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Device and method for expanding operation range of dumping plough by using RTK technology
The invention discloses a device and method for enlarging the operation range of a dumping plough through the RTK technology. Comprising a control device, a discharging vehicle, a dumping plough lower vehicle, a receiving arm, a discharging arm and a limiting device used for limiting the operation range of the discharging vehicle, the dumping plough lower vehicle, the receiving arm and the discharging arm, and the limiting device is an RTK positioning device; the RTK positioning device comprises one RTK base station and five RTK moving stations; the five RTK moving stations are installed on the head portion of the discharging car, the tail portion of the discharging car, the dumping plough lower car, the receiving arm and the discharging arm respectively and output longitude and latitude height coordinates of control points on the five RTK moving stations respectively. The control device comprises a coordinate conversion module, a posture calculation module and an anti-collision limiting judgment module. The anti-collision limiting judgment module is provided with a large anti-collision threshold value based on the arrangement of the RTK positioning device, so that the working range of the dumping plough is expanded, and the problems that a traditional dumping plough rotation limiting switch is difficult to position, and part of the working range is lost are solved.
本发明公开了一种使用RTK技术扩大排土机作业范围的装置及方法。包括控制装置、卸料车、排土机下车、受料臂、排料臂以及用于限制卸料车、排土机下车、受料臂、排料臂作业范围的限位装置，限位装置为RTK定位装置；RTK定位装置包括1个RTK基准站以及5个RTK流动站；5个RTK流动站分别安装在卸料车头部、卸料车尾部、排土机下车、受料臂及排料臂并各自输出其上控制点的经纬高坐标。控制装置包括坐标转换模块、姿态计算模块以及防撞限位判断模块。防撞限位判断模块基于RTK定位装置的布置而配置了一个较大的防撞阈值，从而扩大了排土机作业范围，解决了传统排土机回转限位开关定位困难和损失部分作业范围的问题。
Device and method for expanding operation range of dumping plough by using RTK technology
The invention discloses a device and method for enlarging the operation range of a dumping plough through the RTK technology. Comprising a control device, a discharging vehicle, a dumping plough lower vehicle, a receiving arm, a discharging arm and a limiting device used for limiting the operation range of the discharging vehicle, the dumping plough lower vehicle, the receiving arm and the discharging arm, and the limiting device is an RTK positioning device; the RTK positioning device comprises one RTK base station and five RTK moving stations; the five RTK moving stations are installed on the head portion of the discharging car, the tail portion of the discharging car, the dumping plough lower car, the receiving arm and the discharging arm respectively and output longitude and latitude height coordinates of control points on the five RTK moving stations respectively. The control device comprises a coordinate conversion module, a posture calculation module and an anti-collision limiting judgment module. The anti-collision limiting judgment module is provided with a large anti-collision threshold value based on the arrangement of the RTK positioning device, so that the working range of the dumping plough is expanded, and the problems that a traditional dumping plough rotation limiting switch is difficult to position, and part of the working range is lost are solved.
本发明公开了一种使用RTK技术扩大排土机作业范围的装置及方法。包括控制装置、卸料车、排土机下车、受料臂、排料臂以及用于限制卸料车、排土机下车、受料臂、排料臂作业范围的限位装置，限位装置为RTK定位装置；RTK定位装置包括1个RTK基准站以及5个RTK流动站；5个RTK流动站分别安装在卸料车头部、卸料车尾部、排土机下车、受料臂及排料臂并各自输出其上控制点的经纬高坐标。控制装置包括坐标转换模块、姿态计算模块以及防撞限位判断模块。防撞限位判断模块基于RTK定位装置的布置而配置了一个较大的防撞阈值，从而扩大了排土机作业范围，解决了传统排土机回转限位开关定位困难和损失部分作业范围的问题。
Device and method for expanding operation range of dumping plough by using RTK technology
使用RTK技术扩大排土机作业范围的装置及方法
ZHANG JUE (author) / TIAN XIAOJIAN (author) / LIU LIFANG (author) / GUO YUNFEI (author) / ZHANG YONGMING (author) / YANG ZHE (author) / LI TIANYU (author) / WU MUDAN (author) / JIA ZEYI (author) / JIA YANCHANG (author)
2024-06-07
Patent
Electronic Resource
Chinese
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