Excavator for high-precision slope excavation

Abstract

The utility model discloses a kind of excavators of high-precision side slope excavation, it is characterized in that, including excavator main body, data processing system, positioning system, attitude perception system, display control system;Data processing system includes Survey Mate software platform, for converting the technical parameter in road and side slope design drawing into adapted SP format;Positioning system includes high-precision positioning directional vehicle positioning terminal and measuring antenna;Attitude perception system includes multiple inclination sensors;Display control system includes cab display terminal and remote monitoring terminal;Measuring antenna is installed in the cab top of excavator main body, high-precision positioning directional vehicle positioning terminal is installed in the cab of excavator main body;The number of inclination sensor is four, including one double-axis inclination sensor and three single-axis inclination sensors, three single-axis inclination sensors are respectively installed on the boom, bucket stick and excavator bucket of excavator main body.

Description

Technical Field

[0001] This utility model belongs to the field of engineering equipment technology, and in particular relates to an excavator for high-precision slope excavation. Background Technology

[0002] In large-scale engineering projects, high slope excavation is a fundamental and crucial step, as its quality directly affects the stability and safety of subsequent structural elements, as well as the overall project's construction cycle and cost. With the rapid development of infrastructure construction in my country, large-scale water conservancy projects, transportation hubs, and mining operations are placing increasingly higher demands on the precision, efficiency, and safety of high slope excavation. High slope excavation not only requires strict adherence to design specifications to ensure that slope flatness, gradient, and depth meet engineering standards, but also must cope with the impact of complex terrain, severe weather, and other adverse factors. Therefore, it is highly dependent on construction techniques and control methods.

[0003] In related technologies, construction accuracy relies heavily on the excavator operator's personal experience and visual judgment, which is significantly affected by factors such as operator skill level, fatigue, and visibility conditions, making it difficult to guarantee the consistency and stability of construction accuracy. The surveying and setting-out process requires frequent on-site work by surveyors to mark opening lines and control points. This not only increases labor costs but also reduces construction efficiency due to the intermittent nature of the surveying, especially in inclement weather. Furthermore, the lack of real-time and accurate position feedback leads to frequent over-excavation and under-excavation. Over-excavation increases backfilling costs, while under-excavation requires secondary processing, increasing costs and delaying the project. In addition, in areas with obstructed visibility, such as at the bottom of deep foundation pits or at night, operators struggle to accurately judge the construction location and slope, resulting in compromised quality. When multiple excavators work together, the lack of a unified digital benchmark easily leads to problems such as discontinuous construction and uneven slopes. Although some existing excavator guidance systems have improved construction accuracy to some extent, they still have shortcomings such as low system integration, non-real-time and inaccurate data interaction, limited software functions, inability to fully utilize design data, poor adaptability to complex terrain and special design requirements, and lack of remote monitoring functions. These shortcomings make it difficult to meet the needs of efficient and precise construction for high slope excavation in large-scale projects.

[0004] Therefore, how to achieve a slope excavation control device with high-precision positioning, intelligent guidance, and real-time monitoring to improve construction efficiency, ensure construction quality, and reduce construction costs is a key issue of concern to those skilled in the art. Utility Model Content

[0005] To address the problems existing in the prior art, this utility model provides a high-precision slope excavation excavator. This device realizes a slope excavation control device with high-precision positioning, intelligent guidance, and real-time monitoring, so as to improve construction efficiency, ensure construction quality, and reduce construction costs.

[0006] To achieve the objectives of this utility model, the following technical solution is adopted: a high-precision slope excavator, comprising an excavator body 1, a data processing system 2, a positioning system 3, an attitude sensing system 4, and a display control system; the data processing system 2 includes the SurveyMate software platform, used to convert technical parameters in road and slope design drawings into a compatible SP format; the positioning system 3 includes a high-precision positioning and orientation vehicle-mounted positioning terminal and a measuring antenna; the attitude sensing system 4 includes multiple tilt sensors; the display control system includes a cab display terminal and a remote monitoring terminal;

[0007] The measuring antenna is installed on the top of the cab of the excavator body 1, and the high-precision positioning and orientation vehicle-mounted positioning terminal is installed in the cab of the excavator body 1; the number of tilt sensors is four, including one dual-axis tilt sensor and three single-axis tilt sensors. The dual-axis tilt sensor is installed on the slewing platform of the excavator body 1, and the three single-axis tilt sensors are respectively installed on the boom, stick and bucket of the excavator body 1.

[0008] The high-precision positioning and orientation vehicle-mounted positioning terminal is connected to the Survey Mate software platform, tilt sensor, and measurement antenna, respectively. The high-precision positioning and orientation vehicle-mounted positioning terminal is used to receive positioning and orientation data to achieve centimeter-level positioning accuracy.

[0009] The Survey Mate software platform includes a data conversion module, a project management module, a design data processing module, a real-time computing engine, and a communication interface module, which are used to implement the functions of importing the technical parameters, real-time location calculation, deviation analysis, and construction guidance.

[0010] Optionally, the excavator body 1 is a hydraulic excavator, including a chassis traveling mechanism, a slewing platform, a working device, a hydraulic system, a power system, a cab, and an electrical system. The working device includes a boom, a stick, and a bucket. The electrical system provides a power and signal interface for the intelligent control system.

[0011] Optionally, the design data processing module of the Survey Mate software platform is used to realize planar section design, longitudinal section design, standard cross section design, superelevation design and widening design; wherein, the planar section design functions include intersection method, line element method, coordinate method, and importing curve elements through five major pile files.

[0012] Optionally, the high-precision positioning and orientation vehicle-mounted positioning terminal has a positioning accuracy of ±1cm+1ppm for horizontal accuracy, ±2cm+1ppm for vertical accuracy, and an orientation accuracy better than 0.1°. It supports a data update rate of up to 50Hz and supports both radio differential and network differential modes.

[0013] Optionally, the measuring antenna is a choke antenna or a helical antenna, used to receive L1, L2, and L5 multi-band signals, with a protection level of IP67, and is installed using magnetic or bolt fixing.

[0014] Optionally, the dual-axis tilt sensor has a measurement range of ±30° and a measurement accuracy of 0.01°, and is used to measure the lateral and longitudinal tilt angles of the machine body; the single-axis tilt sensors all have a measurement accuracy of 0.01°, wherein the boom tilt sensor has a measurement range of -45° to +75°, the stick tilt sensor has a measurement range of -180° to +60°, and the bucket tilt sensor has a measurement range of -90° to +90°.

[0015] Optionally, the cab display terminal includes an industrial touch screen for real-time display of three-dimensional construction models, cross-section comparisons, over-excavation and under-excavation values, and guidance information, and to realize over-excavation early warning, equipment abnormality alarm, and boundary crossing alarm functions.

[0016] Optionally, the remote monitoring terminal can be connected to the high-precision positioning and orientation vehicle-mounted positioning terminal of other excavators via a network to realize real-time monitoring of the location and status of all operating equipment, automatic statistics of excavation volume and completion progress, generation of construction quality reports, and support for historical trajectory playback of the construction process.

[0017] Optionally, a reference station is also included, which wirelessly communicates with the high-precision positioning and orientation vehicle-mounted positioning terminal via radio or network to provide differential correction data for each excavator.

[0018] Optionally, the excavator is used to implement automatic guidance mode, manual control mode, semi-automatic mode, and teaching mode. When in automatic guidance mode, the system calculates the optimal digging path according to technical parameters and displays the position that the bucket should reach in real time.

[0019] Compared with the prior art, this utility model has the following advantages:

[0020] Design data is directly converted into machine-readable control commands via the SurveyMate software platform, avoiding errors caused by manual layout and experience-based judgment. Simultaneously, the collaborative work of a high-precision positioning and orientation vehicle-mounted terminal and multiple tilt sensors achieves centimeter-level positioning accuracy for the bucket, rather than relying on traditional visual estimation. A real-time visual guidance system allows operators to precisely control the excavation depth and angle of each scoop, effectively preventing over-excavation and under-excavation, and reducing rework rates. Furthermore, the device supports unified management and remote monitoring of multiple devices, achieving transparency and digitalization of the construction process. This not only improves construction efficiency but also significantly reduces reliance on operator skill levels, allowing even novices to quickly achieve high-quality slope excavation operations. Attached Figure Description

[0021] Figure 1 A schematic diagram of the structure of an excavator for high-precision slope excavation provided in an embodiment of this application;

[0022] In the diagram: Excavator body 1-1, data processing system 2-2, positioning system 3-3, attitude perception system 4-4, display control system 5. Detailed Implementation

[0023] To address the problems existing in the prior art, this utility model provides a high-precision slope excavation excavator. This device realizes a slope excavation control device with high-precision positioning, intelligent guidance, and real-time monitoring, so as to improve construction efficiency, ensure construction quality, and reduce construction costs.

[0024] The technical solutions of the present utility model will now be clearly and completely described with reference to the accompanying drawings of the embodiments thereof:

[0025] Please refer to Figure 1 , Figure 1 This is a structural schematic diagram of an excavator for high-precision slope excavation provided in an embodiment of this application.

[0026] In this embodiment, the device may include:

[0027] The excavator consists of: 1. Main body; 2. Data processing system; 3. Positioning system; 4. Attitude perception system; 5. Display control system. The data processing system 2 includes the Survey Mate software platform, used to convert technical parameters from road and slope design drawings into a compatible SP format. The positioning system 3 includes a high-precision positioning and orientation vehicle-mounted positioning terminal and a measurement antenna. The attitude perception system 4 includes multiple tilt sensors. The display control system 5 includes a cab display terminal and a remote monitoring terminal.

[0028] The measuring antenna is installed on the top of the cab of the excavator body 1, and the high-precision positioning and orientation vehicle-mounted positioning terminal is installed in the cab of the excavator body 1. There are four tilt sensors, including one dual-axis tilt sensor and three single-axis tilt sensors. The dual-axis tilt sensor is installed on the slewing platform of the excavator body 1, and the three single-axis tilt sensors are respectively installed on the boom, stick and bucket of the excavator body 1.

[0029] The high-precision positioning and orientation vehicle-mounted positioning terminal is connected to the Survey Mate software platform, tilt sensor, and measurement antenna, respectively. The high-precision positioning and orientation vehicle-mounted positioning terminal is used to receive positioning and orientation data and achieve centimeter-level positioning accuracy.

[0030] The SurveyMate software platform includes a data conversion module, a project management module, a design data processing module, a real-time computing engine, and a communication interface module, which are used to realize functions such as importing technical parameters, real-time location calculation, deviation analysis, and construction guidance.

[0031] The main body 1 of the excavator is a hydraulic excavator, including a chassis traveling mechanism, a slewing platform, a working device, a hydraulic system, a power system, a cab, and an electrical system. The working device includes a boom, a stick, and a bucket. The electrical system is a reserved power and signal interface for an intelligent control system.

[0032] The excavator body 1, serving as the platform for the entire system, requires a stable mechanical structure and standard installation interfaces. A hydraulic excavator was chosen because of its precise hydraulic control system, which enables accurate positioning and smooth movement of each joint, fundamental for achieving high-precision slope excavation.

[0033] The excavator body 1 may include:

[0034] The chassis running gear adopts a tracked design with a track width of 600-900mm and is equipped with an automatic tension adjustment system;

[0035] The slewing platform uses large slewing bearings with a diameter ≥2m, enabling 360° omnidirectional rotation;

[0036] The working device includes: boom, stick, and bucket;

[0037] The hydraulic system adopts load-sensitive proportional control technology, with a main pump flow rate ≥400L / min and a system pressure of 35MPa;

[0038] The cab adopts a ROPS / FOPS certified structure and has reserved space for the installation of intelligent systems;

[0039] The electrical system provides a 24V DC power supply and has a reserved CAN bus interface for data communication.

[0040] By adopting a standardized excavator body 1, the system's versatility and reliability are ensured; the precise hydraulic control system guarantees the smoothness and repeatability of the digging action; and the reserved interface design makes the installation of the intelligent system more convenient without affecting the original functions of the excavator.

[0041] The Survey Mate software platform's design data processing module is used to implement planar profile design, longitudinal profile design, standard cross-section design, superelevation design, and widening design. The planar profile design functions include the intersection method, line element method, coordinate method, and importing curve elements from five types of pile files.

[0042] Traditional construction relies on paper drawings and manual layout, which is inefficient and prone to errors. The Survey Mate software platform uses digital means to directly convert design data into machine-readable control commands, achieving seamless integration from design to construction.

[0043] Among them, Survey Mate is a newly launched road editing software by Hi-Target, which supports road break-line design, horizontal profile design, vertical profile design, standard cross-section design, superelevation design, widening design and slope design, and is compatible with import operations of multiple formats. In the office, the powerful interactive functions of the desktop computer are used to realize the rapid import, editing and saving of road design data, and in the field, the Hi-Survey handheld software is quickly loaded for construction layout.

[0044] The Survey Mate software platform may include:

[0045] Data conversion module: Converts CAD data, coordinate data, cross-sectional data, etc. in road and slope design drawings into SP format files that the system can recognize. The conversion process includes: coordinate system conversion; elevation datum conversion: realizes the conversion between different elevation datums; data format standardization: unifies design data from different sources into a standard format.

[0046] The project management module can handle processes including: Project creation: creating a new construction project and setting parameters such as basic project information, construction scope, and coordinate system; Construction unit division: dividing the overall project into multiple construction units according to the construction organization design for easy regional management; Database management: establishing a project database to store all design data, construction data, and historical records.

[0047] The data processing module can be designed to handle the following processes: Planar alignment processing: supporting multiple input methods for road planar alignment, including intersection method, line element method, and coordinate method, and automatically calculating curve elements; Longitudinal profile design: processing longitudinal profile slope change point data and calculating the design elevation for any mileage; Cross-section design: establishing a standard cross-section template library, supporting the use of different cross-section templates for different mileages; Superelevation and superwidth processing: performing precise calculations for superelevation transitions and widening transitions in curve segments; Slope design: setting slope rates at different heights, supporting multi-level slope and variable slope rate design.

[0048] The real-time computing engine can process the following steps: position calculation: calculate the three-dimensional coordinates of the bucket tip in real time based on GNSS positioning data and sensor data; deviation calculation: compare the actual position with the design position to calculate the over-excavation and under-excavation values; working face generation: dynamically generate a local working face model based on the current excavation position.

[0049] The communication interface module may include: a hardware interface for establishing communication connections with hardware devices such as positioning receivers and tilt sensors; a data protocol supporting standard data protocols such as NMEA and RTCM; and a network communication mechanism for enabling data interaction with a remote monitoring center. Beneficial effects include: eliminating errors from manual conversion through digital data processing and improving data processing efficiency; a modular software architecture facilitating functional expansion and maintenance; and a real-time computing engine ensuring the timeliness and accuracy of construction guidance.

[0050] Among them, the high-precision positioning and orientation vehicle-mounted positioning terminal has a horizontal accuracy of ±1cm+1ppm, a vertical accuracy of ±2cm+1ppm, an orientation accuracy better than 0.1°, a data update rate of up to 50Hz, and supports both radio differential and network differential modes.

[0051] High-precision spatial positioning is a prerequisite for accurate construction. GNSS differential positioning technology can be used to improve positioning accuracy from the meter level to the centimeter level, meeting the accuracy requirements of slope excavation.

[0052] The measurement antenna adopts a choke coil antenna design to effectively suppress multipath effects; the phase center stability is ≤2mm; it supports GPS L1 / L2, GLONASS G1 / G2, and BeiDou B1 / B2 / B3 frequency bands; and it is connected to the positioning terminal via a low-loss RF cable (loss ≤0.5dB / m).

[0053] Among them, the high-precision positioning and orientation vehicle-mounted positioning terminal has a built-in high-performance GNSS receiver board that supports 448 channels of parallel tracking; it adopts RTK differential technology to receive differential data from the base station or CORS network; the positioning calculation uses carrier phase observations to achieve centimeter-level accuracy; it integrates an inertial measurement unit (IMU) to provide attitude and orientation information; and it outputs NMEA format positioning data via Ethernet or serial port.

[0054] As can be seen, the high-precision positioning system 3 enables accurate determination of the excavator's position, with a positioning accuracy of ±1cm horizontally and ±2cm vertically; the fusion of multiple satellite systems improves the reliability and continuity of positioning; and the integrated orientation function provides a benchmark for the excavator's attitude calculation.

[0055] Among them, the measurement antenna is a choke coil antenna or a helical antenna, used to realize the reception of L1, L2 and L5 multi-band signals, with a protection level of IP67, and is installed by magnetic attraction or bolt fixing.

[0056] The dual-axis tilt sensor has a measurement range of ±30° and a measurement accuracy of 0.01°, and is used to measure the lateral and longitudinal tilt angles of the machine body. The single-axis tilt sensors all have a measurement accuracy of 0.01°, with the boom tilt sensor measuring range of -45° to +75°, the stick tilt sensor measuring range of -180° to +60°, and the bucket tilt sensor measuring range of -90° to +90°.

[0057] This is mainly because the excavator's working device is a multi-joint mechanism, and the precise position of the bucket cannot be determined solely by the machine's position information. By installing tilt sensors at each joint to measure the angles of each component in real time, and combining this with mechanical dimensional parameters, the three-dimensional coordinates of the bucket tooth tip can be accurately calculated.

[0058] The dual-axis tilt sensor uses the principle of MEMS gravity accelerometer; it simultaneously measures the tilt angle of the X-axis (lateral) and Y-axis (longitudinal); it has built-in temperature compensation and vibration filtering algorithms; and it outputs angle data at a frequency of 100Hz via CAN bus.

[0059] Among them, the single-axis tilt sensor adopts a high-precision magnetic encoder or capacitive sensor; the measuring axis is installed parallel to the joint rotation axis; each sensor is equipped with an independent signal processing circuit; the angle data is transmitted through RS485 bus and supports daisy chain connection.

[0060] It may also include data fusion processing, which may include: time synchronization of data from each sensor in the positioning terminal; attitude calculation using the quaternion method to avoid gimbal lock-up; and real-time calculation of the position vector of the bucket tip relative to the machine body.

[0061] It is evident that through the collaborative measurement of multiple sensors, precise perception of the excavator's working device's full attitude was achieved; the angle measurement accuracy ensured centimeter-level bucket positioning accuracy; and real-time data acquisition and processing provided the foundation for dynamic construction guidance.

[0062] The cab display terminal includes an industrial touch screen, which is used to display the three-dimensional construction model, cross-section comparison, over-excavation and under-excavation values, and guidance information in real time, and to realize over-excavation early warning, equipment abnormality alarm and boundary crossing alarm functions.

[0063] Among them, the remote monitoring terminal connects to the high-precision positioning and orientation vehicle-mounted positioning terminal of other excavators through the network, which is used to realize real-time monitoring of the location and status of all operating equipment, automatically count the excavation volume and completion progress, generate construction quality reports, and support the historical trajectory playback function of the construction process.

[0064] The main purpose is to provide operators with intuitive, real-time guidance information so they can accurately control the excavator. The display control system 5 transforms complex calculation results into easily understandable visual information, while also supporting remote monitoring to achieve transparent management of the construction process.

[0065] The driver's cab display terminal features a 10.1-inch industrial-grade touchscreen with a resolution of 1920×1200 and a brightness ≥1000 cd / m². 2

[0066] Among them, the remote monitoring terminal is based on a B / S architecture and supports access via a web browser; it displays the location and status of multiple devices in real time.

[0067] It is evident that the intuitive visual interface reduces the learning cost for operators and improves construction efficiency; real-time guidance information controls construction errors within ±3cm; and the remote monitoring function enables managers to promptly identify and correct problems, thereby improving project management.

[0068] This also includes a base station, which wirelessly communicates with the high-precision positioning and orientation vehicle-mounted positioning terminal via radio or network to provide differential correction data for each excavator.

[0069] The excavator is used to implement automatic guidance mode, manual control mode, semi-automatic mode and teaching mode. When in automatic guidance mode, the system calculates the optimal digging path according to technical parameters and displays the position that the bucket should reach in real time.

[0070] The control process of the excavator provided in this application will be described below through another specific embodiment.

[0071] By converting the relevant technical parameters in the road and slope design drawings into the SP format compatible with SurveyMate software, the coordinates required for construction, the coordinate projection parameters for road and slope control, and the relevant parameters for road horizontal and vertical profiles, as well as special superelevation and superwidth sections required for design, are all imported into the newly created project. Construction units are created and configured in the software. At the same time, a new receiver is created, and differential radio and network channel configuration are completed. The receiver is interconnected with the hardware on the equipment, including high-precision positioning and orientation vehicle-mounted positioning terminals, tilt sensors, and measuring antennas. Through the linkage of these three devices, precise control of the excavator construction is achieved, and precise control of the slope excavation ratio is realized.

[0072] The SurveyMate software imports road design routes and high slope excavation design drawings into the system. The software then uses the following methods to decompose and reorganize data elements, highlighting road horizontal and vertical profiles, as well as special superelevation and superwidth sections. This process may include:

[0073] First, create the project in SurveyMate software. Then, convert the route control coordinates in the road design file to SP format and import them into the coordinate parameter file of the new project. At the same time, enable the data import mode. Once enabled, a connection can be established with the platform to achieve data exchange.

[0074] The following methods are used for data analysis and import:

[0075] Plan and section design: intersection method, line element method, coordinate method, and importing curve elements through five major pile files;

[0076] Longitudinal profile design: The longitudinal profile design represents the elevation changes of the road.

[0077] Standard cross-section design: The cross-section design represents information such as slope changes at a certain mileage.

[0078] Superelevation design: Superelevation design can be implemented for some sections with gradient changes;

[0079] Widening design: Widening design can be carried out for some sections of the road where widening is required.

[0080] Among them, the high-precision positioning and orientation vehicle-mounted positioning terminal is installed in the excavator cab to provide timely feedback on the excavation status of the excavator. The terminal in the device can determine the over- or under-excavation status at any time.

[0081] The tilt sensor is installed on the excavation arm of the excavator. By measuring the tilt angle of the excavator, it can make timely judgments on the excavation situation and determine whether the excavation is carried out according to the designed slope ratio. It can also provide timely prompts to the excavator operator, enabling the operator to make precise adjustments to the excavation work.

[0082] Among them, the measuring antenna is installed on the top of the excavator cab, and works in conjunction with the high-precision positioning and orientation vehicle-mounted positioning terminal to detect the excavator's positioning and the excavation status of the section in advance, and displays it synchronously on the terminal device display screen in the excavator cab, guiding the excavator operator to control the excavator in advance to prepare for construction and positioning work.

[0083] Among them, single-axis and dual-axis tilt sensors are installed on the excavator's excavation arm to provide prompts and guidance to the excavator operator on the excavation opening and slope ratio. One sensor is installed on each of the excavator's operating arms.

[0084] Among them, the high-precision positioning and orientation vehicle-mounted positioning terminal is installed in the excavator's cab to display the excavator's working status and the excavation slope ratio.

[0085] Among them, the external measuring antenna is installed on the top of the excavator's cab to accurately position the excavator.

[0086] Furthermore, a method for applying a device for precisely controlling the accuracy of slope excavation includes the following steps:

[0087] Step 1: Convert the relevant technical parameters in the road and slope design drawings into SP format compatible with SurveyMate software. Import the coordinates required for construction, the coordinate projection parameters for road and slope control, and the relevant parameters for road horizontal and vertical sections, as well as special superelevation and superwidth sections required for design into the new project. Create a construction unit and configure the construction unit in the software. At the same time, create a new receiver, complete the differential conversion of the receiver radio and the differential conversion of the network channel. After the data is decomposed by the software, it is displayed on the terminal system display in the excavator cab. The design drawings and relevant technical parameters of the entire excavation area are realized in the cab.

[0088] Step 2: Fix the single-axis and dual-axis tilt sensors to the excavator's robotic arm by anchoring, and connect them to the excavator's power supply to ensure that the sensors start running simultaneously when the excavator starts. Connect the sensors installed on the boom and arm with induction wires to interconnect the tilt sensors and the terminal system in the cab to ensure that the tilt sensors work normally.

[0089] Step 3: Install the high-precision positioning and orientation vehicle-mounted positioning terminal inside the excavator cab and fix it to one side of the cab display screen to ensure that the machine operator can observe the slope excavation at any time.

[0090] Step 4: Install the external measuring antenna on the top of the excavator cab, ensure the power and signal lines are connected, and interconnect it with the positioning system 3, tilt sensor, and cab terminal sensing system installed on the top of the excavator, so that the whole system can operate smoothly and normally.

[0091] Step 5: Connect the sensors and positioning system 3 installed on the excavator to the terminal system. The slope excavation can be monitored in real time within the office terminal interconnection system. Parameters can be adjusted in a timely manner for problematic areas to ensure effective and precise control of the slope excavation and improve the project construction quality.

[0092] The above is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model based on the technical solution and its improved concept should be covered within the protection scope of the present utility model.

Claims

1. A high-precision slope excavation excavator characterized by, The system includes an excavator body, a data processing system, a positioning system, an attitude perception system, and a display control system. The data processing system includes the Survey Mate software platform, used to convert technical parameters in road and slope design drawings into a compatible SP format. The positioning system includes a high-precision positioning and orientation vehicle-mounted positioning terminal and a measurement antenna. The attitude perception system includes multiple tilt sensors. The display control system includes a cab display terminal and a remote monitoring terminal. The measuring antenna is installed on the top of the cab of the excavator body, and the high-precision positioning and orientation vehicle-mounted positioning terminal is installed in the cab of the excavator body; the number of tilt sensors is four, including one dual-axis tilt sensor and three single-axis tilt sensors. The dual-axis tilt sensor is installed on the slewing platform of the excavator body, and the three single-axis tilt sensors are respectively installed on the boom, stick and bucket of the excavator body; The high-precision positioning and orientation vehicle-mounted positioning terminal is connected to the Survey Mate software platform, tilt sensor, and measurement antenna, respectively. The high-precision positioning and orientation vehicle-mounted positioning terminal is used to receive positioning and orientation data to achieve centimeter-level positioning accuracy. The Survey Mate software platform includes a data conversion module, a project management module, a design data processing module, a real-time computing engine, and a communication interface module, which are used to implement the functions of importing the technical parameters, real-time location calculation, deviation analysis, and construction guidance.

2. The excavator of claim 1, wherein, The excavator body is a hydraulic excavator, including a chassis traveling mechanism, a slewing platform, a working device, a hydraulic system, a power system, a cab, and an electrical system. The working device includes a boom, a stick, and a bucket. The electrical system has reserved power and signal interfaces for an intelligent control system.

3. The excavator of claim 2, wherein, The design data processing module of the Survey Mate software platform is used to realize planar section design, longitudinal section design, standard cross section design, superelevation design and widening design; among them, the planar section design functions include intersection method, line element method, coordinate method, and importing curve elements through five major pile files.

4. The excavator according to claim 3, characterized in that, The high-precision positioning and orientation vehicle-mounted positioning terminal has a horizontal accuracy of ±1cm+1ppm, a vertical accuracy of ±2cm+1ppm, an orientation accuracy better than 0.1°, a data update rate of up to 50Hz, and supports both radio differential and network differential modes.

5. The excavator according to claim 4, characterized in that, The measurement antenna is a choke coil antenna or a helical antenna, used to receive L1, L2, and L5 multi-band signals, with a protection level of IP67, and is installed using magnetic or bolt fixing.

6. The excavator according to claim 5, characterized in that, The dual-axis tilt sensor has a measurement range of ±30° and a measurement accuracy of 0.01°, and is used to measure the lateral and longitudinal tilt angles of the machine body; the single-axis tilt sensors all have a measurement accuracy of 0.01°, with the boom tilt sensor having a measurement range of -45° to +75°, the stick tilt sensor having a measurement range of -180° to +60°, and the bucket tilt sensor having a measurement range of -90° to +90°.

7. The excavator according to claim 6, characterized in that, The cab display terminal includes an industrial touch screen, which is used to display three-dimensional construction models, cross-section comparisons, over-excavation and under-excavation values, and guidance instructions in real time, and to realize over-excavation early warning, equipment abnormality alarm, and boundary crossing alarm functions.

8. The excavator according to claim 7, characterized in that, The remote monitoring terminal connects to the high-precision positioning and orientation vehicle-mounted positioning terminal of other excavators via the network, and is used to realize real-time monitoring of the location and status of all operating equipment, automatic statistics of excavation volume and completion progress, generation of construction quality reports, and support for historical trajectory playback of the construction process.

9. The excavator according to claim 8, characterized in that, It also includes a reference station, which wirelessly communicates with the high-precision positioning and orientation vehicle-mounted positioning terminal via radio or network to provide differential correction data for each excavator.

10. The excavator according to claim 9, characterized in that, The excavator is used to implement automatic guidance mode, manual control mode, semi-automatic mode and teaching mode. When in automatic guidance mode, the system calculates the optimal digging path according to technical parameters and displays the position that the bucket should reach in real time.

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