Perception positioning system of unmanned excavator

Abstract

The utility model discloses a sensing and positioning system of an unmanned excavator. The sensing and positioning system comprises an unmanned platform and a sensing mechanism arranged on an unmanned excavator body, the sensing mechanism comprises a pressure sensor which is arranged in a control platform of the unmanned excavator and used for sensing attitude information of the unmanned excavator; the tilt angle sensor is used for sensing the motion trail information of the excavator bucket; the laser radar is arranged at the top of the unmanned excavator and used for sensing peripheral information of the unmanned excavator and uploading and generating a grid map; the RGB cameras are arranged in multiple different directions of the unmanned excavator and used for monitoring surrounding scene information of the unmanned excavator in real time; and the communication gateway is used for uploading and receiving the information signals. According to the utility model, the traditional excavator has the basic conditions of unmanned technology such as 3D environment perception, real-time operation planning, intelligent detection and identification, high-precision motion control and the like through transformation.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned monitoring, and in particular relates to a sensing and positioning system for an unmanned excavator. Background Art

[0002] An excavator is an earth-moving machine that uses its bucket to dig up material above or below the surface and then load it onto a transport vehicle or unload it into a stockpile. Most current excavators are manually operated and powered by hydraulic systems. This approach presents numerous problems: 1. Low power utilization; 2. Operational difficulty, high technical requirements, and high workload; 3. Direct access to some hazardous environments is prohibited; 4. Limited field of view, requiring the operator to observe the environment visually.

[0003] With the development of science and technology, the rise of 5G and the Internet of Things (IoT) in recent years has led to the gradual development and improvement of remote control. This operation method can effectively solve the problem of construction in high-risk and hazardous environments, but it still faces the problem of strong dependence on manual labor. For example, in 2019, Huawei pioneered 5G drone excavation technology. However, this technology is similar to remote control of excavators. Workers in the machine room control the excavator remotely through 5G transmission technology, which is equivalent to separating the cab and the excavator, ensuring the safety of the operator. However, this type of technology requires high operator quality and still cannot completely solve the labor costs of excavators.

[0004] Therefore, the research on unmanned excavator control system is particularly necessary. Utility Model Content

[0005] The purpose of this utility model is to provide an unmanned excavator perception and positioning system, which, through transformation, enables traditional excavators to have the basic conditions for unmanned technologies such as 3D environmental perception, real-time operation planning, intelligent detection and identification, and high-precision motion control.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows:

[0007] A sensing and positioning system for an unmanned excavator includes an unmanned driving platform and a sensing mechanism arranged on the unmanned excavator body;

[0008] The sensing mechanism includes:

[0009] A pressure sensor is installed in the control platform of the unmanned excavator to sense the posture information of the unmanned excavator;

[0010] Inclination sensor, used to sense the bucket's motion trajectory;

[0011] LiDAR, installed on top of the unmanned excavator, is used to sense the surrounding information of the unmanned excavator and upload it to generate a grid map;

[0012] RGB cameras are installed at different locations on the unmanned excavator to monitor the surrounding scene information of the unmanned excavator in real time;

[0013] Communication gateway, used to upload and receive information signals.

[0014] Furthermore, the unmanned driving platform includes a traveling vehicle and an excavating mechanism arranged on the traveling vehicle, and the excavating mechanism includes a multi-section cantilever, a hydraulic cylinder system arranged on the cantilever, and a bucket controlled by the hydraulic cylinder system.

[0015] Furthermore, there are multiple inclination sensors, which are respectively arranged on the bucket and cantilever of the unmanned excavator to sense the rotation information of the bucket and cantilever respectively.

[0016] Furthermore, the sensing mechanism also includes a displacement sensor arranged in the hydraulic cylinder controlled by the unmanned excavator, which is used to monitor the telescopic distance information of the hydraulic cylinder and generate the motion trajectory information of the bucket together with the rotation information obtained by the inclination sensor.

[0017] Furthermore, the sensing mechanism also includes an RTK real-time differential positioning measuring instrument, which is arranged on the top of the unmanned excavator.

[0018] Furthermore, a mileage sensor is integrated into the traveling vehicle.

[0019] Compared with the existing technology, the advantages of the present invention are: First, the present invention provides support for automated machinery, thereby realizing unmanned automatic operation, which can ultimately greatly reduce labor input, greatly reduce labor intensity, reduce safety risks, and effectively reduce the impact of human factors on project quality and work efficiency, and have a positive impact on saving construction costs and controlling construction periods.

[0020] Secondly, different from the 5G remote control mode, the utility model establishes a perception system for the unmanned excavator, generates vehicle posture information and a grid map of the surrounding material piles, and facilitates the planning of the control unit to operate according to the latest environment.

[0021] Thirdly, the utility model sets up an inclination sensor and a displacement sensor to jointly sense the movement trajectory of the bucket and the cantilever during the excavation process, thereby achieving high-precision trajectory tracking and logistics excavation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a schematic diagram of the structure of the unmanned excavator sensing and positioning system provided by the utility model. Figure 1 .

[0024] Figure 2 This is a schematic diagram of the structure of the unmanned excavator sensing and positioning system provided by the utility model. Figure 2 .

[0025] Figure numerals: 1. bucket; 2. traveling vehicle; 3. lidar; 4. RTK real-time differential positioning measuring instrument; 5. RGB camera; 6. cantilever; 7. hydraulic cylinder; 8. tilt sensor. DETAILED DESCRIPTION

[0026] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0028] In the description of the present invention, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the utility model product is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In addition, the terms "first", "second", "third", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0030] Furthermore, the use of terms such as "horizontal," "vertical," and "overhanging" does not necessarily imply that the component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0031] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0032] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention can be combined with each other.

[0033] like Figure 1-Figure 2 As shown, a sensing and positioning system for an unmanned excavator includes an unmanned driving platform and a sensing mechanism arranged on the unmanned excavator body; the sensing mechanism includes: a pressure sensor, arranged in the control platform of the unmanned excavator, for sensing the posture information of the unmanned excavator; an inclination sensor 8, for sensing the motion trajectory information of the bucket 1; a laser radar 3, arranged on the top of the unmanned excavator, for sensing the surrounding information of the unmanned excavator and uploading it to generate a grid map; an RGB camera 5, arranged at multiple different positions of the unmanned excavator, for real-time monitoring of the scene information around the unmanned excavator; a communication gateway, for uploading and receiving information signals, and the communication gateway mainly adopts 5G communication technology.

[0034] Compared with the existing technology, in the existing technology, unmanned excavator technology mainly refers to the remote manual control of machinery through 5G communication technology. This type of technology requires staff to be in the machine room and control the excavator remotely through 5G transmission technology, which is equivalent to separating the cab and the excavator, ensuring the safety of the operator. However, this type of technology has high requirements for the quality of the operator and still cannot completely solve the labor cost of the excavator. In the present utility model, the production operation and management background adopted is based on the new unmanned operation system (AES) developed by the Robotics and Autonomous Driving Laboratory (RAL) team of Baidu Research Institute. On this basis, the wire control transformation of the excavator's automatic control is carried out according to the characteristics of the excavator. The unmanned operation system includes the Pangu AI core algorithm and the specific content of human-computer interaction, and can realize remote information interaction and information processing. The unmanned operation system belongs to the existing technology, and the applicant will not repeat it here.

[0035] The present invention addresses the characteristics of excavator operation by utilizing pressure sensors to detect changes in the unmanned excavator's posture, such as vehicle tilt. Furthermore, the laser radar 3 scans the vehicle's surroundings, uploading the scanned information via a communication gateway to generate a grid map. This creates a three-dimensional, real-time topographic map that is updated in real time based on changes in the excavated material.

[0036] Multiple tilt sensors are installed on the unmanned excavator's bucket 1 and boom 6, respectively, to sense the rotation of the bucket 1 and boom 6. The sensing mechanism also includes a displacement sensor within the unmanned excavator's control hydraulic cylinder 7, which monitors the extension and retraction distance of the hydraulic cylinder 7. This, combined with the rotation information captured by the tilt sensors, generates information about the bucket 1's motion trajectory. By installing tilt sensors at rotational locations such as the bucket 1 and boom 6, the present invention provides a foundation for multi-joint control and enables precise positioning of the bucket 1 and excavation operations through the coordination of the hydraulic cylinder 7.

[0037] The unmanned driving platform includes a traveling vehicle 2, an excavation mechanism disposed on the traveling vehicle 2, and the excavation mechanism includes a multi-section cantilever 6, a hydraulic cylinder 7 system disposed on the cantilever 6, and a bucket 1 controlled by the hydraulic cylinder 7 system. The traveling vehicle 2 is integrated with a mileage sensor.

[0038] The sensing mechanism also includes an RTK real-time differential positioning measuring instrument 4, which is arranged on the top of the unmanned excavator.

[0039] In actual use, the perception and positioning system provided by this utility model uses pressure sensors to acquire and upload vehicle posture information. Furthermore, a LiDAR 3 scans and uploads information about the material pile surrounding the vehicle to generate a grid map. The RGB camera 5 then monitors the surrounding scene in real time. This information is uploaded to the production operation and management backend via a communication gateway, where it is processed and used for decision-making and control of the unmanned excavator's operations. During operations, inclination sensors and displacement sensors control the excavation trajectory of the bucket 1.

[0040] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A sensing and positioning system for an unmanned excavator, comprising an unmanned driving platform, characterized in that: It also includes a sensing mechanism provided on the unmanned excavator body; The sensing mechanism includes: A pressure sensor is installed in the control platform of the unmanned excavator to sense the posture information of the unmanned excavator; An inclination sensor (8) for sensing the movement trajectory information of the bucket (1); A laser radar (3) is installed on the top of the unmanned excavator to sense the surrounding information of the unmanned excavator and upload it to generate a grid map; RGB cameras (5) are set at multiple different positions on the unmanned excavator to monitor the scene information around the unmanned excavator in real time; Communication gateway, used to upload and receive information signals.

2. The unmanned excavator sensing and positioning system according to claim 1, characterized in that: The unmanned driving platform comprises a traveling vehicle (2), an excavating mechanism arranged on the traveling vehicle (2), and the excavating mechanism comprises a multi-section cantilever (6), a hydraulic oil cylinder (7) system arranged on the cantilever (6), and a bucket (1) controlled by the hydraulic oil cylinder (7) system.

3. The unmanned excavator sensing and positioning system according to claim 1, characterized in that: There are multiple inclination sensors (8), which are respectively arranged on the bucket (1) and the boom (6) of the unmanned excavator and are used to sense the rotation information of the bucket (1) and the boom (6).

4. The unmanned excavator sensing and positioning system according to claim 1, characterized in that: The sensing mechanism also includes a displacement sensor disposed in the unmanned excavator control hydraulic cylinder (7), for monitoring the telescopic distance information of the hydraulic cylinder (7), and generating motion trajectory information of the bucket (1) together with the rotation information obtained by the inclination sensor.

5. The unmanned excavator sensing and positioning system according to claim 1, characterized in that: The sensing mechanism also includes an RTK real-time differential positioning measuring instrument (4), which is arranged on the top of the unmanned excavator.

6. The unmanned excavator sensing and positioning system according to claim 2, characterized in that: A mileage sensor is integrated into the traveling vehicle (2).

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