Engineering vehicle construction guiding system and engineering vehicle

Abstract

The utility model provides an engineering vehicle construction guiding system and an engineering vehicle, the system is installed on the engineering vehicle, and the system comprises a GNSS antenna, an angle sensor and a processing device; the GNSS antenna is mounted on a movable arm part of the mechanical arm, is in circuit connection with the processing equipment and is used for collecting GNSS measurement data and sending the GNSS measurement data to the processing equipment; the angle sensor is mounted on the working arm part of the mechanical arm, is in circuit connection with the processing equipment, and is used for collecting angle data of a mechanical part where the angle sensor is located and sending the angle data to the processing equipment; and the processing equipment is used for calculating coordinates of a specified part of the operation tool according to the GNSS measurement data and the angle data, and outputting construction guide information corresponding to the coordinates. Through the system, construction guidance of the vehicle operator can be completed, the construction precision can be improved, and the system has a wide application range.

Description

[0001] Priority Application

[0002] This application claims priority to Chinese Utility Model Patent Application No. 2024212828360, "An Engineering Vehicle Construction Guidance System and an Engineering Vehicle", filed on June 5, 2024, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present utility model relates to the technical field of construction machinery, and more particularly, to an engineering vehicle construction guidance system and an engineering vehicle. Background Art

[0004] Engineering vehicles refer to various types of vehicles specifically designed for performing engineering operations, such as excavators, cranes, etc., which play an important role in fields such as construction, mining, road construction, and water conservancy projects.

[0005] Traditional engineering vehicles mainly rely on the experience of operators during construction. It is difficult for operators with insufficient experience or those not familiar with the vehicle conditions to achieve precise operation results. For example, when using an excavator to trim the slope of a road or level the land, the accuracy requirement may reach the centimeter level. The traditional method of relying solely on manual experience for operation can no longer meet the increasingly demanding construction requirements.

[0006] Currently, some construction guidance systems have been developed on the market to guide operators by outputting prompt information. However, the prompt information output by existing systems generally has low accuracy and cannot form an effective guidance. Summary of the Utility Model

[0007] The purpose of the embodiments of this application is to provide an engineering vehicle construction guidance system and an engineering vehicle to improve the above technical problems.

[0008] To achieve the above purpose, this application provides the following technical solutions:

[0009] In a first aspect, an embodiment of the present application provides a construction guidance system for an engineering vehicle, which is used to be installed on an engineering vehicle. The engineering vehicle includes a vehicle body and a robotic arm connected to the vehicle body. An operating tool is installed at one end of the robotic arm away from the vehicle body. The system includes: a Global Navigation Satellite System (GNSS) antenna, an angle sensor, and a processing device; the GNSS antenna is installed on the boom part of the robotic arm and is circuit-connected to the processing device. The GNSS antenna is used to collect GNSS measurement data and send the GNSS measurement data to the processing device; wherein, the boom part includes at least one boom of the robotic arm; the angle sensor is installed on the working arm part of the robotic arm and is circuit-connected to the processing device. The angle sensor is used to collect the angle data of the mechanical component where it is located and send the angle data to the processing device; wherein, the working arm part is the part of the robotic arm extending from the boom part to the operating tool; the processing device is used to calculate the coordinates of a specified part of the operating tool according to the GNSS measurement data and the angle data, and output construction guidance information corresponding to the coordinates.

[0010] By installing a GNSS antenna and an angle sensor on the engineering vehicle, the above system respectively collects GNSS measurement data and angle data, calculates the coordinates of a specified part of the operating tool based on the collected data, and finally outputs construction guidance information corresponding to the coordinates, so as to complete the construction guidance for the vehicle operator, which is beneficial to improving the construction accuracy. In addition, both the GNSS antenna and the sensor in the above system are installed on the robotic arm and are relatively close to the operating tool, so it is beneficial to shorten the calculation path, reduce error accumulation, and improve the calculation accuracy when calculating the coordinates of the specified part of the operating tool. In addition, during the operation of the engineering vehicle, the movement amplitude of the boom part of the robotic arm relative to the working arm part is small and the position is high. Therefore, installing the GNSS antenna on the boom part is beneficial for the antenna to search and receive satellite data more stably, thereby improving the accuracy of coordinate calculation. In addition, for some engineering vehicles with a small vehicle body size and not enough space to install a GNSS antenna, the above system installs the GNSS antenna on the robotic arm, making the system have a wide range of applications.

[0011] In one implementation manner of the first aspect, if the robotic arm is a two-section arm, the GNSS antenna is installed on the main boom of the robotic arm; if the robotic arm is a three-section arm, the GNSS antenna is installed on the intermediate boom of the robotic arm, or installed on the main boom of the robotic arm, or the first antenna of the GNSS antenna is installed on the intermediate boom of the robotic arm, and the second antenna of the GNSS antenna is installed on the main boom of the robotic arm.

[0012] In the above implementation, the construction guidance system can be adapted to engineering vehicles with two-section booms or three-section booms, having a wide range of applications. For the case of a two-section boom, installing the GNSS antennas 1 on the main boom is beneficial to shortening the calculation path as much as possible, reducing error accumulation, and improving the coordinate calculation accuracy. For the case of a three-section boom, if the GNSS antennas are all installed on the intermediate boom, it is also beneficial to shortening the calculation path as much as possible, reducing error accumulation, and improving the coordinate calculation accuracy. Moreover, since the GNSS antennas are installed on the same boom section and there is no relative movement between them, the coordinate calculation is relatively simple.

[0013] In one implementation of the first aspect, the main boom includes a first part and a second part. The first part is the part of the main boom close to the vehicle body, and the second part is the part of the main boom far from the vehicle body. The first part and the second part are bent and connected. If at least one GNSS antenna is installed on the main boom, then the at least one GNSS antenna is installed on the second part.

[0014] During the operation of the engineering vehicle, the second part of the main boom moves with a relatively small amplitude and is at a relatively high position relative to the first part. Thus, in the above implementation, installing the GNSS antenna on the second part of the main boom makes the reception of satellite data more stable and can reduce occlusion, which is beneficial to improving the coordinate calculation accuracy.

[0015] In one implementation of the first aspect, if the robotic arm is a two-section boom, or if the robotic arm is a three-section boom and at least one GNSS antenna is installed on the intermediate boom, then the number of angle sensors is two or one; if the number of angle sensors is two, then the first sensor among the angle sensors is installed on the working tool or on the connecting piece between the forearm of the robotic arm and the working tool, and the second sensor among the angle sensors is installed on the forearm; if the number of angle sensors is one, then the angle sensor is installed on the working tool, or on the connecting piece between the forearm of the robotic arm and the working tool, or on the forearm.

[0016] In the above implementation, the number of angle sensors can be two or one. With a relatively small number of sensors, there is no need to install angle sensors on the intermediate boom (if any), the main boom, and the vehicle body, saving the system assembly and calibration time and also saving the implementation cost.

[0017] For the mode where the forearm and the working tool can move freely, two angle sensors can be set, and at this time, the coordinates of a specific part of the working tool can be calculated in real time. In particular, one of the angle sensors can be installed on the connecting piece between the forearm and the working tool. In this installation method, even if the working tool is replaced, there is no need to reinstall the angle sensor, thus reducing the installation burden. Moreover, being installed on the connecting piece is relatively not easy to come into contact with other objects during the operation, which is beneficial to avoiding damage to the angle sensor.

[0018] For the mode where the attitude of the working tool is fixed, only one angle sensor can be set. The operator adjusts the forearm to the angle determined during calibration based on the angle data collected by the angle sensor, and then the system can calculate the coordinates of a specific part of the working tool in combination with the calibration data. This mode is mainly used for purposes such as verification after the operation is completed.

[0019] It can be seen that the above implementation method also allows for reasonably selecting the number of angle sensors according to the working mode of the engineering vehicle, which is beneficial to improving the applicable range of the system and saving the implementation cost.

[0020] In an implementation manner of the first aspect, if the robotic arm is a three - section arm and the GNSS antenna is installed on the boom, the number of angle sensors is three or two; if the number of angle sensors is three, the first sensor among the angle sensors is installed on the working tool, or on the connecting piece between the forearm of the robotic arm and the working tool, the second sensor among the angle sensors is installed on the forearm, and the third sensor among the angle sensors is installed on the intermediate arm; if the number of angle sensors is two, the first sensor among the angle sensors is installed on the working tool, or on the connecting piece between the forearm of the robotic arm and the working tool, or on the forearm, and the second sensor among the angle sensors is installed on the intermediate arm.

[0021] In the above implementation method, the number of angle sensors can be three or two. The number of sensors is small, and there is no need to install angle sensors on the boom and the vehicle body, saving the assembly and calibration time of the system and also saving the implementation cost.

[0022] For the mode where the intermediate arm, forearm, and working tool can move freely, three angle sensors can be set, and at this time, the coordinates of a specific part of the working tool can be calculated in real time. In particular, one of the angle sensors can be installed on the connecting piece between the forearm and the working tool. In this installation method, even if the working tool is replaced, there is no need to reinstall the angle sensor, thus reducing the installation burden. Moreover, being installed on the connecting piece is relatively not easy to come into contact with other objects during the operation, which is beneficial to avoiding damage to the angle sensor.

[0023] For the mode where the posture of the working tool is fixed, only two angle sensors can be set. Based on the angle data collected by these two angle sensors, the operator adjusts the intermediate arm and the forearm to the angles determined during calibration. Then, the system can calculate the coordinates of specific parts of the working tool in combination with the calibration data. This mode is mainly used for purposes such as verification after the operation is completed.

[0024] It can be seen that the above implementation also allows for reasonably selecting the number of angle sensors according to the working mode of the engineering vehicle, which is beneficial to improving the applicable range of the system and saving implementation costs.

[0025] In one implementation of the first aspect, the GNSS antenna includes a first antenna and a second antenna, and the distance between the first antenna and the second antenna is greater than a distance threshold.

[0026] In the above implementation, the distance between the two GNSS antennas being greater than the distance threshold is beneficial to accurately calculating the direction information of the engineering vehicle.

[0027] In one implementation of the first aspect, the height of the GNSS antenna does not exceed the height of the oil cylinder on the robotic arm where it is located.

[0028] The robotic arms of some engineering vehicles are driven by the oil cylinders above them. If the height of the GNSS antenna exceeds the height of the oil cylinder on the robotic arm where it is located, it is easy to touch surrounding objects during the operation of the engineering vehicle, resulting in antenna damage, skew, or unstable data collection. Setting the GNSS antenna according to the above implementation has relatively high safety.

[0029] In one implementation of the first aspect, the processing device includes a mobile display terminal.

[0030] In the above implementation, using a mobile display terminal (such as a tablet computer) as the processing device has a high degree of integration, which is beneficial to saving implementation costs. Moreover, the mobile display terminal is relatively lightweight, which is beneficial to the disassembly and assembly of the system.

[0031] In one implementation of the first aspect, the engineering vehicle is an excavator, the working tool is a bucket, and the specified part is the tip of the bucket.

[0032] In the above implementation, the construction guidance system can be applied to an excavator. By calculating the coordinates of the tip of the bucket of the excavator, it can achieve construction guidance for the excavator operator and improve the operation accuracy of the excavator.

[0033] In a second aspect, an embodiment of the present application provides an engineering vehicle equipped with the engineering vehicle construction guidance system provided by the first aspect or any one of the implementations of the first aspect.

[0034] Since the construction guidance system for engineering vehicles provided by the first aspect or any one of the implementation manners of the first aspect is installed in the above-mentioned engineering vehicle, the vehicle operator can be effectively guided during construction, which is beneficial to improving the construction accuracy. Among them, the construction guidance system can be installed in the engineering vehicle after the engineering vehicle is manufactured, or can be built into the engineering vehicle during the manufacturing of the engineering vehicle.

[0035] In a third aspect, an embodiment of the present application provides a construction guidance system for an engineering vehicle, which is used to be installed on an engineering vehicle. The engineering vehicle includes a vehicle body and a robotic arm connected to the vehicle body. An operating tool is installed at one end of the robotic arm away from the vehicle body. The system includes: a GNSS antenna, an angle sensor, and a processing device; the GNSS antenna is installed on the boom part of the robotic arm and is circuit-connected to the processing device. The GNSS antenna is used to collect GNSS measurement data and send the GNSS measurement data to the processing device; wherein, the boom part includes at least one boom of the robotic arm; the angle sensor is installed on the working arm part of the robotic arm and is circuit-connected to the processing device. The angle sensor is used to collect the angle data of the mechanical component where it is located and send the angle data to the processing device; wherein, the working arm part is the part of the robotic arm extending from the boom part to the operating tool.

[0036] By installing a GNSS antenna and an angle sensor on the engineering vehicle, the above system respectively collects GNSS measurement data and angle data. Based on these data, the construction guidance for the vehicle operator can be completed, which is beneficial to improving the construction accuracy. In addition, the processing device can calculate the coordinates of the specified part of the operating tool according to the GNSS measurement data and the angle data. Based on this coordinate, corresponding construction guidance information can be output. The GNSS antenna and the sensor in the above system are both installed on the robotic arm and are relatively close to the operating tool. Therefore, when calculating the coordinates of the specified part of the operating tool, it is beneficial to shorten the calculation path, reduce error accumulation, and improve the calculation accuracy. In addition, during the operation of the engineering vehicle, the movement amplitude of the boom part of the robotic arm relative to the working arm part is small and the position is high. Therefore, installing the GNSS antenna on the boom part is beneficial for the antenna to search and receive satellite data more stably, thereby improving the accuracy of coordinate calculation. In addition, the body size of some engineering vehicles is small and there is not enough space to install the GNSS antenna. The above system installs the GNSS antenna on the robotic arm, making the system have a wider application range.

[0037] In a fourth aspect, an embodiment of the present application provides an engineering vehicle installed with the construction guidance system for an engineering vehicle provided by the third aspect or any one of the implementation manners of the third aspect.

[0038] Since the construction guidance system for engineering vehicles provided by a third party or any one implementation manner of the third party is installed in the above-mentioned engineering vehicle, the vehicle operator can be effectively guided during construction, which is beneficial to improving the construction accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0040] Figure 1 Shows a possible structure of the construction guidance system for engineering vehicles provided by the embodiments of the present application;

[0041] Figure 2 Shows a possible installation method of the construction guidance system for engineering vehicles provided by the embodiments of the present application on a two-section boom excavator;

[0042] Figure 3 Shows a possible installation method of the construction guidance system for engineering vehicles provided by the embodiments of the present application on a three-section boom excavator. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The following will describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. It should be noted that: similar reference numerals and letters in the following drawings represent similar items. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0044] The term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0045] The terms "first", "second", etc. are only used to distinguish one entity or operation from another entity or operation, and cannot be understood as indicating or implying relative importance, nor can it be understood as requiring or implying any actual relationship or order between these entities or operations.

[0046] Figure 1shows a possible structure of a construction guidance system provided by an embodiment of the present application (hereinafter referred to as the construction guidance system for short). Refer to Figure 1 , the construction guidance system 100 includes an angle sensor 110, a processing device 120, and a GNSS antenna 130. The angle sensor 110 and the GNSS antenna 130 are both circuit-connected to the processing device 120. In different implementation manners, the number of angle sensors 110 can be one or more, and the number of GNSS antennas 130 can be two or more. In the embodiment of the present application, the circuit connection can include a wired connection or a wireless connection.

[0047] The construction guidance system 100 can be installed on an engineering vehicle to output construction guidance information for the vehicle operator to assist him / her in better operating the engineering vehicle for construction operations. Here, the engineering vehicle includes a vehicle body and a robotic arm. One end of the robotic arm is connected to the vehicle body, and the other end is equipped with a working tool. The robotic arm includes two or more arm segments, and the robotic arm is rotatably connected to the vehicle body, between each arm segment, and between the arm segment and the working tool.

[0048] Hereinafter, the construction guidance system 100 will be mainly introduced by taking the case where the engineering vehicle is an excavator as an example, but the engineering vehicle can also be other vehicles with a robotic arm. The working tool of the excavator is a bucket. There are mainly two types of excavators: one is a two-section arm excavator, Figure 2 shows a possible installation manner of the construction guidance system 100 provided by an embodiment of the present application on a two-section arm excavator 200, Figure 2 The robotic arm of the two-section arm excavator 200 in includes two arm segments, namely the forearm 240 close to the bucket 260 and the boom 230 close to the vehicle body. The boom 230 is also called the arm; the other is a three-section arm excavator, Figure 3 shows a possible installation manner of the construction guidance system 100 provided by an embodiment of the present application on a three-section arm excavator 300, Figure 3 The robotic arm of the three-section arm excavator 300 in includes three arm segments, namely the forearm 350 close to the bucket 370, the boom 330 close to the vehicle body, and the intermediate arm 340 located between the forearm 350 and the boom 330. The intermediate arm 340 and the boom 330 are also called the arm. Further, the excavator can be divided into a general excavator and a swing arm excavator. The arm of the swing arm excavator can swing left and right. Of course, for these two types of excavators, the installation manner of the construction guidance system 100 is similar. Therefore, the general excavator and the swing arm excavator will not be distinguished hereinafter, and the description will still be made from the perspectives of the two-section arm excavator and the three-section arm excavator.

[0049] The robotic arm can be divided into a boom part and a working arm part. The boom part includes at least one boom of the robotic arm, and the working arm part extends from the follower boom part of the robotic arm to the working tool (which may include the working tool). For example, for Figure 2 the two-section boom excavator 200, the boom part includes the main boom 230, and the working arm part includes the forearm 240, the bucket 260, and the connecting rod 250 between the forearm 240 and the bucket 260. For Figure 3 the three-section boom excavator 300, there are different division methods: First, the boom part includes the main boom 330, and the working arm part includes the intermediate boom 340, the forearm 350, the bucket 370, and the connecting rod 360 between the forearm 350 and the bucket 370; Second, the boom part includes the intermediate boom 340, and the working arm part includes the forearm 350, the bucket 370, and the connecting rod 360 between the forearm 350 and the bucket 370; Third, the boom part includes the intermediate boom 340 and the main boom 330, and the working arm part includes the forearm 350, the bucket 370, and the connecting rod 360 between the forearm 350 and the bucket 370.

[0050] In the construction guidance system 100, the GNSS antenna 130 is installed on the boom part of the robotic arm, and specifically can be installed on the side or top of the boom section included in the boom part (the top here does not include the oil cylinder that may be set above the boom section, because installing on the oil cylinder is likely to contact external objects and damage the antenna). The GNSS antenna 130 is electrically connected to the processing device 120. If a wired connection is adopted, its connection line (not shown in Figure 2 、 Figure 3 ) can be routed along the surface of the boom section of the robotic arm to reduce the risk of line damage. Of course, it does not exclude that in some implementation modes, a routing space is reserved inside the robotic arm for the construction guidance system 100, and at this time, the connection line can also be routed inside the robotic arm.

[0051] The GNSS antenna 130 can collect GNSS measurement data from satellites and send the GNSS measurement data to the processing device 120 for further processing. This application does not limit the type of GNSS system. For example, it can be a GPS system, a Beidou system, etc.

[0052] The angle sensor 110 is installed on the working arm part of the robotic arm, and specifically can be installed on the side, top (the top here does not include the oil cylinder that may be set above the boom section, because installing on the oil cylinder is likely to contact external objects and damage the angle sensor 110) or bottom of the boom section included in the working arm, or can be installed on the working tool, or can be installed on some connecting parts (see the examples later). The angle sensor 110 is electrically connected to the processing device 120. If a wired connection is adopted, its connection line (not shown in Figure 2 、 Figure 3The wiring (not shown) can be routed along the surface of the arm section of the robot arm. Of course, it is not ruled out that in some implementations, space for wiring is reserved inside the robot arm for the construction guidance system 100, and the connecting lines can also be routed from the inside of the robot arm.

[0053] The angle sensor 110 can collect angle data of the mechanical part where it is located, and send the angle data to the processing device 120 for further processing. The mechanical part where the angle sensor 110 is located refers to the mechanical part where it is installed. For example, if the angle sensor 110 is installed on a forearm, the mechanical part here refers to the forearm. If the angle sensor 110 is installed on a working tool, the mechanical part here refers to the working tool, and so on. The angle data may include the attitude angle information of the mechanical part where the angle sensor 110 is located.

[0054] The angle sensor 110 may be a gyroscope, an inertial measurement unit (IMU) or the like.

[0055] After receiving the GNSS measurement data and the angle data, the processing device 120 can calculate the coordinates of the designated part of the working tool based on the two data (and possibly in combination with other data, such as calibration data). The designated part can be any part of the working tool, for example, Figure 2 In the embodiment, the designated part is the bucket tip 262 of the bucket 260. The coordinates of the designated part may be three-dimensional coordinates in a certain spatial coordinate system, such as a world coordinate system.

[0056] After the processing device 120 calculates the coordinates, it can further output construction guidance information corresponding to the coordinates. The construction guidance information has multiple possible contents: for example, the construction guidance information can be the coordinates of the designated part of the working tool itself; for another example, the construction guidance information can include the coordinates of the designated part of the working tool and the reference coordinates of the working target. The operator can compare these two coordinates to determine whether the construction requirements have been met, wherein the reference coordinates of the working target can be located in the construction drawings, which can be imported into the processing device 120 in advance, or can be designed directly on the processing device 120; for another example, the construction guidance information can include the coordinates of the designated part of the working tool and the difference between it and the reference coordinates of the working target, and so on.

[0057] There are many ways to output the construction guidance information, such as displaying it on a display, or broadcasting it through a speaker, etc. The display and the speaker may be hardware of the processing device 120 itself, or hardware outside the processing device 120 (such as hardware built into the construction vehicle).

[0058] The processing device 120 can be a single device or a combination of several devices. For example, the processing device 120 can be a tablet computer, in which a GNSS module is integrated. The GNSS module is connected to the GNSS antenna 130 circuit and is responsible for calculating the position information and direction information of the engineering vehicle based on the GNSS measurement data collected by the GNSS antenna 130, and then sending it to the processor of the tablet computer. The processor of the tablet computer obtains the coordinates of a specific part of the working tool based on the position information, direction information and angle data combined with a specific algorithm. This implementation method of the processing device 120 has a high degree of integration, which is conducive to saving implementation costs, and the tablet computer is relatively light, which is conducive to the disassembly and assembly of the construction guidance system 100. Of course, the tablet computer here can also be replaced by other mobile display terminals, that is, terminal devices that are easy to carry and have display and data processing functions, such as handheld devices.

[0059] For another example, the GNSS module can also be implemented as an independent device, such as a GNSS receiver, which is connected to the tablet computer circuit and sends the calculated position and direction information to the tablet computer. The processor inside the tablet computer calculates the coordinates of specific parts of the working tool.

[0060] The processing device 120 can be a device that comes with the engineering vehicle, such as the engineering vehicle's own on-board equipment, or it can be an external device, such as a separate tablet computer (the engineering vehicle does not include the tablet computer when it is manufactured). For example, a bracket can be installed in the cockpit of the engineering vehicle, and the tablet computer can be placed on the bracket, thereby providing construction guidance for the engineering vehicle that does not originally have the construction guidance function.

[0061] To briefly summarize the above-mentioned construction guidance system 100, the system installs a GNSS antenna 130 and an angle sensor 110 on the engineering vehicle to collect GNSS measurement data and angle data respectively, and calculates the coordinates of the designated part of the working tool based on the collected data, and finally outputs construction guidance information corresponding to the coordinates, thereby completing the construction guidance of the vehicle operator, which is conducive to improving construction accuracy.

[0062] In addition, the GNSS antenna 130 and the sensor in the above system are installed on the robot arm, which is close to the working tool, so it is helpful to shorten the calculation path, reduce error accumulation and improve calculation accuracy when calculating the coordinates of the specified part of the working tool.

[0063] In addition, during the operation of the engineering vehicle, the boom part of the robotic arm has a smaller movement range and a higher position than the working arm part. Therefore, installing the GNSS antenna 130 on the boom part is beneficial to making the antenna more stable, and it can search and receive satellite data in a larger spatial range, thereby improving the accuracy of coordinate calculation.

[0064] In addition, the body sizes of some construction vehicles are small, and there is not enough space to install the GNSS antenna 130 (especially considering the distance requirements between GNSS antennas 130, which will be described in detail later). The above system installs the GNSS antenna 130 on the robotic arm of the construction vehicle, making the system have a wider application range. For example, referring to Figure 2 , a larger excavator includes a cockpit 210 and a platform 220 behind the cockpit 210. Therefore, in the comparative solution, the GNSS antenna 130 can be installed on the platform 220. However, a smaller excavator only has a cockpit 210 and no platform 220. At this time, the GNSS antenna 130 cannot be installed in the comparative solution, while the solution of the present application does not have this problem and is applicable to both large and small excavators.

[0065] Based on the above embodiments, the possible installation methods of the GNSS antenna 130 will be further introduced below, which are divided into four cases:

[0066] (1) For a construction vehicle with a two-section arm, the GNSS antennas 130 are both installed on the boom of the robotic arm. As Figure 2 shown, a total of 2 GNSS antennas 130 are installed. Ant1 represents the first antenna, and Ant2 represents the second antenna. Taking Ant1 as an example, the black vertical line represents the antenna bracket, and the circle represents the antenna body.

[0067] The GNSS antenna 130 can be installed on the side or top of the boom. If multiple GNSS antennas 130 are installed on the side of the boom, these antennas can be located on the same side or on different sides (for the specific installation methods of the GNSS antenna 130 in the following (2), (3), and (4), reference can be made here and will not be repeated).

[0068] (2) For a construction vehicle with a three-section arm, the GNSS antennas 130 are both installed on the intermediate arm of the robotic arm, as Figure 3 shown;

[0069] (3) For a construction vehicle with a three-section arm, the first GNSS antenna 130 is installed on the intermediate arm of the robotic arm, and the second GNSS antenna 130 is installed on the boom of the robotic arm. For case (3), if there are more GNSS antennas 130, they can be installed on the intermediate arm or the boom;

[0070] (4) For a construction vehicle with a three-section arm, the GNSS antennas 130 are both installed on the boom of the robotic arm.

[0071] According to the above four cases, the construction guidance system 100 provided by the embodiments of the present application can be adapted to construction vehicles with two-section arms or three-section arms, and has a wider application range.

[0072] Among them, for the case of a two-section boom, installing the GNSS antennas 130 on the main boom (i.e., installing them according to method (1)) is conducive to shortening the calculation path as much as possible (as analyzed before, it is not appropriate to install the GNSS antennas 130 on the forearm or more forward), reducing error accumulation, and improving the accuracy of coordinate calculation. For the case of a three-section boom, if the GNSS antennas 130 are all installed on the middle boom (i.e., installing them according to method (2)), it is also conducive to shortening the calculation path as much as possible, reducing error accumulation, and improving the accuracy of coordinate calculation. And since the GNSS antennas are installed on the same boom section and there is no relative movement between them, the coordinate calculation is relatively simple.

[0073] Furthermore, the main boom of some engineering vehicles can be divided into a first part and a second part. The first part is the part of the main boom close to the vehicle body, and the second part is the part of the main boom far from the vehicle body. The first part and the second part are bent and connected. Refer to Figure 2 , a dividing dotted line is drawn in the middle of the main boom 230. The part on the right side is the first part of the main boom 230, and the part on the left side is the second part of the main boom 230. Figure 3 It is similar.

[0074] Considering the case where at least one GNSS antenna 130 is installed on the main boom of the robotic arm, that is, the above cases (1), (3), and (4), the GNSS antenna 130 installed on the main boom can be installed on the second part of the main boom, as shown by Ant1 and Ant2 in Figure 2 or Figure 3 .

[0075] The reason is that during the operation of the engineering vehicle, the second part of the main boom moves with a smaller amplitude and is at a higher position relative to the first part. Installing the GNSS antenna 130 on the second part of the main boom makes the reception of satellite data more stable and can reduce occlusion, which is conducive to improving the accuracy of coordinate calculation. On the contrary, if the GNSS antenna 130 is installed on the first part of the main boom, assuming that the GNSS antenna 130 is installed perpendicular to the top of the first part, when the main boom moves to the position in Figure 2 , the orientation of the GNSS antenna 130 is almost towards the rear of the vehicle body. At this time, it is difficult for the GNSS antenna 130 to receive satellite signals in front of the vehicle body, which will have a negative impact on coordinate calculation.

[0076] It should be understood that it is not excluded to install the GNSS antenna 130 on the first part of the main boom, or to install GNSS antennas 130 on both the first part and the second part of the main boom.

[0077] In one implementation, if the GNSS antenna 130 includes a first antenna and a second antenna, the distance between the first antenna and the second antenna is greater than a distance threshold. Wherein, the distance between the two GNSS antennas 130 being greater than the distance threshold is conducive to accurately calculating the direction information of the engineering vehicle. For example, the distance threshold can be a preset value within the range of 0.5 m to 2 m.

[0078] Furthermore, if the number of GNSS antennas 130 exceeds two, it can be required that the distance between each pair of antennas is greater than the distance threshold.

[0079] In one implementation, the height of the GNSS antenna 130 exceeds the top of the robotic arm where it is located. For the case where the GNSS antenna 130 is originally installed at the top of the robotic arm, this requirement can be met. For the case where the GNSS antenna 130 is installed on the side of the robotic arm, the height of the antenna bracket can be adjusted to meet this requirement. For example, in Figure 2 Ant1 and Ant2's antenna bodies (circles) both exceed the top of the boom 230, which is conducive to avoiding the antenna being blocked by the boom 230 and affecting satellite signal reception.

[0080] The robotic arm of some engineering vehicles is driven by an oil cylinder above it. In one implementation, if there is an oil cylinder above the robotic arm, the height of the GNSS antenna 130 does not exceed the height of the oil cylinder on the robotic arm where it is located, which is conducive to improving the safety of the GNSS antenna 130. On the contrary, if the height of the GNSS antenna 130 exceeds the height of the oil cylinder on the robotic arm where it is located, it is easy to touch surrounding objects during the operation of the engineering vehicle, resulting in antenna damage, skew, or unstable data acquisition. For example, in Figure 2 Ant1 and Ant2's antenna bodies (circles) are both below the oil cylinder 270 above the boom 230.

[0081] The above-mentioned various factors that can be considered when installing the GNSS antenna 130 are mentioned. When specifically installing the GNSS antenna 130, one or more of these factors can be comprehensively considered. For example, for Figure 3 the three-section boom excavator 300, installing both Ant1 and Ant2 on the intermediate boom 340 is conducive to shortening the calculation path. However, it is not excluded that the intermediate boom 340 of some excavators 300 is relatively short and difficult to meet the requirement of the distance between the antennas. Therefore, as an alternative, Ant1 can also be installed on the intermediate boom 340 and Ant2 on the boom 330. However, installing the antennas on different moving booms will cause relative movement between Ant1 and Ant2, increasing the difficulty of coordinate calculation. Therefore, as an alternative, Ant1 and Ant2 can also be both installed on the boom 330.

[0082] Based on the above embodiments, the possible installation methods of the angle sensor 110 will be further introduced, which are divided into two cases:

[0083] A. For the installation methods (1), (2), and (3) of the above GNSS antenna 130, the angle sensor 110 can be installed in the following ways:

[0084] A1. Install two angle sensors 110

[0085] The first sensor is installed on the working tool of the engineering vehicle or on the connecting piece between the small arm and the working tool of the robotic arm, and the second sensor is installed on the small arm, such as at the top, side, back, etc. of the small arm.

[0086] Method A1 is mainly for the working mode where the small arm and the working tool of the engineering vehicle can move freely. At this time, the small arm and the working tool are two different rigid bodies, and the coordinates of specific parts of the working tool can be calculated in real time, so that the operator can be guided in real time during the operation.

[0087] In particular, the first angle sensor 110 can be installed on the connecting piece between the small arm and the working tool. In this installation method, even if the working tool is replaced, it is not necessary to reinstall the angle sensor 110, thus reducing the installation burden. Moreover, installing on the connecting piece is relatively not easy to contact other objects during the operation, which is beneficial to avoiding damage to the angle sensor 110.

[0088] For example, in Figure 2 , the black squares represent the angle sensors 110. There are a total of 2 angle sensors 110, namely Sensor1 and Sensor2. Among them, Sensor1 is installed on the connecting rod 250 between the small arm 240 and the bucket 260, and Sensor2 is installed on the side of the small arm 240. The connecting rod 250 belongs to one of the above-mentioned connecting pieces, and other connecting pieces such as tilters. According to different operation requirements, the bucket 260 of the excavator may need to be frequently replaced. For example, a wide bucket is used when pushing soil, and a narrow bucket is used when digging ditches. Installing Sensor1 on the connecting rod 250 will not be affected by the replacement of the bucket 260. Of course, the scheme of installing Sensor1 on the bucket 260 (such as the side or top of the bucket) is not excluded.

[0089] In addition, it should be pointed out that some connecting pieces, such as inside the tilter, have already preset the angle sensor 110. At this time, the construction guidance system 100 can directly use the data collected by this angle sensor 110 without additionally installing an angle sensor 110.

[0090] A2. Install one angle sensor 110

[0091] The angle sensor 110 is installed on the working tool of the engineering vehicle, or on the connecting piece between the forearm of the robotic arm and the working tool, or on the forearm.

[0092] Mode A2 is mainly for the working mode where the attitude of the working tool of the engineering vehicle is fixed (relative to the forearm). The operator adjusts the forearm to the angle determined during calibration based on the angle data collected by the angle sensor 110, and then the system can calculate the coordinates of a specific part of the working tool in combination with the calibration data. This mode is mainly used for purposes such as verification after the operation is completed.

[0093] In Mode A2, the forearm, the connecting piece, and the working tool can be regarded as a rigid body. Thus, compared with Mode A1, one angle sensor 110 can be saved. Obviously, since two angle sensors 110 are installed in Mode A1, it is also applicable to the working mode where the attitude of the working tool is fixed. However, some users do not need real-time construction guidance during the operation and only need to verify the operation result after the operation is completed. For these users, choosing a construction guidance system 100 with only one angle sensor 110 has a lower cost and is also more convenient to install and calibrate.

[0094] For example, for Figure 2 the two-section boom excavator 200 (the three-section boom excavator 300 can be analyzed similarly), after the operation is completed, it can enter the height measurement mode. The height measurement mode belongs to a mode where the attitude of the bucket 260 is fixed, and this mode is mainly used to measure the elevation value of a specific target. For example, when it is necessary to dig a 50 cm pit on the ground, after the operation is completed, it can be measured whether the bottom surface of the pit reaches a depth of 50 cm. If it reaches, the operation stops; if it does not reach 50 cm or exceeds 50 cm, it can be repaired.

[0095] In the height measurement mode, the excavator can be operated to turn the bucket 260 backward to the extreme position and fix it. Then, according to the angle data collected by the angle sensor 110, the forearm 240 is adjusted to 90° (relative to the ground). After that, the boom 230 can be operated to move until the tip 262 of the bucket 260 touches the target to be measured (such as the bottom surface of the pit). Then, the tip coordinates can be calculated, and further the elevation value (which belongs to a kind of construction guidance information) can be output. For example, the elevation value can be defined as the difference between the tip coordinates and the reference coordinates of the target to be measured.

[0096] It should be understood that in the above example, the bucket 260 can also be fixed in other attitudes, and the angle between the forearm 240 and the ground can also be other angles, as long as the fixed attitude of the bucket 260 and the angle of the forearm 240 are consistent with those during calibration, so that the parameters calculated during calibration can be used for actual elevation value measurement.

[0097] In summary mode A, the number of angle sensors 110 can be two or one. With fewer sensors, there is no need to install angle sensors 110 on the intermediate arm (if any), the boom, and the vehicle body of the construction vehicle, thus saving the system's assembly and calibration time and implementation costs.

[0098] In addition, in mode A, it is also allowed to reasonably select the number of angle sensors 110 according to the working mode of the construction vehicle, which is beneficial to expanding the system's applicable range and saving implementation costs.

[0099] It should be noted that in mode A, at most two angle sensors 110 are required to calculate the coordinates of a specific part of the working tool. However, in practice, it is also allowed to install more angle sensors 110. For example, some angle sensors 110 can be used as spares or for averaging to improve the coordinate calculation accuracy, but this will also increase the system cost.

[0100] B. For the above installation method (4) of the GNSS antenna 130, the angle sensor 110 can be installed as follows:

[0101] B1. Install three angle sensors 110

[0102] The first sensor is installed on the working tool of the construction vehicle or on the connecting piece between the small arm of the robotic arm and the working tool. The second sensor is installed on the small arm, and the third sensor is installed on the intermediate arm.

[0103] Mode B1 is mainly for the working mode in which the intermediate arm, small arm, and working tool of the construction vehicle can move freely. At this time, the working tool, small arm, and intermediate arm are three different rigid bodies, and the coordinates of a specific part of the working tool can be calculated in real time, so that the operator can be guided in real time during the operation.

[0104] Mode B1 can be analyzed similarly to mode A1, except that there is an additional third sensor on the intermediate arm compared to mode A1.

[0105] B2. Install two angle sensors 110

[0106] The first sensor is installed on the working tool of the construction vehicle, or on the connecting piece between the small arm of the robotic arm and the working tool, or on the small arm, and the second sensor is installed on the intermediate arm.

[0107] Mode B2 mainly targets the working mode where the posture of the working tool of the engineering vehicle is fixed (relative to the forearm). The operator adjusts the forearm and the intermediate arm to the angles determined during calibration based on the angle data collected by the first sensor and the second sensor. Then, the system can calculate the coordinates of a specific part of the working tool in combination with the calibration data. This mode is mainly used for purposes such as verification after the operation is completed.

[0108] In Mode B2, the forearm, the connecting piece, and the working tool can be regarded as a rigid body. Thus, compared with Mode B1, one angle sensor 110 can be saved. Obviously, in Mode B1, since three angle sensors 110 are installed, it is also applicable to the working mode where the posture of the working tool is fixed. However, some users do not need real-time construction guidance during the operation and only need to verify the operation results after the operation is completed. For these users, choosing the construction guidance system 100 with only two angle sensors 110 has a lower cost and is also more convenient for installation and calibration.

[0109] Mode B2 can be analyzed similarly to Mode A2, except that there is an additional second sensor on the intermediate arm compared with Mode A2.

[0110] Summarizing Mode B, the number of angle sensors 110 can be three or two. With fewer sensors, there is no need to install angle sensors 110 on the boom and the vehicle body, saving the system's assembly and calibration time and also reducing the implementation cost.

[0111] In addition, in Mode B, it is also allowed to reasonably select the number of angle sensors 110 according to the working mode of the engineering vehicle, which is beneficial to expanding the application scope of the system and saving the implementation cost.

[0112] It should be noted that in Mode B, at most three angle sensors 110 are required to calculate the coordinates of a specific part of the working tool. However, in practice, it is also allowed to install more angle sensors 110. For example, some angle sensors 110 can be used as spares or for taking the average value to improve the coordinate calculation accuracy, but this will also increase the system cost.

[0113] The embodiment of the present application also provides an engineering vehicle equipped with the construction guidance system 100 provided by the embodiment of the present application (including any of its implementation manners). Thus, the engineering vehicle can effectively guide the vehicle operator during construction, which is beneficial to improving the construction accuracy. Among them, the construction guidance system 100 can be installed on the engineering vehicle after it is manufactured, or can be built into the engineering vehicle during the manufacturing process. If the construction guidance system 100 is installed on the engineering vehicle after it is manufactured, it can also share some hardware with the engineering vehicle. For example, the system can also not include a display but directly connect to the display of the engineering vehicle itself.

[0114] An embodiment of the present application further provides a construction guidance system for an engineering vehicle, which is used to be installed on the engineering vehicle. The engineering vehicle includes a vehicle body and a robotic arm connected to the vehicle body. An operating tool is installed at one end of the robotic arm away from the vehicle body. The system includes: a GNSS antenna, an angle sensor, and a processing device; the GNSS antenna is installed on the boom part of the robotic arm and is circuit-connected to the processing device. The GNSS antenna is used to collect GNSS measurement data and send the GNSS measurement data to the processing device; wherein, the boom part includes at least one boom of the robotic arm; the angle sensor is installed on the working arm part of the robotic arm and is circuit-connected to the processing device. The angle sensor is used to collect the angle data of the mechanical component where it is located and send the angle data to the processing device; wherein, the working arm part is the part of the robotic arm extending from the boom part to the operating tool.

[0115] The processing device in the above system can calculate the coordinates of the designated part of the operating tool according to the GNSS measurement data and the angle data, and based on the coordinates, corresponding construction guidance information can be output to guide the operator of the engineering vehicle during construction. Of course, the processing device can also just receive the GNSS measurement data and the angle data and output them without performing subsequent calculations, or it can just output the calculated coordinates without generating other construction guidance information.

[0116] By installing a GNSS antenna and an angle sensor on the engineering vehicle, the above system respectively collects GNSS measurement data and angle data, and based on these data, the construction guidance for the vehicle operator can be completed, which is beneficial to improving the construction accuracy. The GNSS antenna and the sensor in the above system are both installed on the robotic arm and are relatively close to the operating tool, so it is beneficial to shorten the calculation path, reduce error accumulation, and improve the calculation accuracy when calculating the coordinates of the designated part of the operating tool. In addition, during the operation of the engineering vehicle, the movement amplitude of the boom part of the robotic arm relative to the working arm part is small and the position is high. Therefore, installing the GNSS antenna on the boom part is beneficial for the antenna to search for and receive satellite data more stably, thereby improving the accuracy of coordinate calculation. In addition, for some engineering vehicles with a small vehicle body size and insufficient space to install a GNSS antenna, the above system installs the GNSS antenna on the robotic arm, making the system have a wider application range.

[0117] An embodiment of the present application further provides an engineering vehicle installed with the above-mentioned construction guidance system for an engineering vehicle. The engineering vehicle can effectively guide the vehicle operator during construction, which is beneficial to improving the construction accuracy.

[0118] The above are only the embodiments of the present application and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, scheme combination, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A construction guidance system for an engineering vehicle, characterized in that: Used to be installed on an engineering vehicle, the engineering vehicle includes a vehicle body and a mechanical arm connected to the vehicle body, and a working tool is installed at one end of the mechanical arm away from the vehicle body. The system includes: a GNSS antenna, an angle sensor and a processing device; The GNSS antenna is installed on the boom part of the mechanical arm and is connected to the processing device circuit, and the GNSS antenna is used to collect GNSS measurement data and send the GNSS measurement data to the processing device; wherein the boom part includes at least one boom of the mechanical arm; The angle sensor is installed on the working arm part of the mechanical arm and is connected to the processing device circuit. The angle sensor is used to collect angle data of the mechanical part where it is located and send the angle data to the processing device; wherein the working arm part is the part of the mechanical arm extending from the boom part to the working tool; The processing device is used to calculate the coordinates of the designated part of the working tool according to the GNSS measurement data and the angle data, and output construction guidance information corresponding to the coordinates.

2. The construction guidance system for engineering vehicles according to claim 1, characterized in that: If the robotic arm is a two-section arm, the GNSS antenna is installed on the main arm of the robotic arm; if the robotic arm is a three-section arm, the GNSS antenna is installed on the middle arm of the robotic arm, or on the main arm of the robotic arm, or the first antenna of the GNSS antenna is installed on the middle arm of the robotic arm, and the second antenna of the GNSS antenna is installed on the main arm of the robotic arm.

3. The construction guidance system for engineering vehicles according to claim 2, characterized in that: The boom includes a first part and a second part, the first part is a part of the boom close to the vehicle body, and the second part is a part of the boom away from the vehicle body. The first part and the second part are connected by bending. If at least one GNSS antenna is installed on the boom, the at least one GNSS antenna is installed on the second part.

4. The construction guidance system for engineering vehicles according to claim 2, characterized in that: If the mechanical arm is a two-section arm, or if the mechanical arm is a three-section arm and at least one GNSS antenna is installed on the middle arm, the number of the angle sensors is two or one; If the number of the angle sensors is two, the first sensor of the angle sensors is installed on the working tool, or on a connecting piece between the forearm of the robot arm and the working tool, and the second sensor of the angle sensors is installed on the forearm; If the number of the angle sensor is one, the angle sensor is installed on the working tool, or on a connecting piece between the forearm of the robot arm and the working tool, or on the forearm.

5. The construction guidance system for engineering vehicles according to claim 2, characterized in that: If the mechanical arm is a three-section arm and the GNSS antenna is installed on the arm, the number of the angle sensors is three or two; If the number of the angle sensors is three, the first sensor of the angle sensors is installed on the working tool, or on a connecting piece between the forearm of the robot arm and the working tool, the second sensor of the angle sensors is installed on the forearm, and the third sensor of the angle sensors is installed on the intermediate arm; If the number of the angle sensors is two, the first sensor of the angle sensors is installed on the working tool, or on the connecting piece between the forearm of the robot arm and the working tool, or on the forearm, and the second sensor of the angle sensors is installed on the intermediate arm.

6. The construction guidance system for engineering vehicles according to claim 1, characterized in that: The GNSS antenna includes a first antenna and a second antenna, and a distance between the first antenna and the second antenna is greater than a distance threshold.

7. The construction guidance system for engineering vehicles according to claim 1, characterized in that: The height of the GNSS antenna does not exceed the height of the oil cylinder on the mechanical arm where the GNSS antenna is located.

8. The construction guidance system for engineering vehicles according to claim 1, characterized in that: The processing device includes a mobile display terminal.

9. The construction guidance system for engineering vehicles according to any one of claims 1 to 8, characterized in that: The engineering vehicle is an excavator, the working tool is a bucket, and the designated part is a bucket tip.

10. An engineering vehicle, characterized in that: An engineering vehicle construction guidance system according to any one of claims 1-8 is installed.

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