terminal collects its own location information, and the truck status monitoring module monitors the truck's movement status. The first satellite positioning module and the truck status monitoring module transmit the acquired information to the first microcontroller. The first microcontroller stores the truck's number, and the first microcontroller transmits the truck number, the location information transmitted by the first satellite positioning module, and the truck's movement status information to a remote server via the first communication module.

[0028] The second satellite positioning module in the excavator vehicle terminal collects its own location information and transmits it to the second microcontroller; the second microcontroller stores the excavator number, and the second microcontroller sends the excavator number and the location information transmitted by the second satellite positioning module to the remote server through the second communication module.

[0029] As a further limitation, the truck status monitoring module includes a motion sensor and a vibration sensor. The motion sensor collects the driving status of the truck, and the vibration sensor collects the vibration signal of the truck. When the truck is in a parked state and the vibration signal of the truck is collected, it is judged that the truck is in a loading state; otherwise, the truck is not in a loading state.

[0030] As a further limitation, the two-dimensional coordinates of the four corners of the truck compartment are calculated as follows:

[0031] The main antenna and auxiliary antenna in the first satellite positioning module receive radio frequency signals from the satellite. The first RTK positioning unit parses the two-dimensional coordinates of the main antenna and the azimuth of the line connecting the main antenna and the auxiliary antenna. The two-dimensional coordinates of the main antenna and the auxiliary antenna are projected and calculated with the two-dimensional coordinates of the four corners of the truck compartment based on the same horizontal plane. The distance between the main antenna and one side of the truck compartment in the width direction near the truck cab is L1, the distance between the main antenna and one side of the truck compartment in the length direction is W1, the distance between the main antenna and the auxiliary antenna is W2, and the distance between the auxiliary antenna and the other side of the truck compartment in the length direction is W3. The length of the truck compartment is L, and the width of the truck compartment is W. W = W1 + W2 + W3. L, W, L1, W1, W2, and W3 are all pre-measured and stored in the remote server.

[0032] When the two-dimensional coordinates of the main antenna are M(x1, y1) and the two-dimensional coordinates of the auxiliary antenna are N(x2, y2), the intersection of the straight line connecting the main antenna and the auxiliary antenna and the straight line along the length of the truck compartment is E(x E ,y E ), which is calculated as follows:

[0033]

[0034] Where α is the azimuth angle of the line connecting the main antenna and the auxiliary antenna,

[0035] The intersection of the line connecting the main antenna and the auxiliary antenna and the line on the other side of the truck compartment in the length direction is F(x F ,y F ), the calculation formula is:

[0036]

[0037] The first corner of the truck compartment A(x A ,yA ) is calculated as:

[0038]

[0039] The fourth corner of the truck compartment D(x D ,y D ) is calculated as:

[0040]

[0041] The second corner of the truck bed B(x B ,y B ) is calculated as:

[0042]

[0043] The third corner of the truck compartment C(x C ,y C ) is calculated as:

[0044]

[0045] Due to the adoption of the above solution, the present invention has the following beneficial effects compared with the prior art:

[0046] (1) The present invention provides an excavator loading confirmation device and method based on satellite precision positioning technology. The device monitors the movement status of the truck through the truck-mounted terminal and collects its own location information. The excavator-mounted terminal collects its own location information and then determines the truck status through a remote server. The two-dimensional coordinates of the four corners of the truck compartment are calculated, and the excavator bucket is searched within its range. The number of excavators loaded and the number of truck transport trips are recorded. The device can automatically determine the excavator loaded on the truck, record the number of excavators loaded and the number of truck transport trips, facilitate the management of excavator loading, avoid the problem of errors in confirming the excavator loading through close communication between the excavator and the truck, and improve the accuracy of excavator loading confirmation.

[0047] (2) The present invention provides an excavator loading confirmation device and method based on satellite precision positioning technology. The first satellite positioning module includes a main antenna, an auxiliary antenna and a first RTK positioning unit. The second satellite positioning module includes a first antenna and a second RTK positioning unit. Differential positioning technology is used for precise positioning. The positioning accuracy is at the centimeter or decimeter level, which improves the positioning accuracy and the accuracy of the excavator loading confirmation. By locating the positions of the main antenna and the auxiliary antenna installed on the top of the cab and the azimuth angle of the line connecting the main antenna and the auxiliary antenna, the coordinate range of the truck compartment is calculated, and the angle of the truck compartment can be determined, thereby improving the accuracy of the calculation of the coordinate range of the truck compartment. By searching for the excavator on-board terminal within the coordinate range of the truck compartment, the excavator loading the truck is confirmed, thereby improving the accuracy of the excavator loading confirmation and avoiding errors caused by the close communication between the excavator and the truck to confirm the excavator loading.

[0048] (3) The present invention provides an excavator loading confirmation device and method based on satellite precision positioning technology. The truck status monitoring module includes a motion sensor and a vibration sensor. Only when the motion sensor detects that the truck has stopped moving and the vibration sensor detects the vibration signal of the truck, can it be determined that the truck is in the loading state, thereby avoiding misjudgment of vibration caused by the movement of the truck.

[0049] The present invention is applicable to the loading confirmation of an excavator onto a truck. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0051] Figure 1 This is a schematic diagram of an excavator loading confirmation device based on satellite precision positioning technology according to Example 1 of the present invention;

[0052] Figure 2 This is a structural block diagram of an excavator loading confirmation device based on satellite precise positioning technology according to embodiment 1 of the present invention;

[0053] Figure 3 This is a schematic diagram of calculating the two-dimensional coordinates of the four corners of a truck compartment in accordance with Example 1 of the present invention;

[0054] Figure 4 This is a flow chart of a method for confirming excavator loading based on satellite precise positioning technology according to embodiment 2 of the present invention;

[0055] In the figure: 1. Truck compartment; 2. Main antenna; 3. Auxiliary antenna; 4. Excavator bucket; 5. Excavator onboard terminal; 6. Bucket handle; 7. Excavator. DETAILED DESCRIPTION

[0056] The present invention will be further described below with reference to the following embodiments. However, those skilled in the art should understand that the present invention is not limited to the following embodiments, and any improvements and equivalent changes made based on the specific embodiments of the present invention are within the scope of protection of the claims of the present invention.

[0057] Example 1: An excavator loading confirmation device based on satellite precision positioning technology

[0058] An excavator loading confirmation device based on satellite precision positioning technology, such as Figure 1 and Figure 2 As shown, it includes a truck vehicle-mounted terminal installed on the top of the truck cab, an excavator vehicle-mounted terminal 5 installed on the excavator bucket 4 or on the bucket handle 6 close to the excavator bucket 4, and a remote server.

[0059] The truck onboard terminal includes a first satellite positioning module, a truck status monitoring module, a first microcontroller and a first communication module. The output ends of the first satellite positioning module and the truck status monitoring module are connected to the input end of the first microcontroller. The first microcontroller is connected to the remote server through the first communication module.

[0060] A first satellite positioning module includes a main antenna 2, an auxiliary antenna 3, and a first RTK positioning unit. The main antenna 2 and the auxiliary antenna 3 are spaced apart on the roof of the truck cab along the width of the truck compartment 1. The main antenna 2 and the auxiliary antenna 3 are used to receive satellite radio frequency signals and transmit them to the first RTK positioning unit. The first RTK positioning unit uses an RTK differential positioning algorithm to resolve the two-dimensional coordinates of the main antenna 2 and the azimuth of the line connecting the main antenna and the auxiliary antenna, and transmits them to the first microcontroller.

[0061] A truck state monitoring module, configured to monitor the movement state of the truck and transmit the truck movement state information to the first microcontroller;

[0062] a first microcontroller storing a truck number, configured to receive location information transmitted by the first satellite positioning module and truck motion status information transmitted by the truck status monitoring module, and transmit the truck number, the location information transmitted by the first satellite positioning module, and the truck motion status information to the first communication module; each truck having a unique truck number;

[0063] The first communication module is used to receive the truck number, the location information transmitted by the first satellite positioning module and the truck movement status information, and send them to the remote server.

[0064] The excavator vehicle terminal 5 includes a second satellite positioning module, a second microcontroller and a second communication module. The output end of the second satellite positioning module is connected to the input end of the second microcontroller. The second microcontroller is connected to the remote server through the second communication module.

[0065] The second satellite positioning module includes a first antenna and a second RTK positioning unit, wherein the first antenna is used to receive radio frequency signals from satellites and transmit them to the second RTK positioning unit; the second RTK positioning unit uses an RTK differential positioning algorithm to resolve the two-dimensional coordinates of the first antenna and transmits them to the second microcontroller;

[0066] The second microcontroller stores an excavator number and is used to receive the location information transmitted by the second satellite positioning module and transmit the excavator number and the location information transmitted by the second satellite positioning module to the second communication module; the excavator number of each excavator 7 is unique;

[0067] The second communication module is used to receive the excavator number and the location information transmitted by the second satellite positioning module and send them to the remote server.

[0068] The remote server determines whether the truck is in the loading state based on the truck's motion status information. If the truck is in the loading state, the remote server calculates the two-dimensional coordinates of the four corners of the truck compartment 1 based on the position information transmitted by the truck's onboard terminal and the known length and width of the truck compartment 1. The remote server searches for the excavator's onboard terminal 5 within the rectangular range formed by the two-dimensional coordinates of the four corners of the truck compartment 1, obtains the corresponding excavator number, and records the number of excavators 7 loaded and the number of transport trips of this truck. The two-dimensional coordinates of the four corners of the truck compartment 1 are calculated as follows:

[0069] The main antenna 2 and the auxiliary antenna 3 in the first satellite positioning module receive the radio frequency signal of the satellite. The two-dimensional coordinates of the main antenna 2 and the auxiliary antenna 3 and the two-dimensional coordinates of the four corners of the truck compartment 1 are projected and calculated based on the same horizontal plane, such as Figure 3 As shown, the distance between one side of the truck compartment 1 in the width direction near the truck cab and the main antenna 2 is L1, the distance between the main antenna 2 and one side of the truck compartment 1 in the length direction is W1, the distance between the main antenna 2 and the auxiliary antenna 3 is W2, and the distance between the auxiliary antenna 3 and the other side of the truck compartment 1 in the length direction is W3. The length of the truck compartment 1 is L, and the width of the truck compartment 1 is W. W=W1+W2+W3. L, W, L1, W1, W2, and W3 are all measured in advance and stored in the remote server.

[0070] When the two-dimensional coordinates of the main antenna 2 are M(x1, y1) and the two-dimensional coordinates of the auxiliary antenna 3 are N(x2, y2), the intersection of the straight line connecting the main antenna 2 and the auxiliary antenna 3 and the straight line along the length of the truck compartment 1 is E(x E ,y E ), which is calculated as follows:

[0071]

[0072] Where α is the azimuth angle of the line connecting the main antenna 2 and the auxiliary antenna 3,

[0073] The intersection of the line connecting the main antenna 2 and the auxiliary antenna 3 and the line on the other side of the length direction of the truck compartment 1 is F(x F ,y F ), the calculation formula is:

[0074]

[0075] The first corner A(x A ,y A ) is calculated as:

[0076]

[0077] The fourth corner D(x D ,y D ) is calculated as:

[0078]

[0079] The second corner B(x B ,y B ) is calculated as:

[0080]

[0081] The third corner C(x C ,y C ) is calculated as:

[0082]

[0083] In this embodiment, the truck status monitoring module includes a motion sensor for collecting the truck's driving status and a vibration sensor for collecting the truck's vibration signals. Both the motion sensor and the vibration sensor are connected to the first microcontroller. The motion sensor can be the first satellite positioning module in the device, without the need for additional equipment, or can be any one of a transmission speed sensor, a wheel speed sensor, and a displacement sensor. The vibration sensor can be a three-axis acceleration sensor. The first communication module and the second communication module use any one of a 2G wireless communication module, a 3G wireless communication module, a 4G wireless communication module, and a 5G wireless communication module. The identification number of the SIM card in the first communication module is bound to the truck number of the corresponding truck, and the identification number of the SIM card in the second communication module is bound to the excavator number of the corresponding excavator 7.

[0084] Example 2: A method for confirming loading of an excavator based on satellite precision positioning technology

[0085] A confirmation method for an excavator loading device based on satellite precision positioning technology, such as Figure 4 As shown, the following steps are included:

[0086] S1. The truck-mounted terminal is installed on the top of the truck cab, and the excavator-mounted terminal 5 is installed on the excavator bucket 4 or on the bucket handle 6 near the excavator bucket 4. The first satellite positioning module in the truck-mounted terminal collects its own position information, the motion sensor collects the driving status of the truck, and the vibration sensor collects the vibration signal of the truck. The first satellite positioning module, the motion sensor and the vibration sensor transmit the acquired information to the first microcontroller. The first microcontroller sends the truck number, the position information transmitted by the first satellite positioning module and the truck movement status information to the remote server through the first communication module based on a preset time interval; the second satellite positioning module in the excavator-mounted terminal 5 collects its own position information and transmits it to the second microcontroller. The second microcontroller sends the excavator number and the position information transmitted by the second satellite positioning module to the remote server through the second communication module based on a preset time interval. The preset time interval is 1 second or several seconds;

[0087] Among them, the first satellite positioning module includes a main antenna 2, an auxiliary antenna 3 and a first RTK positioning unit. The main antenna 2 and the auxiliary antenna 3 are arranged on the top of the truck cab at intervals along the width direction of the truck compartment 1. The main antenna 2 and the auxiliary antenna 3 are used to receive the satellite's radio frequency signal and transmit it to the first RTK positioning unit; the first RTK positioning unit uses the RTK differential positioning algorithm to parse the two-dimensional coordinates of the main antenna 2 and the azimuth of the connection between the main antenna and the auxiliary antenna, and transmit them to the first microcontroller; the second satellite positioning module includes a first antenna and a second RTK positioning unit. The first antenna is used to receive the satellite's radio frequency signal and transmit it to the second RTK positioning unit; the second RTK positioning unit uses the RTK differential positioning algorithm to parse the two-dimensional coordinates of the first antenna and transmit it to the second microcontroller.

[0088] S2. The remote server receives the truck number, the corresponding truck movement status information, and the location information transmitted by the first satellite positioning module in the truck onboard terminal, as well as the excavator number and the location information transmitted by the second satellite positioning module in the corresponding excavator onboard terminal 5, and determines whether the truck is in the loading state based on the truck movement status information;

[0089] S3. When the motion sensor detects that the truck is in a parked state and the vibration sensor detects a vibration signal from the truck, it is determined that the truck is in a loading state; otherwise, the truck is not in a loading state. If the truck is in a loading state, the two-dimensional coordinates of the main antenna 2 and the auxiliary antenna 3, as well as the azimuth of the line connecting the main antenna and the auxiliary antenna, are used in combination with the known length and width of the truck compartment 1 to calculate the two-dimensional coordinates of the four corners of the truck compartment 1. The excavator vehicle-mounted terminal 5 located within the rectangular range formed by the two-dimensional coordinates of the four corners of the truck compartment 1 is searched for, the corresponding excavator number is obtained, and the loading quantity of the excavator 7 and the number of transport trips of the truck are recorded. If the truck is not in a loading state, the determination of whether the truck is in a loading state is continued based on the received information.

[0090] The specific calculation method of the two-dimensional coordinates of the four corners of the truck compartment 1 is:

[0091] The main antenna 2 and auxiliary antenna 3 in the first satellite positioning module collect and receive radio frequency signals from satellites. The first RTK positioning unit parses the two-dimensional coordinates of the main antenna and the azimuth of the line connecting the main antenna and the auxiliary antenna. The two-dimensional coordinates of the main antenna 2 and the auxiliary antenna 3 are projected and calculated with the two-dimensional coordinates of the four corners of the truck compartment 1 based on the same horizontal plane. The distance between the main antenna 2 and one side of the truck compartment 1 in the width direction near the truck cab is L1, the distance between the main antenna 2 and one side of the truck compartment 1 in the length direction is W1, the distance between the main antenna 2 and the auxiliary antenna 3 is W2, and the distance between the auxiliary antenna 3 and the other side of the truck compartment 1 in the length direction is W3. The length of the truck compartment 1 is L, and the width of the truck compartment 1 is W. W = W1 + W2 + W3. L, W, L1, W1, W2, and W3 are all pre-measured and stored in the remote server.

[0092] When the two-dimensional coordinates of the main antenna 2 are M(x1, y1) and the two-dimensional coordinates of the auxiliary antenna 3 are N(x2, y2), the intersection of the straight line connecting the main antenna 2 and the auxiliary antenna 3 and the straight line along the length of the truck compartment 1 is E(x E ,y E ), which is calculated as follows:

[0093]

[0094] Where α is the azimuth angle of the line connecting the main antenna 2 and the auxiliary antenna 3,

[0095] The intersection of the line connecting the main antenna 2 and the auxiliary antenna 3 and the line on the other side of the length direction of the truck compartment 1 is F(x F ,y F ), the calculation formula is:

[0096]

[0097] The first corner A(x A ,y A ) is calculated as:

[0098]

[0099] The fourth corner D(x D ,y D ) is calculated as:

[0100]

[0101] The second corner B(x B ,y B ) is calculated as:

[0102]

[0103] The third corner C(x C ,y C ) is calculated as:

[0104]

Claims

1. An excavator loading confirmation device based on satellite precision positioning technology, characterized in that: Including a truck-mounted terminal installed on a truck, an excavator-mounted terminal installed on an excavator bucket or on a handle close to the bucket, and a remote server; The truck's onboard terminal stores the truck's ID number and is used to monitor the truck's movement status, collect its own location information, and send the truck's ID number, its own location information, and the truck's movement status information to a remote server. Each truck has a unique truck ID number. The excavator vehicle terminal stores the excavator number, is used to collect its own location information, and sends the excavator number and its own location information to the remote server; Each excavator has a unique excavator number; The remote server determines whether the truck is in a loading state based on the truck movement status information; If the truck is in the loading state, the two-dimensional coordinates of the four corners of the truck compartment are calculated based on the location information transmitted by the truck's on-board terminal and the known length and width of the truck compartment. The excavator's on-board terminal is searched within the rectangular range surrounded by the two-dimensional coordinates of the four corners of the truck compartment, the corresponding excavator number is obtained, and the loading quantity of this excavator and the number of transportation trips of this truck are recorded.

2. The excavator loading confirmation device based on satellite precision positioning technology according to claim 1 is characterized in that: Truck-mounted terminals include: a first satellite positioning module, configured to collect its own location information and transmit it to the first microcontroller; A truck state monitoring module, configured to monitor the movement state of the truck and transmit the truck movement state information to the first microcontroller; a first microcontroller storing a truck number, configured to receive location information transmitted by the first satellite positioning module and truck motion status information transmitted by the truck status monitoring module, and transmit the truck number, location information transmitted by the first satellite positioning module, and truck motion status information to the first communication module; The first communication module is used to receive the truck number, the location information transmitted by the first satellite positioning module and the truck movement status information, and send them to the remote server.

3. The excavator loading confirmation device based on satellite precision positioning technology according to claim 2 is characterized in that: The first satellite positioning module includes a main antenna, an auxiliary antenna and a first RTK positioning unit. The main antenna and the auxiliary antenna are arranged on the top of the truck cab at intervals along the width of the truck compartment. The main antenna and the auxiliary antenna are used to receive satellite radio frequency signals and transmit them to the first RTK positioning unit; the first RTK positioning unit uses the RTK differential positioning algorithm to parse the two-dimensional coordinates of the main antenna and the azimuth of the line connecting the main antenna and the auxiliary antenna, and transmit them to the first microcontroller.

4. The excavator loading confirmation device based on satellite precision positioning technology according to claim 2 is characterized in that: The truck status monitoring module includes a motion sensor for collecting the truck's driving status and a vibration sensor for collecting the truck's vibration signal.

5. The excavator loading confirmation device based on satellite precision positioning technology according to any one of claims 1 to 4, characterized in that: The excavator vehicle terminal includes: a second satellite positioning module, configured to collect its own location information and transmit it to the second microcontroller; a second microcontroller storing an excavator number, configured to receive location information transmitted by a second satellite positioning module, and transmit the excavator number and the location information of the second satellite positioning module to a second communication module; The second communication module is used to receive the excavator number and the location information transmitted by the second satellite positioning module and send them to the remote server.

6. The excavator loading confirmation device based on satellite precision positioning technology according to claim 5 is characterized in that: The second satellite positioning module includes a first antenna and a second RTK positioning unit. The first antenna is used to receive the satellite's radio frequency signal and transmit it to the second RTK positioning unit; the second RTK positioning unit uses the RTK differential positioning algorithm to parse the two-dimensional coordinates of the first antenna and transmit it to the second microcontroller.

7. A confirmation method for an excavator loading confirmation device based on satellite precision positioning technology according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. The truck-mounted terminal monitors the truck's motion status, collects its own location information, and sends the truck number, truck motion status information, and its own location information to the remote server; the excavator-mounted terminal collects its own location information and sends the excavator number and its own location information to the remote server; S2. The remote server receives the truck number, the corresponding truck movement status information, and the location information transmitted by the truck's onboard terminal, as well as the excavator number and the location information transmitted by the corresponding excavator's onboard terminal, and determines whether the truck is in a loading state based on the truck movement status information; S3. If the truck is in the loading state, the two-dimensional coordinates of the four corners of the truck compartment are calculated based on the position information transmitted by the truck's on-board terminal and the known length and width of the truck compartment. The excavator's on-board terminal is searched within the rectangular range surrounded by the two-dimensional coordinates of the four corners of the truck compartment, the corresponding excavator number is obtained, and the loading quantity of this excavator and the number of transport trips of this truck are recorded. If the truck is not in the loading state, continue to determine whether the truck is in the loading state based on the received information.

8. The confirmation method according to claim 7, characterized in that: Step S1 is specifically as follows: The first satellite positioning module in the truck's onboard terminal collects its own location information, and the truck status monitoring module monitors the truck's movement status. The first satellite positioning module and the truck status monitoring module transmit the acquired information to the first microcontroller. The first microcontroller stores the truck's number, and the first microcontroller transmits the truck number, the location information transmitted by the first satellite positioning module, and the truck's movement status information to a remote server via the first communication module. The second satellite positioning module in the excavator vehicle terminal collects its own location information and transmits it to the second microcontroller; the second microcontroller stores the excavator number, and the second microcontroller sends the excavator number and the location information transmitted by the second satellite positioning module to the remote server through the second communication module.

9. The confirmation method according to claim 8, characterized in that: The truck status monitoring module includes a motion sensor and a vibration sensor. The motion sensor collects the driving status of the truck, and the vibration sensor collects the vibration signal of the truck. When the truck is in the parked state and the vibration signal of the truck is collected, it is determined that the truck is in the loading state. Otherwise, the truck is not in the loading state.

10. The confirmation method according to claim 8, characterized in that: Calculate the 2D coordinates of the four corners of the truck compartment, specifically: The main antenna and auxiliary antenna in the first satellite positioning module receive radio frequency signals from the satellite. The first RTK positioning unit parses the two-dimensional coordinates of the main antenna and the azimuth of the line connecting the main antenna and the auxiliary antenna. The two-dimensional coordinates of the main antenna and the auxiliary antenna are projected and calculated with the two-dimensional coordinates of the four corners of the truck compartment based on the same horizontal plane. The distance between the main antenna and one side of the truck compartment in the width direction near the truck cab is L1, the distance between the main antenna and one side of the truck compartment in the length direction is W1, the distance between the main antenna and the auxiliary antenna is W2, and the distance between the auxiliary antenna and the other side of the truck compartment in the length direction is W3. The length of the truck compartment is L, and the width of the truck compartment is W. W = W1 + W2 + W3. L, W, L1, W1, W2, and W3 are all pre-measured and stored in the remote server. When the two-dimensional coordinates of the main antenna are M(x1, y1) and the two-dimensional coordinates of the auxiliary antenna are N(x2, y2), the intersection of the straight line connecting the main antenna and the auxiliary antenna and the straight line along the length of the truck compartment is E(x E ,y E ), which is calculated as follows: Where α is the azimuth angle of the line connecting the main antenna and the auxiliary antenna, The intersection of the line connecting the main antenna and the auxiliary antenna and the line on the other side of the truck compartment in the length direction is F(x F ,y F ), the calculation formula is: The first corner of the truck compartment A(x A ,y A ) is calculated as: The fourth corner of the truck compartment D(x D ,y D ) is calculated as: The second corner of the truck bed B(x B ,y B ) is calculated as: The third corner of the truck compartment C(x C ,y C ) is calculated as:

Images