Construction guidance system for engineering vehicle, and engineering vehicle

Abstract

Provided in the present disclosure are a construction guidance system for an engineering vehicle, and an engineering vehicle. The system is mounted on an engineering vehicle, and comprises a GNSS antenna, an angle sensor and a processing device, wherein the GNSS antenna is mounted on a boom portion of a robotic arm, is in circuit connection with the processing device, and is configured to collect GNSS measurement data and send same to the processing device; the angle sensor is mounted on an operating arm portion of the robotic arm, is in circuit connection with the processing device, and is configured to collect angle data of a mechanical component on which the angle sensor is located and send same to the processing device; and the processing device is configured to calculate the coordinates of a designated part of an operating tool on the basis of the GNSS measurement data and the angle data, and output construction guidance information corresponding to the coordinates. The system can be used to complete construction guidance for a vehicle operator, thereby facilitating an improvement in the construction accuracy; and the system has a high coordinate calculation precision and a wide application range.

Description

An engineering vehicle construction guidance system and engineering vehicle

[0001] Cross Reference to Related Applications

[0002] The present disclosure claims priority to the Chinese patent application No. 2024107275615, filed on June 5, 2024, entitled "An engineering vehicle construction guidance system and engineering vehicle", and the Chinese patent application No. 2024109638100, filed on July 17, 2024, entitled "An engineering vehicle construction guidance system and engineering vehicle", both of which are incorporated by reference in their entirety in the present disclosure. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of engineering machinery, in particular, to an engineering vehicle construction guidance system and engineering vehicle. BACKGROUND

[0004] Engineering vehicles refer to various types of vehicles specially designed and configured to perform engineering work, such as excavators, cranes, etc., which play an important role in the fields of construction, mining, road construction, water conservancy engineering, etc.

[0005] Traditional engineering vehicles mainly rely on the experience of the operating hand when performing construction, and it is difficult for an inexperienced operating hand or an operating hand unfamiliar with the vehicle condition to submit fine work results. For example, when using an excavator to trim the slope of a road or to level the land, the precision requirement may reach centimeter level, and the traditional work method that completely relies on human experience has been difficult to meet the increasingly improved construction requirements.

[0006] Some construction guidance systems have been developed on the market at present, which guide the operating hand through output prompt information, but the prompt information output by the existing systems is generally low in precision and cannot form effective guidance. SUMMARY

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

[0008] To achieve the above purpose, the present disclosure provides the following technical solutions:

[0009] In a first aspect, the embodiments of the present disclosure provide an engineering vehicle construction guidance system configured to be installed on an engineering vehicle, the engineering vehicle comprising a vehicle body and a mechanical arm connected to the vehicle body, an end of the mechanical arm away from the vehicle body being provided with a work tool, the system comprising: a Global Navigation Satellite System (GNSS) antenna, an angle sensor, and a processing device; the GNSS antenna being installed on a boom part of the mechanical arm and being connected to the processing device in an electrical circuit, the GNSS antenna being configured to collect GNSS measurement data and send the GNSS measurement data to the processing device; wherein the boom part comprises at least one boom of the mechanical arm; the angle sensor being installed on a work arm part of the mechanical arm and being connected to the processing device in an electrical circuit, the angle sensor being configured to collect angle data of the mechanical component where the angle sensor is located and send the angle data to the processing device; wherein the work arm part is a part of the mechanical arm extending from the boom part to the work tool; the processing device being configured to calculate coordinates of a specified part of the work tool according to the GNSS measurement data and the angle data, and output construction guidance information corresponding to the coordinates.

[0010] The system described above can complete construction guidance for the vehicle operator by installing the GNSS antenna and the angle sensor on the engineering vehicle, collecting GNSS measurement data and angle data respectively, and calculating coordinates of a specified part of the work tool based on the collected data, and finally outputting construction guidance information corresponding to the coordinates, thereby improving construction accuracy. In addition, the GNSS antenna and the sensor in the system described above are installed on the mechanical arm, which is relatively close to the work tool, thereby being beneficial to shorten the calculation path when calculating the coordinates of the specified part of the work tool, reducing error accumulation, improving the accuracy of coordinate calculation, and further improving the accuracy of construction guidance. In addition, during the operation of the engineering vehicle, the boom part of the mechanical arm has a small movement range and a high position relative to the work arm part, and therefore installing the GNSS antenna on the boom part is beneficial to more stable search and reception of satellite data by the antenna, thereby improving the accuracy of coordinate calculation. In addition, the size of the vehicle body of some engineering vehicles is small, and there is not enough space to install the GNSS antenna. The system described above installs the GNSS antenna on the mechanical arm, so that the system has a wider range of applications.

[0011] In an implementation form of the first aspect, if the mechanical arm is a two-section arm, the GNSS antennas are mounted on the large arm of the mechanical arm; if the mechanical arm is a three-section arm, the GNSS antennas are mounted on the intermediate arm of the mechanical arm, or mounted on the large arm of the mechanical arm, or a first of the GNSS antennas is mounted on the intermediate arm of the mechanical arm and a second of the GNSS antennas is mounted on the large arm of the mechanical arm.

[0012] In the implementation form described above, the construction guidance system can be adapted to a two-section arm engineering vehicle or a three-section arm engineering vehicle, and has a wide range of applications. For the two-section arm, the GNSS antennas are all mounted on the large arm, which is beneficial to shorten the calculation path as much as possible, reduce error accumulation, and improve the coordinate calculation accuracy. For the three-section arm, if the GNSS antennas are all mounted on the intermediate arm, it is also beneficial to shorten the calculation path as much as possible, reduce error accumulation, and improve the coordinate calculation accuracy, and since the GNSS antennas are mounted on the same arm section, there is no motion between them, and the coordinate calculation is relatively simple.

[0013] In an implementation form of the first aspect, the large arm comprises a first part and a second part, the first part is a part of the large arm close to the vehicle body, the second part is a part of the large arm away from the vehicle body, the first part and the second part are connected by bending, and if at least one GNSS antenna is mounted on the large arm, the at least one GNSS antenna is mounted on the second part.

[0014] During the operation of the engineering vehicle, the second part of the large arm has a smaller motion amplitude and a higher position relative to the first part, so that in the implementation form described above, the GNSS antennas are mounted on the second part of the large arm, which is more stable in receiving satellite data and can reduce occlusion, and is beneficial to improve the accuracy of coordinate calculation.

[0015] In an implementation form of the first aspect, 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 mounted on the intermediate arm, the number of angle sensors is two or one; if the number of angle sensors is two, a first of the angle sensors is mounted on the working tool or a connecting piece between the small arm of the mechanical arm and the working tool, and a second of the angle sensors is mounted on the small arm; if the number of angle sensors is one, the angle sensor is mounted on the working tool or the connecting piece between the small arm of the mechanical arm and the working tool, or mounted on the small arm.

[0016] In the above implementation manner, the number of angle sensors can be two or one, the number of sensors is less, and no angle sensor needs to be installed on the intermediate arm (if any), the large arm and the vehicle body, thereby saving the assembly and calibration time of the system and saving the implementation cost.

[0017] For the mode in which the small arm and the work tool can freely move, two angle sensors can be arranged, and the coordinates of the specific part of the work tool can be calculated in real time. In particular, one of the angle sensors can be installed on the connecting piece between the small arm and the work tool, and in this installation manner, the angle sensor does not need to be reinstalled even if the work tool is replaced, thereby reducing the installation burden, and the angle sensor installed on the connecting piece is less likely to contact other objects during operation, which is conducive to avoiding damage to the angle sensor.

[0018] For the mode in which the posture of the work tool is fixed, only one angle sensor can be arranged, the small arm is adjusted to the angle determined during calibration based on the angle data collected by the angle sensor, and then the system can combine the calibration data to calculate the coordinates of the specific part of the work tool. This mode is mainly configured for the purpose of verification after work is completed.

[0019] It can be seen that the above implementation manner also allows the number of angle sensors to be reasonably selected according to the working mode of the engineering vehicle, which is conducive to improving the application range of the system and saving the implementation cost.

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

[0021] In the above implementation manner, the number of angle sensors can be three or two, the number of sensors is less, and no angle sensor needs to be installed on the large arm and the vehicle body, thereby saving the assembly and calibration time of the system and saving the implementation cost.

[0022] For the mode that the intermediate arm, the small arm and the work tool can move freely, three angle sensors can be arranged, and the coordinates of the specific part of the work tool can be calculated in real time. In particular, one of the angle sensors can be arranged on the connecting piece between the small arm and the work tool, and in this arrangement, the angle sensor does not need to be re-installed even if the work tool is replaced, thereby reducing the installation burden, and the angle sensor arranged on the connecting piece is less likely to contact other objects during the operation, which is conducive to avoiding damage to the angle sensor.

[0023] For the mode that the posture of the work tool is fixed, only two angle sensors can be arranged, the intermediate arm and the small arm are adjusted to the angles determined during the calibration based on the angle data collected by the two angle sensors, and then the system can combine the calibration data to calculate the coordinates of the specific part of the work tool. This mode is mainly configured for the purpose of verification after the operation is completed.

[0024] It can be seen that the above implementation mode also allows the number of angle sensors to be reasonably selected according to the working mode of the engineering vehicle, which is conducive to improving the application range of the system and saving the implementation cost.

[0025] In an implementation mode 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 mode, the distance between the two GNSS antennas is greater than the distance threshold, which is conducive to accurately calculating the direction information of the engineering vehicle.

[0027] In an implementation mode of the first aspect, 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.

[0028] The mechanical arm of some engineering vehicles is driven by the oil cylinder above it. If the height of the GNSS antenna exceeds the height of the oil cylinder on the mechanical arm where the GNSS antenna is located, the antenna is likely to be damaged, skewed or unstable in data acquisition during the operation of the engineering vehicle. According to the above implementation mode, the safety of the GNSS antenna is relatively high.

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

[0030] In the above implementation mode, the mobile display terminal (for example, a tablet computer) is used as the processing device, which has a high degree of integration and is conducive to saving the implementation cost. Moreover, the mobile display terminal is relatively light and is conducive to the disassembly and assembly of the system.

[0031] In an implementation mode of the first aspect, the engineering vehicle is an excavator, the work tool is a bucket, and the specific part is the bucket tip. In an implementation mode of the first aspect, the engineering vehicle is an excavator, the work tool is a bucket, and the specific part is the bucket tip.

[0032] In the above implementation, the construction guidance system can be applied to excavators. By calculating the coordinates of the bucket tip of the excavator, it can guide the excavator operator during construction and improve the operating accuracy of the excavator.

[0033] Secondly, embodiments of this disclosure provide an engineering vehicle equipped with an engineering vehicle construction guidance system provided in the first aspect or any implementation thereof.

[0034] Because the aforementioned engineering vehicles are equipped with the construction guidance system provided in the first aspect or any implementation thereof, the vehicle operators can be effectively guided during construction, which helps to improve construction accuracy. The construction guidance system can be added to the engineering vehicle after it has been manufactured, or it can be built into the engineering vehicle during manufacturing. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments of this disclosure will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this disclosure and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 illustrates a possible structure of the construction vehicle guidance system provided in an embodiment of this disclosure;

[0037] Figure 2 illustrates one possible installation method of the engineering vehicle construction guidance system provided in this embodiment of the present disclosure on a two-section boom excavator;

[0038] Figure 3 illustrates one possible installation method of the engineering vehicle construction guidance system provided in this embodiment on a three-section boom excavator. Detailed Implementation

[0039] The technical solutions of the embodiments of this disclosure will now be described with reference to the accompanying drawings. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0040] The terms "comprise", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the phrase "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0041] The terms "first", "second", and the like are merely configured to distinguish one entity or operation from another entity or operation, and cannot be understood as indicating or implying relative importance, nor can be understood as requiring or implying any such actual relationship or order between the entities or operations.

[0042] FIG. 1 shows a possible structure of a construction guidance system provided by the embodiments of the present disclosure (hereinafter can be referred to as construction guidance system). Referring to FIG. 1, the construction guidance system 100 includes an angle sensor 110, a processing device 120, and a GNSS antenna 130, wherein the angle sensor 110 and the GNSS antenna 130 are both circuit-connected with the processing device 120, and in different implementations, 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 embodiments of the present disclosure, the circuit connection can include wired connection or wireless connection.

[0043] The construction guidance system 100 can be installed on an engineering vehicle to output construction guidance information for a vehicle operator to assist him / her to better operate the engineering vehicle to perform construction work. The engineering vehicle here includes a vehicle body and a mechanical arm. One end of the mechanical arm is connected to the vehicle body, and the other end is installed with a work tool. The mechanical arm includes two or more arm segments, and the mechanical arm is rotatably connected with the vehicle body, between the arm segments, and between the arm segments and the work tool.

[0044] Hereinafter, the construction guidance system 100 is mainly introduced by taking the case that the engineering vehicle is an excavator, but the engineering vehicle can also be other vehicles with a mechanical arm. The working tool of the excavator is a bucket, and the excavator mainly has two types: one is a two-section arm excavator, FIG. 2 shows a possible installation manner of the engineering vehicle construction guidance system 100 provided by the embodiment of the present disclosure on a two-section arm excavator 200, the mechanical arm of the two-section arm excavator 200 in FIG. 2 includes two arm sections, which are a small arm 240 close to the bucket 260 and a large arm 230 close to the vehicle body, wherein the large arm 230 is also called a swing arm; the other is a three-section arm excavator, FIG. 3 shows a possible installation manner of the engineering vehicle construction guidance system 100 provided by the embodiment of the present disclosure on a three-section arm excavator 300, the mechanical arm of the three-section arm excavator 300 in FIG. 3 includes three arm sections, which are a small arm 350 close to the bucket 370, a large arm 330 close to the vehicle body, and an intermediate arm 340 between the small arm 350 and the large arm 330, wherein the intermediate arm 340 and the large arm 330 are also called swing arms. Alternatively, the excavator can also be divided into a general excavator and a swing arm excavator, wherein the swing arm of the swing arm excavator can swing left and right, and of course the installation manner of the construction guidance system 100 is similar for the two types of excavators, so hereinafter the general excavator and the swing arm excavator are not distinguished, and still described from the perspective of the two-section arm excavator and the three-section arm excavator.

[0045] The mechanical arm can be divided into a swing arm part and a working arm part, the swing arm part includes at least one swing arm of the mechanical arm, and the working arm part is a part of the mechanical arm extending from the swing arm part to the working tool (which can include the working tool). For example, for the two-section arm excavator 200 in FIG. 2, the swing arm part includes the large arm 230, and the working arm part includes the small arm 240, the bucket 260, and the connecting rod 250 between the small arm 240 and the bucket 260. For the three-section arm excavator 300 in FIG. 3, there are different division manners: first, the swing arm part includes the large arm 330, and the working arm part includes the intermediate arm 340, the small arm 350, the bucket 370, and the connecting rod 360 between the small arm 350 and the bucket 370; second, the swing arm part includes the intermediate arm 340, and the working arm part includes the small arm 350, the bucket 370, and the connecting rod 360 between the small arm 350 and the bucket 370; third, the swing arm part includes the intermediate arm 340 and the large arm 330, and the working arm part includes the small arm 350, the bucket 370, and the connecting rod 360 between the small arm 350 and the bucket 370.

[0046] In the construction guiding system 100, the GNSS antenna 130 is installed on the boom portion of the mechanical arm, and specifically can be installed on the side or top (the top here does not include the oil cylinder that can be arranged above the arm section, because the installation on the oil cylinder is easy to contact external objects and damage the antenna) of the arm section contained in the boom portion. The GNSS antenna 130 is circuit-connected with the processing device 120, and if a wired connection is adopted, the connection line (not shown in FIG. 2 and FIG. 3) can be wired along the surface of the arm section of the mechanical arm to reduce the risk of damage to the line, and of course, it is not excluded that in some implementations, the mechanical arm internally reserves space for the construction guiding system 100 to wire, at which time the connection line can also be wired from the inside of the mechanical arm.

[0047] 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. The present disclosure does not limit the type of GNSS system, which can be a GPS system, a Beidou system, etc.

[0048] The angle sensor 110 is installed on the working arm portion of the mechanical arm, and specifically can be installed on the side, top (the top here does not include the oil cylinder that can be arranged above the arm section, because the installation on the oil cylinder is easy to contact external objects and damage the angle sensor 110) or bottom of the arm section contained in the working arm, or can be installed on the working tool, or can be installed on some connecting piece (see examples later). The angle sensor 110 is circuit-connected with the processing device 120, and if a wired connection is adopted, the connection line (not shown in FIG. 2 and FIG. 3) can be wired along the surface of the arm section of the mechanical arm, and of course, it is not excluded that in some implementations, the mechanical arm internally reserves space for the construction guiding system 100 to wire, at which time the connection line can also be wired from the inside of the mechanical arm.

[0049] The angle sensor 110 can collect angle data of the mechanical component where it is located and send the angle data to the processing device 120 for further processing. The mechanical component where the angle sensor 110 is located refers to the mechanical component where it is installed, for example, if the angle sensor 110 is installed on the small arm, the mechanical component here refers to the small arm, if the angle sensor 110 is installed on the working tool, the mechanical component here refers to the working tool, etc. The angle data can include attitude angle information of the mechanical component where the angle sensor 110 is located.

[0050] The angle sensor 110 can adopt a gyroscope, an inertial measurement unit (IMU), etc.

[0051] After receiving the GNSS measurement data and the angle data, the processing device 120 can calculate the coordinates of the specified part of the work tool according to the two kinds of data (and possibly in combination with other data, such as calibration data). The specified part can be any part of the work tool, for example, in FIG. 2, the specified part is the bucket tip 262 of the excavator bucket 260. The coordinates of the specified part can be three-dimensional coordinates in a certain spatial coordinate system, such as a world coordinate system, etc.

[0052] After calculating the coordinates, the processing device 120 can further output construction guidance information corresponding to the coordinates. The construction guidance information can have various possible contents: for example, the construction guidance information can be the coordinates of the specified part of the work tool itself; for another example, the construction guidance information can include the coordinates of the specified part of the work tool, and the reference coordinates of the work target, which can be located in the construction drawing, which can be previously imported into the processing device 120, or allowed to be designed directly on the processing device 120; for another example, the construction guidance information can include the coordinates of the specified part of the work tool, and the difference between the coordinates and the reference coordinates of the work target, etc.

[0053] The output method of the construction guidance information can be various, for example, it can be displayed on a display, or it can be broadcasted by a speaker, etc. The display and the speaker can be hardware of the processing device 120 itself, or hardware external to the processing device 120 (such as hardware of the engineering vehicle itself).

[0054] 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, which is circuit-connected with the GNSS antenna 130, responsible for calculating the position information and direction information of the engineering vehicle according to the GNSS measurement data collected by the GNSS antenna 130, and then sending them to the processor of the tablet computer, and the processor of the tablet computer calculates the coordinates of the specified part of the work tool according to the position information, the direction information and the angle data in combination with a specific algorithm. The implementation of such a 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 be replaced by other mobile display terminals, i.e. terminal devices that are easy to carry and have display and data processing functions, such as handheld devices.

[0055] For another example, the above-mentioned GNSS module can also be implemented as a separate device, such as a GNSS receiver, which is circuit-connected with the tablet computer, and after calculating the position information and the direction information, it sends them to the tablet computer, and the tablet computer internally calculates the coordinates of the specified part of the work tool by using the processor.

[0056] The processing device 120 can be a device that is self-provided by the engineering vehicle, such as a car machine device of the engineering vehicle itself, or can be an external device, such as a separate tablet computer (the engineering vehicle does not contain the tablet computer when manufactured), which can be installed on a support in the cab of the engineering vehicle, and the tablet computer is placed on the support, thereby providing construction guidance for the engineering vehicle that does not originally have the construction guidance function.

[0057] Briefly summarize the above construction guidance system 100, which installs GNSS antennas 130 and angle sensors 110 on the engineering vehicle, respectively collects GNSS measurement data and angle data, and calculates the coordinates of the specified part of the working tool based on the collected data, and finally outputs the construction guidance information corresponding to the coordinates, thereby completing the construction guidance for the vehicle operator, which is beneficial to improve the construction accuracy.

[0058] In addition, the GNSS antennas 130 and sensors in the above system are installed on the mechanical arm, which is close to the working tool, thereby shortening the calculation path when calculating the coordinates of the specified part of the working tool, reducing error accumulation, improving coordinate calculation accuracy, and thereby improving the accuracy of construction guidance.

[0059] In addition, during the operation of the engineering vehicle, the moving arm part of the mechanical arm has a small movement amplitude relative to the working arm part and is located at a high position, so installing the GNSS antenna 130 on the moving arm part is beneficial to the stability of the antenna, and the antenna can search and receive satellite data in a larger space range, thereby improving the accuracy of coordinate calculation.

[0060] In addition, some engineering vehicles have small body sizes and do not have enough space to install GNSS antennas 130 (especially considering the distance requirement between GNSS antennas 130, which will be described later), and the above system installs the GNSS antennas 130 on the mechanical arm of the engineering vehicle, so that the system has a wide range of applications. For example, referring to FIG. 2, a larger excavator includes a cabin 210 and a platform 220 behind the cabin 210, so in the comparative scheme, the GNSS antennas 130 can be installed on the platform 220, but a smaller excavator only has the cabin 210 without the platform 220, so the comparative scheme cannot install the GNSS antennas 130, but the scheme of the present disclosure does not have this problem, and is applicable to both large and small excavators.

[0061] Based on the above embodiments, the possible installation methods of the GNSS antennas 130 are introduced as follows, which are divided into four cases:

[0062] (1) For two-section arm engineering vehicles, the GNSS antennas 130 are all installed on the large arms of the mechanical arms, as shown in FIG. 2, and two 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 support, and the circle represents the antenna body.

[0063] The GNSS antennas 130 can be installed on the side or top of the large arm. If multiple GNSS antennas 130 are installed on the side of the large arm, the antennas can be located on the same side or on different sides (for the specific installation mode of the GNSS antennas 130 in (2), (3), and (4) below, refer to this place, and the description will not be repeated).

[0064] (2) For three-section arm engineering vehicles, the GNSS antennas 130 are all installed on the middle arms of the mechanical arms, as shown in FIG. 3.

[0065] (3) For three-section arm engineering vehicles, the first antenna of the GNSS antennas 130 is installed on the middle arm of the mechanical arm, and the second antenna of the GNSS antennas 130 is installed on the large arm of the mechanical arm. For case (3), if there are more GNSS antennas 130, they can be installed on the middle arm or the large arm.

[0066] (4) For three-section arm engineering vehicles, the GNSS antennas 130 are all installed on the large arms of the mechanical arms.

[0067] According to the above four cases, the construction guidance system 100 provided by the embodiments of the present disclosure can be adapted to two-section arm engineering vehicles or three-section arm engineering vehicles, and has a wide range of applications.

[0068] For the two-section arm case, the GNSS antennas 130 are all installed on the large arms (i.e., installed according to mode (1)), which is beneficial to shorten the calculation path as much as possible (as analyzed above, it is not appropriate to install the GNSS antennas 130 on the small arms or the front end), reduces error accumulation, and improves coordinate calculation accuracy. For the three-section arm case, if the GNSS antennas 130 are all installed on the middle arms (i.e., installed according to mode (2)), it is also beneficial to shorten the calculation path as much as possible, reduce error accumulation, and improve coordinate calculation accuracy. Furthermore, since the GNSS antennas are installed on the same arm section, there is no motion between them, and the coordinate calculation is relatively simple.

[0069] Optionally, the boom of some engineering vehicles can be divided into a first part and a second part, wherein the first part is the part of the boom close to the vehicle body, and the second part is the part of the boom away from the vehicle body, and the first part and the second part are connected by bending. Referring to FIG. 2, a dashed line is drawn in the middle of the boom 230, and the right side of the dashed line is the first part of the boom 230, and the left side of the dashed line is the second part of the boom 230. FIG. 3 is similar.

[0070] Considering the case that the boom of the mechanical arm is provided with at least one GNSS antenna 130, i.e., the above-mentioned cases (1), (3), and (4), the GNSS antenna 130 mounted on the boom can be mounted on the second part of the boom, as shown by Ant1 and Ant2 in FIG. 2 or FIG. 3.

[0071] The reason is that, in the working process of the engineering vehicle, the second part of the boom has a smaller movement range and a higher position relative to the first part. Mounting the GNSS antenna 130 on the second part of the boom can make the reception of satellite data more stable and reduce the shielding, which is conducive to improving the accuracy of coordinate calculation. Conversely, if the GNSS antenna 130 is mounted on the first part of the boom, assuming that the GNSS antenna 130 is mounted vertically on the top of the first part, when the boom moves to the position in FIG. 2, the direction of the GNSS antenna 130 is almost towards the rear of the vehicle body, at this time the GNSS antenna 130 will be difficult to receive satellite signals in front of the vehicle body, thereby negatively affecting the coordinate calculation.

[0072] It should be understood that the scheme of mounting the GNSS antenna 130 on the first part of the boom, or mounting the GNSS antenna 130 on both the first part and the second part of the boom, is not excluded.

[0073] In an implementation manner, 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 is greater than the distance threshold, which is conducive to accurately calculating the direction information of the engineering vehicle. For example, the distance threshold can be a certain preset value in 0.5m-2m.

[0074] Optionally, if the number of GNSS antennas 130 exceeds two, it can be required that the distance between each two antennas is greater than the distance threshold.

[0075] In an implementation, the GNSS antenna 130 is higher than the top of the mechanical arm where it is installed. For the case that the GNSS antenna 130 is originally installed on the top of the mechanical arm, this requirement can be met. For the case that the GNSS antenna 130 is installed on the side of the mechanical arm, this requirement can be met by adjusting the height of the antenna support. For example, in FIG. 2, the antenna bodies (circles) of Ant1 and Ant2 are both higher than the top of the large arm 230, which is beneficial to avoid the antenna being blocked by the large arm 230 and affecting the reception of satellite signals.

[0076] Some mechanical arms of engineering vehicles are driven by oil cylinders above them. In an implementation, if an oil cylinder is arranged above the mechanical arm, the height of the GNSS antenna 130 does not exceed the height of the oil cylinder above the mechanical arm where it is installed, which is beneficial to improve the safety of the GNSS antenna 130. Conversely, if the height of the GNSS antenna 130 exceeds the height of the oil cylinder above the mechanical arm where it is installed, the engineering vehicle is likely to hit surrounding objects during operation, resulting in damage, skew or unstable data collection of the antenna. For example, in FIG. 2, the antenna bodies (circles) of Ant1 and Ant2 are both below the oil cylinder 270 above the large arm 230.

[0077] The above mentioned various factors that can be considered when installing the GNSS antenna 130. In the specific installation of the GNSS antenna 130, one or more of the factors can be considered comprehensively. For example, for the three-section arm excavator 300 in FIG. 3, both Ant1 and Ant2 are installed on the middle arm 340, which is beneficial to shorten the calculation path, but does not rule out the case that the middle arm 340 of some excavator 300 is too short to meet the requirement of the distance between the antennas. Therefore, as an alternative, Ant1 can be installed on the middle arm 340 and Ant2 can be installed on the large arm 330. However, installing the antennas on different moving arms will cause relative motion between Ant1 and Ant2, which will increase the difficulty of coordinate calculation. Therefore, as an alternative, both Ant1 and Ant2 can be installed on the large arm 330.

[0078] Based on the above embodiments, the possible installation methods of the angle sensor 110 are introduced as follows, which are divided into two cases:

[0079] A. For the installation methods (1), (2) and (3) of the GNSS antenna 130 mentioned above, the angle sensor 110 can be installed as follows:

[0080] A1. Two angle sensors 110 are installed

[0081] The first sensor is installed on the working tool of the engineering vehicle or on the connecting piece between the small arm of the mechanical arm and the working tool, and the second sensor is installed on the small arm, such as the top, side or back of the small arm.

[0082] Mode A1 is mainly for the working mode that the arm and the working tool of the engineering vehicle can move freely, at this time the arm and the working tool are two different rigid bodies, the coordinates of the specific part of the working tool can be calculated in real time, so as to guide the operator in real time during the operation.

[0083] In particular, the first angle sensor 110 can be installed on the connecting piece between the arm and the working tool, in this installation mode, even if the working tool is replaced, the angle sensor 110 does not need to be reinstalled, thereby reducing the installation burden, and being installed on the connecting piece is relatively not easy to contact other objects during operation, which is conducive to avoiding damage to the angle sensor 110.

[0084] For example, in FIG. 2, the black square represents the angle sensor 110, a total of 2 angle sensors 110, which are Sensor1 and Sensor2, wherein Sensor1 is installed on the connecting rod 250 between the arm 240 and the bucket 260, and Sensor2 is installed on the side of the arm 240. The connecting rod 250 belongs to one of the above connecting pieces, and other connecting pieces such as a tilt are also included. According to different operation requirements, the bucket 260 of the excavator may need to be frequently replaced, such as a wide bucket for pushing soil and a narrow bucket for digging a trench. Sensor1 installed on the connecting rod 250 will not be affected by the replacement of the bucket 260. Of course, it is also not excluded that Sensor1 is installed on the bucket 260 (such as the side of the bucket, the top).

[0085] In addition, it should be pointed out that some connecting pieces, such as the tilt, already have a pre-installed angle sensor 110 inside, at this time the construction guidance system 100 can directly use the data collected by the angle sensor 110, without the need to additionally install an angle sensor 110.

[0086] A2. Install an angle sensor 110

[0087] The angle sensor 110 is installed on the working tool of the engineering vehicle, or installed on the connecting piece between the arm of the mechanical arm and the working tool, or installed on the arm.

[0088] Mode A2 is mainly for the working mode that the posture of the working tool of the engineering vehicle is fixed (relative to the arm), and the operator adjusts the arm to the angle determined during calibration based on the angle data collected by the angle sensor 110, and then the system can combine the calibration data to calculate the coordinates of the specific part of the working tool. This mode is mainly configured for the purpose of verification after the operation is completed.

[0089] In the mode A2, the arm, the connecting member and the work tool can be regarded as a rigid body, so that compared with the mode Al, one angle sensor 110 can be saved. Obviously, the mode Al is also applicable to the work mode in which the posture of the work tool is fixed, but some users do not need to guide the construction in real time during the work, but only need to check the work result after the work is completed. For these users, the construction guidance system 100 including only one angle sensor 110 is selected, which is lower in cost and more convenient to install and calibrate.

[0090] For example, for the two-section arm excavator 200 in FIG. 2 (the three-section arm excavator 300 can be analyzed similarly), the height measurement mode can be entered after the work is completed. The height measurement mode belongs to a mode in which the posture of the bucket 260 is fixed, and is mainly configured to measure the elevation value of a specific target. For example, a pit with a depth of 50 cm needs to be dug on the ground, and after the work is completed, it can be measured whether the ground at the bottom of the pit reaches the depth of 50 cm. If it reaches, the work is stopped. If it does not reach or exceeds 50 cm, it can be trimmed.

[0091] In the height measurement mode, the excavator can be operated to backflip the bucket 260 to the limit position and fix it, and then adjust the arm 240 to 90° (relative to the ground) according to the angle data collected by the angle sensor 110. Then the boom 230 can be operated to move until the bucket tip 262 of the bucket 260 contacts the target to be measured (such as the ground at the bottom of the pit), and then the bucket tip coordinates can be calculated to output the elevation value (which belongs to a kind of construction guidance information), such as the elevation value can be defined as the difference between the bucket tip coordinates and the reference coordinates of the target to be measured.

[0092] It should be understood that in the above example, the bucket 260 can also be fixed in other postures, and the angle of the arm 240 with the ground can also be other angles, as long as the fixed posture of the bucket 260 and the angle of the arm 240 are consistent with those during calibration, so that the parameters calculated during calibration can be configured as the actual elevation value measurement.

[0093] In summary, in the mode A, the number of angle sensors 110 can be two or one, and the number of sensors is small, so that the angle sensor 110 does not need to be installed on the intermediate arm (if any), the boom and the vehicle body of the engineering vehicle, thereby saving the assembly and calibration time of the system and saving the implementation cost.

[0094] In addition, in the mode A, the number of angle sensors 110 can be reasonably selected according to the work mode of the engineering vehicle, which is beneficial to improve the application range of the system and save the implementation cost.

[0095] It is noted that in Mode A, at most two angle sensors 110 are needed to calculate the coordinates of the specific part of the working tool, but in practice, more angle sensors 110 can be installed, for example, as a backup or configured to take the average to improve the accuracy of coordinate calculation, but this will also cause the system cost to rise.

[0096] B. For the installation mode (4) of the GNSS antenna 130 described above, the angle sensor 110 can be installed in the following manner:

[0097] B1. Install three angle sensors 110

[0098] The first sensor is installed on the working tool of the engineering vehicle, or on the connecting piece between the small arm of the mechanical arm and the working tool, the second sensor is installed on the small arm, and the third sensor is installed on the intermediate arm.

[0099] Mode B1 is mainly aimed at the working mode in which the intermediate arm, small arm and working tool of the engineering vehicle can move freely, at this time the working tool, small arm and intermediate arm are three different rigid bodies, and the coordinates of the 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.

[0100] Mode B1 can be analyzed similarly to Mode A1, except that a third sensor on the intermediate arm is added relative to Mode A1.

[0101] B2. Install two angle sensors 110

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

[0103] Mode B2 is mainly aimed at the working mode in which the working tool of the engineering vehicle is fixed in posture (relative to the small arm), and the operator adjusts the small arm and the intermediate arm to the angles determined during calibration based on the angle data collected by the first sensor and the second sensor, and then the system can calculate the coordinates of the specific part of the working tool in combination with the calibration data. This mode is mainly configured for the purpose of verification after the operation is completed.

[0104] In the mode B2, the small arm, the connecting piece and the work tool can be regarded as a rigid body, so compared with the mode B1, one angle sensor 110 can be saved. Obviously, the mode B1 is also applicable to the working mode in which the posture of the work tool is fixed, but some users do not need to guide the construction in real time during the work, but only need to check the work result after the work is completed. For these users, the construction guiding system 100 containing only two angle sensors 110 is selected, which is lower in cost and more convenient to install and calibrate.

[0105] The mode B2 can be analyzed similarly to the mode A2, except that a second sensor on the intermediate arm is additionally provided compared with the mode A2.

[0106] In summary, in the mode B, the number of angle sensors 110 can be three or two, and the number of sensors is small, and no angle sensor 110 needs to be installed on the large arm and the vehicle body, thereby saving the assembly and calibration time of the system and saving the implementation cost.

[0107] In addition, in the mode B, the number of angle sensors 110 can be reasonably selected according to the working mode of the engineering vehicle, which is beneficial to improve the application range of the system and save the implementation cost.

[0108] It should be noted that in the mode B, at most three angle sensors 110 are needed to calculate the coordinates of the specific part of the work tool, but in practice, more angle sensors 110 can also be installed, for example, some angle sensors 110 are used as backup or configured to take the average to improve the coordinate calculation accuracy, but this will also cause the system cost to rise.

[0109] The embodiments of the present disclosure also provide an engineering vehicle, which is installed with the construction guiding system 100 (including any one of the implementation manners thereof) provided by the embodiments of the present disclosure, so that the engineering vehicle can effectively guide the vehicle operator during construction, which is beneficial to improve the construction accuracy. The construction guiding system 100 can be added to the engineering vehicle after the engineering vehicle is manufactured, or can be built into the engineering vehicle when the engineering vehicle is manufactured. If the construction guiding system 100 is added to the engineering vehicle, a part of hardware can also be shared with the engineering vehicle, for example, the system can also not include a display, but directly connects the display of the engineering vehicle itself.

[0110] The above only describes the embodiments of the present disclosure and does not limit the protection scope of the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, scheme combination, improvement, etc. within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure. Industrial applicability

[0111] With the above scheme, the engineering vehicle is provided with the engineering vehicle construction guiding system, so that the vehicle operator can be effectively guided during construction, and the construction precision is improved. The construction guiding system can be added to the engineering vehicle after the engineering vehicle is manufactured, or can be built into the engineering vehicle during the manufacturing of the engineering vehicle.

Claims

1. An engineered vehicle work guidance system characterized by, The system is configured to be installed on an engineering vehicle, the engineering vehicle comprising a vehicle body and a mechanical arm connected to the vehicle body, an end of the mechanical arm away from the vehicle body being provided with a working tool, the system comprising: a GNSS antenna, an angle sensor and a processing device; The GNSS antenna is installed on a boom part of the mechanical arm and is connected to the processing device in circuit, the GNSS antenna being configured to collect GNSS measurement data and send the GNSS measurement data to the processing device; wherein the boom part comprises at least one boom of the mechanical arm; The angle sensor is installed on a working arm part of the mechanical arm and is connected to the processing device in circuit, the angle sensor being configured to collect angle data of the mechanical component where the angle sensor is located and send the angle data to the processing device; wherein the working arm part is a part of the mechanical arm extending from the boom part to the working tool; The processing device is configured to calculate coordinates of a specified 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 work vehicle work guidance system of claim 1, wherein, If the mechanical arm is a two-section arm, the GNSS antenna is installed on a large arm of the mechanical arm; if the mechanical arm is a three-section arm, the GNSS antenna is installed on an intermediate arm of the mechanical arm, or installed on a large arm of the mechanical arm, or a first antenna of the GNSS antenna is installed on the intermediate arm of the mechanical arm, and a second antenna of the GNSS antenna is installed on the large arm of the mechanical arm.

3. The work vehicle work guidance system of claim 2, wherein, The large arm comprises a first part and a second part, the first part being a part of the large arm close to the vehicle body, the second part being a part of the large arm away from the vehicle body, the first part and the second part being connected by bending, and if at least one GNSS antenna is installed on the large arm, the at least one GNSS antenna is installed on the second part.

4. The work vehicle work guidance system of claim 2, wherein, 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 intermediate arm, the number of angle sensors is two or one; If the number of angle sensors is two, a first sensor of the angle sensors is installed on the working tool, or installed on a connecting piece between a small arm of the mechanical arm and the working tool, and a second sensor of the angle sensors is installed on the small arm; If the number of angle sensors is one, the angle sensor is installed on the working tool, or installed on a connecting piece between a small arm of the mechanical arm and the working tool, or installed on the small arm.

5. The work vehicle work guidance system of claim 2, wherein, If the mechanical arm is a three-section arm and the GNSS antenna is installed on the large arm, the number of angle sensors is three or two; If the number of angle sensors is three, a first of the angle sensors is mounted on the work tool, or on a connecting member between a small arm of the robot arm and the work tool, a second of the angle sensors is mounted on the small arm, and a third of the angle sensors is mounted on the intermediate arm. If the number of angle sensors is two, a first of the angle sensors is mounted on the work tool, or on a connecting member between a small arm of the robot arm and the work tool, or on the small arm, and a second of the angle sensors is mounted on the intermediate arm.

6. The work vehicle work guidance system of claim 1, wherein, The GNSS antenna comprises a first antenna and a second antenna, a distance between the first antenna and the second antenna is greater than a distance threshold.

7. The work vehicle work guidance system of claim 1, wherein, A height of the GNSS antenna is not more than a height of a cylinder on a robot arm where the GNSS antenna is located.

8. The work vehicle work guidance system of claim 1, wherein, The processing device comprises a mobile display terminal.

9. The work vehicle work guidance system of any of claims 1-8, wherein, The engineering vehicle is an excavator, the work tool is a bucket, and the specified part is a bucket tip.

10. An engineering vehicle characterized by, The engineering vehicle construction guidance system of any one of claims 1-9 is installed.

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