挖掘机北斗高精度自动定位和引导方法

Automatic Positioning and Guidance Method for Excavator Based-on Beidou High-Precision

摘要:

对挖掘机行走机构和工作装置进行高精度定位，能够实现挖掘机自动跟踪和引导，提高作业效率、优化作业效果、降低工作损耗。以北斗高精度接收机和定位天线为主，配合角度传感器和车载计算机，组成一种高精度定位系统，可实现挖掘机自动跟踪和引导。同时，通过对方法运行过程进行流程化概括和讨论，介绍设备总体定位、运动姿态分析、坐标转换等详细算法，并在软件程序中予以实现。系统在某矿山挖掘机进行测试并于传统方法对比，证明本方法在挖掘机行走机构和工作装置高精度定位中的效力和适用性。

Abstract:

Automatic tracking and guidance for excavator should be realized by high-precision positioning on the walking mechanism and working device, which can improve the working efficiency, optimize the working effect, and reduce the work loss. Based on the user receiver and antennas of Beidou high-precision, a high-precision positioning system is formed to realize automatic tracking and guidance of the excavator assisted with the angle sensor and the on-board computer. Through the summarization and discussion of running process, detailed algorithms including overall positioning of the equipment, analysis of motion posture, and coordinate transformation are introduced and implemented in the software program. The system has been tested in a mine excavator and compared with traditional methods used to prove the effectiveness and applicability of this method in high-precision positioning of excavator walking mechanism and working device.