CN109577413A - A kind of roadbed brush slope construction method and system - Google Patents
A kind of roadbed brush slope construction method and system Download PDFInfo
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- CN109577413A CN109577413A CN201811587766.9A CN201811587766A CN109577413A CN 109577413 A CN109577413 A CN 109577413A CN 201811587766 A CN201811587766 A CN 201811587766A CN 109577413 A CN109577413 A CN 109577413A
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- excavator
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- slope
- data processor
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- 238000010276 construction Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 claims abstract description 11
- 210000000245 forearm Anatomy 0.000 claims description 12
- 238000005516 engineering process Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001914 calming effect Effects 0.000 description 1
- 238000013499 data model Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of roadbed brush slope construction method and systems, roadbed brush slope construction method includes the following steps: that digital modeling, sharp spatial position of struggling against obtains, position compares and the construction of brush slope, roadbed brush slope construction system includes excavator ontology, it further include the inclination sensor, GPS receiver device and data processor being mounted on excavator ontology, the inclination sensor, GPS receiver device are connect with data processor respectively, and the data processor is connect with the power output end on excavator ontology.The present invention is according to the difference between the spatial position and roadbed brush slope base position of bucket point, control excavator-type shovel clamshell excavator is moved to roadbed brush slope base position, carry out the construction of brush slope, save surveying and locating work and a large amount of labour investment heavy in the method for conventional brush slope, operation rate of machinery is greatly improved simultaneously, construction efficiency is improved, the duration is shortened.
Description
Technical field
The present invention relates to subgrade construction fields, specially a kind of roadbed brush slope construction method and system.
Background technique
Traditional foundations brush slope mostly uses excavator mode to construct, manual measurement unwrapping wire supplementary means come control roadbed brush slope at
Type.Though by the practice of many years, roadbed formed precision, operation rate of machinery, construction cost and in terms of need to be mentioned
It is high.It constructs especially with skid pad and is unfolded on a large scale in China, the tilt angle of some skid pad Surfaces for High Speed circuits is excessive,
For super large inclined-plane road type, cause problems more prominent, such as the high-speed loop of Shanghai Volkswagen Automotive Company Ltd's construction
The 21% lateral one-way slope curved section that road is radius 1500m, carries out super large inclined-plane road according to Traditional foundations brush slope technology
Slope construction is brushed, construction efficiency and precision are difficult to meet construction requirement, therefore, how to improve roadbed formed precision, machinery utilization
Rate, construction cost and efficiency become urgent problem to be solved.
Summary of the invention
A kind of roadbed brush slope construction method, comprising:
According to subgrade construction parameter, digital terrain model corresponding with subgrade construction region, the digital terrain model are established
In include roadbed brush slope base position；
Utilize inclination sensing technology, GPS positioning and differential technique, the spatial position of real-time monitoring excavator bucket point；
By the excavator current time, the spatial position of bucket point is compared with roadbed brush slope base position, obtains bucket point
Spatial position and roadbed brush slope base position between difference；
According to the difference between the spatial position and roadbed brush slope base position of bucket point, it is mobile to control the excavator-type shovel clamshell excavator
To roadbed brush slope base position, the construction of brush slope is carried out.
Preferably, the digital terrain model is dem data model.
Preferably, the difference between the spatial position and roadbed brush slope base position of the bucket point is reflected with image format
On a display screen.
Preferably, the inclination sensing technology includes:
Installation data processor on board a dredger installs inclination sensor on excavator vehicle body and mechanical arm respectively；
The data that data processor collects inclination sensor transmission are calculated, and the space appearance of excavator-type shovel clamshell excavator bucket point is obtained
State information.
The spatial attitude information of excavator-type shovel clamshell excavator bucket point is compared with roadbed brush slope base position, obtains the road Dou Jianyu
Base brush slope base position difference.
Preferably, the GPS positioning and differential technique include:
GPS receiver is installed on the excavator, GPS Base Station is installed outside excavator；
The RTK differential data that the satellite-signal and GPS Base Station send to the GPS receiver is sent resolves, and obtains
The horizontal location WGS-84 coordinate of the excavator；
The horizontal location WGS-84 coordinate of the excavator is converted into engineering coordinate, the excavator is obtained and currently measures
Height value compares calculating with design altitude value, obtains excavator and brushes the difference between the position of slope.
A kind of roadbed brush slope construction system, including excavator ontology, including the inclination sensing being mounted on excavator ontology
Device, GPS receiver device and data processor, the inclination sensor, GPS receiver device are connect with data processor respectively, institute
Data processor is stated to connect with the power output end on excavator ontology；
GPS Base Station is provided with outside excavator ontology, the GPS Base Station and GPS receiver device are wirelessly connected；
The data processor is stored with digital terrain model corresponding with subgrade construction region.
Preferably, the quantity of the inclination sensor is at least 4, be separately mounted to the vehicle body of excavator ontology, large arm,
On forearm and bucket.
Preferably, the GPS receiver device includes the GPS antenna being mounted on excavator ontology and GPS receiver, described
GPS antenna, GPS receiver and data processor are sequentially connected.
Preferably, the data processor output end is connected with display.
Preferably, the data-link antenna connecting with GPS receiver device is provided on the excavator ontology.
Compared with prior art, the beneficial effects of the present invention are:
1, the present invention controls excavator-type shovel clamshell excavator according to the difference between the spatial position and roadbed brush slope base position of bucket point
Be moved to roadbed brush slope base position, carry out the construction of brush slope, save in the method for conventional brush slope heavy surveying and locating work and
A large amount of labour's investment, while operation rate of machinery is greatly improved, construction efficiency is improved, the duration is shortened.
2, the difference between the spatial position and roadbed brush slope base position of the bucket point is reflected in image format aobvious
It can be convenient manipulator's observation and operation in display screen.
3, the three-dimensional coordinate of excavator can be accurately positioned using GPS positioning and differential technique.
4, pass through the accurate space bit of inclination sensor, GPS receiver device and the available excavator bucket point of GPS Base Station
Confidence breath, and be compared with the digital terrain model stored in data processor, instruct manipulator to carry out digging slope operation.
5, inclination sensor is mounted on vehicle body, large arm, forearm and the bucket of excavator ontology accurately to incude
The spatial attitude information of excavator bucket point.
6, data processor output end is connected with the spatial position and roadbed brush slope base position that display can be sharp by bucket
Between difference reflected with image format, convenient for the operation and observation of manipulator.
7, the data-link antenna connecting with GPS receiver device is set up on excavator ontology can be enhanced GPS receiver device
Signal reception.
Detailed description of the invention
Fig. 1 is construction method flow chart of the present invention；
Fig. 2 is construction system connection schematic diagram of the present invention；
Fig. 3 is construction system scheme of installation of the present invention.
1- bucket inclination sensor, 2- forearm inclination sensor, 3- large arm inclination sensor, 4-GPS receiver, 5- data
Processor, 6- body sway sensor, 7-GPS antenna, 8- data-link antenna.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, providing a kind of roadbed brush slope construction method, include the following steps S1 to S4:
S1, according to subgrade construction parameter, establish digital terrain model corresponding with subgrade construction region, the digital terrain mould
It include roadbed brush slope base position in type；
Using DEM Triangulated irregular network model, detail design parameter or electronic data format drawing are imported into 3D-
In OFFICE software, software automatically generates digital elevation model (DigitalElevationModel, DEM), and detailed process is such as
Under:
S11, three-dimensional point or the click of input design parameter editor point user-defined format are imported using 3D-OFFICE really
It is fixed；
Point after S12, data importing is shown in software；
S13, DEM model data is formed；
S14, the formatted file used from 3D-OFFICE export site machinery signal processor, such as TN3 format.
S2, inclination sensing technology, GPS positioning and differential technique, the spatial position of real-time monitoring excavator bucket point are utilized；
Specifically, the detailed subdivided step of step S2 includes S21 to S24:
S21, on board a dredger installation data processor 5, installation inclination senses respectively on excavator vehicle body and mechanical arm
Device；
S22, integrated by the signal installed in data processor 5 and intelligent mechanic control software 3D-MC collects inclination and passes
The data of sensor transmission are calculated, and the spatial attitude information of excavator-type shovel clamshell excavator bucket point is obtained；
S23, GPS receiver 4 is installed on board a dredger, GPS Base Station is installed outside excavator；
The RTK differential data that the satellite-signal and GPS Base Station send to GPS receiver 4 is sent resolves, and is excavated
The horizontal location WGS-84 coordinate of machine；
S24, pass through the spatial attitude information of excavator-type shovel clamshell excavator bucket point and the horizontal location WGS-84 coordinate of excavator, acquisition
The spatial position of excavator bucket point.
S3, the spatial position of excavator current time bucket point is compared with roadbed brush slope base position, obtains bucket point
Spatial position and roadbed brush slope base position between difference；
Specifically, the detailed subdivided step of step S3 includes S31 to S32:
S31, using signal is integrated and intelligent mechanic control software 3D-MC, by the spatial attitude letter of excavator-type shovel clamshell excavator bucket point
Breath is compared with roadbed brush slope base position, obtains the difference of excavator-type shovel clamshell excavator bucket point and roadbed brush slope base position；
S32, the horizontal location WGS-84 coordinate of excavator is converted into engineering coordinate, obtains excavator and currently measures elevation
Value compares calculating with design altitude value, difference is obtained, in conjunction with the difference of excavator-type shovel clamshell excavator bucket point and roadbed brush slope base position
Value calculates excavator-type shovel clamshell excavator bucket point and brushes the real-time spatial disparity of slope position.
S4, according to the difference between the spatial position and roadbed brush slope base position of bucket point, control excavator-type shovel clamshell excavator is mobile
To roadbed brush slope base position, the construction of brush slope is carried out；
Specifically, 3D-MC is reused in step S4, according to the real-time empty of excavator-type shovel clamshell excavator bucket point in S3 and brush slope position
Between gap, control excavator-type shovel clamshell excavator be moved to roadbed brush slope base position, carry out brush slope construction.
The difference between spatial position and roadbed brush slope base position that the present embodiment passes through bucket point, control bucket are moved to
Roadbed brush slope base position carries out the construction of brush slope, saves in the method for conventional brush slope heavy surveying and locating work and a large amount of
Labour's investment, while operation rate of machinery is greatly improved, construction efficiency is improved, the duration is shortened.
It is also that the difference between the spatial position and roadbed brush slope base position of bucket point is anti-with image format in the present embodiment
It reflects on a display screen.By the way that the difference between the spatial position and roadbed brush slope base position of bucket point is reflected in image format
It can be convenient manipulator's observation and operation on display screen.
As shown in Figures 2 and 3, a kind of roadbed brush slope construction system, including excavator ontology is also disclosed in the present embodiment, including
Inclination sensor, GPS receiver device and the data processor 5 being mounted on excavator ontology, inclination sensor, GPS receiver dress
It sets and is connect respectively with data processor 5, data processor 5 is connect with the power output end on excavator ontology.
GPS Base Station is provided with outside excavator ontology, GPS Base Station and GPS receiver device are wirelessly connected；
Data processor 5 is stored with digital terrain model corresponding with subgrade construction region.
3D-MC software is installed, inclination sensor is three-axis sensor, including bucket inclination sensing in data processor 5
Device 1, forearm inclination sensor 2, large arm inclination sensor 3, body sway sensor 6, are separately mounted to the vehicle of excavator ontology
On body, large arm, forearm and bucket；Bucket inclination sensor 1 is mounted at the dog bone of bucket by mounting plate, and bucket inclination passes
1 center line of sensor and dog bone centerline parallel；Forearm inclination sensor 2 and large arm inclination sensor 3 pass through mounting plate respectively
Be mounted on forearm and large arm side, the center line of forearm inclination sensor 2 and large arm inclination sensor 3 respectively with forearm and large arm
The line of both ends connecting shaft is parallel；Body sway sensor 6 is mounted on vehicle body by mounting plate, 6 bottom of body sway sensor
Face is parallel with excavator ontology chassis.
Pass through the accurate spatial attitude of inclination sensor, GPS receiver device and the available excavator bucket point of GPS Base Station
Information, and be compared with the digital terrain model stored in data processor 5, instruct manipulator to carry out digging slope operation.
Preferably, the quantity of inclination sensor is at least 4, is separately mounted to vehicle body, large arm, the forearm of excavator ontology
On bucket.It can be more accurate on vehicle body, large arm, forearm and the bucket of excavator ontology by the way that inclination sensor to be mounted on
Induction excavator bucket point spatial attitude information.
Preferably, GPS receiver device includes the GPS antenna 7 being mounted on excavator ontology and GPS receiver 4, and GPS days
Line 7, GPS receiver 4 and data processor 5 are sequentially connected.
Preferably, 5 output end of data processor is connected with display.By display can by bucket point spatial position with
Difference between the base position of roadbed brush slope is reflected over the display with image format, and manipulator is facilitated to observe and operate.
Preferably, the data-link antenna 8 connecting with GPS receiver device is provided on excavator ontology.
The data-link antenna 8 connecting with GPS receiver device is set up on excavator ontology can be enhanced the letter of GPS receiver device
Number receive ability.
The working principle of this system: being integrated by the signal installed in data processor 5 and intelligent mechanic control software 3D-
MC is collected and is handled the data that inclination sensor transmits and calculated, and obtains the spatial attitude of the bucket bucket point on excavator ontology
Information, will bucket point spatial attitude information be compared with the roadbed brush slope base position of digital terrain model, obtain bucket point with
The difference of roadbed brush slope base position；Obtain satellite location data by GPS antenna 7 and GPS receiver 4, and using 3D-MC with
The differential data that GPS Base Station is sent is resolved, and the horizontal location WGS-84 coordinate of excavator ontology is obtained, by the water of excavator
A WGS-84 coordinate of calming down is converted to engineering coordinate, obtains excavator ontology and currently measures height value, with digital terrain model
Design altitude value compares calculating, obtains difference, in conjunction with the difference of bucket point and roadbed brush slope base position, calculate bucket point with
Brush the real-time spatial disparity of slope position；According to the real-time spatial disparity of bucket point and brush slope position, control bucket is moved to roadbed brush
Slope base position carries out the construction of brush slope.
Claims (10)
1. a kind of roadbed brush slope construction method characterized by comprising
According to subgrade construction parameter, digital terrain model corresponding with subgrade construction region is established, is wrapped in the digital terrain model
The slope of brush containing roadbed base position；
Utilize inclination sensing technology, GPS positioning and differential technique, the spatial position of real-time monitoring excavator bucket point；
By the excavator current time, the spatial position of bucket point is compared with roadbed brush slope base position, obtains the sky of bucket point
Between difference between position and roadbed brush slope base position；
According to the difference between the spatial position and roadbed brush slope base position of bucket point, controls the excavator-type shovel clamshell excavator and be moved to road
Base brush slope base position carries out the construction of brush slope.
2. roadbed brush according to claim 1 slope construction method, it is characterised in that: the digital terrain model is DEM number
According to model.
3. roadbed brush according to claim 1 slope construction method, it is characterised in that: by the spatial position and road of the bucket point
Difference between the base position of base brush slope is reflected on a display screen with image format.
4. roadbed brush according to claim 1 slope construction method, it is characterised in that: the inclination sensing technology includes:
Installation data processor on board a dredger installs inclination sensor on excavator vehicle body and mechanical arm respectively；
The data that data processor collects inclination sensor transmission are calculated, and the spatial attitude letter of excavator-type shovel clamshell excavator bucket point is obtained
Breath；
The spatial attitude information of excavator-type shovel clamshell excavator bucket point is compared with roadbed brush slope base position, obtains bucket point and roadbed brush
Slope base position difference.
5. roadbed brush according to claim 1 slope construction method, it is characterised in that: the GPS positioning and differential technique packet
It includes:
GPS receiver is installed on the excavator, GPS Base Station is installed outside excavator；
The RTK differential data that the satellite-signal and GPS Base Station send to the GPS receiver is sent resolves, and obtains described
The horizontal location WGS-84 coordinate of excavator；
The horizontal location WGS-84 coordinate of the excavator is converted into engineering coordinate, the excavator is obtained and currently measures elevation
Value compares calculating with design altitude value, obtains excavator and brushes the difference between the position of slope.
6. a kind of roadbed brush slope construction system, including excavator ontology, it is characterised in that: including being mounted on excavator ontology
Inclination sensor, GPS receiver device and data processor, the inclination sensor, GPS receiver device respectively with data processor
Connection, the data processor are connect with the power output end on excavator ontology；
GPS Base Station is provided with outside excavator ontology, the GPS Base Station and GPS receiver device are wirelessly connected；
The data processor is stored with digital terrain model corresponding with subgrade construction region.
7. roadbed brush according to claim 6 slope construction system, it is characterised in that: the quantity of the inclination sensor is at least
It is 4, is separately mounted on vehicle body, large arm, forearm and the bucket of excavator ontology.
8. roadbed brush according to claim 6 slope construction system, it is characterised in that: the GPS receiver device includes installation
GPS antenna and GPS receiver on excavator ontology, the GPS antenna, GPS receiver and data processor are sequentially connected.
9. roadbed brush according to claim 6 slope construction system, it is characterised in that: the data processor output end connection
There is display.
10. roadbed brush according to claim 6 slope construction system, it is characterised in that: be provided on the excavator ontology
The data-link antenna being connect with GPS receiver device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811587766.9A CN109577413A (en) | 2018-12-25 | 2018-12-25 | A kind of roadbed brush slope construction method and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811587766.9A CN109577413A (en) | 2018-12-25 | 2018-12-25 | A kind of roadbed brush slope construction method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112411663A (en) * | 2020-11-06 | 2021-02-26 | 徐州徐工挖掘机械有限公司 | Control method and control device for excavator and excavator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112411663A (en) * | 2020-11-06 | 2021-02-26 | 徐州徐工挖掘机械有限公司 | Control method and control device for excavator and excavator |
| CN112411663B (en) * | 2020-11-06 | 2022-06-03 | 徐州徐工挖掘机械有限公司 | Control method and control device for excavator and excavator |
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Effective date of registration: 20200428 Address after: 230041 Fuyang North Road, Luyang, Anhui, No. 434, No. Applicant after: THE FIRST ENGINEERING CO., LTD. OF CTCE Group Applicant after: CHINA TIESIJU CIVIL ENGINEERING GROUP Co.,Ltd. Address before: 230041 Fuyang North Road, Luyang, Anhui, No. 434, No. Applicant before: THE FIRST ENGINEERING CO., LTD. OF CTCE Group |
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Application publication date: 20190405 |