基于挖掘机 GNSS 精确定位的开采姿态监测系统

摘要

By analysis of GNSS high precision locating,working principle of the angle sensor and study of the motions of hydraulic excavator working device,use of GNSS antenna installation at the tail of excavator,angle sensor on cab top,boom and bucket rod,GNSS high precision positioning,vehicle body attitude determination, kinematics problem solving techniques and algorithms were written to the program,precise localization of the excavator and work device posture monitoring were completed.System based on excavator real-time accurate and reliable positioning and attitude control,combined with the digitization of geological and geographic information, and mining guidance is realized,including target position,position of bucket,orebody information below bucket the current position,stope boundary.The test results indicate the monitoring accuracy of the excavator is high,and the mining guidance system based on the posture monitoring of the excavator has a broad application prospect.%通过对 GNSS 高精度定位、角度传感器工作原理的分析及液压挖掘机工作装置运动的研究，利用安装在挖掘机尾部 GNSS 天线，驾驶室顶部、斗杆以及动臂处的角度传感器，将 GNSS 高精度定位、车体姿态测定、运动学问题求解技术与算法写入到程序中，完成了整个挖掘机的精确定位和工作装置的姿态监测。系统基于挖掘机实时可靠的定位和工作姿态监控，结合矿体地质地理信息数字化，实现采矿引导，包括目标采场位置、铲斗位置、铲斗当前位置下方矿体信息以及采场边界等图形化显示。测试结果表明，挖掘机姿态监测精度高，基于挖掘机姿态监测的采矿引导系统具有较为广阔的应用前景。