Method for measuring posture of non-contact type excavator working device based on visual measurement

A working device and non-contact technology, applied in the field of visual measurement, can solve the problems of the automatic control system not running normally, low reliability, sensor damage, etc.

Inactive Publication Date: 2014-07-02
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology

The problem with the attitude information acquisition method is that during the digging operation of the excavator, the working device will inevitably collide with the soil, rocks, or other objects, resulting in violen

Method used

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  • Method for measuring posture of non-contact type excavator working device based on visual measurement
  • Method for measuring posture of non-contact type excavator working device based on visual measurement
  • Method for measuring posture of non-contact type excavator working device based on visual measurement

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specific Embodiment approach

[0036] figure 1 It is shown that a specific embodiment of the present invention is: a non-contact working device attitude measurement method based on vision measurement, comprising the following steps:

[0037] A. Arrangement of cameras and feature sheets:

[0038] The industrial camera 4 is installed on the excavator cab frame 5, the field of view of the industrial camera 4 covers the working device of the excavator from one side, and the USB interface of the industrial camera 4 is connected with the automatic control system of the excavator;

[0039] At the same time, two circular feature sheets 6 are pasted on the sides of the excavator arm 1, arm 2 and bucket 3 facing the industrial camera 4, and the surface of the feature sheet 6 is divided into four 90-degree fan-shaped areas, wherein the opposite Two fan-shaped areas are black areas 6a, and the other two relative fan-shaped areas are white areas 6b, so that the center point of the feature sheet 6 can be detected as a s...

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Abstract

Disclosed is a method for measuring the posture of a non-contact type excavator working device based on the visual measurement. A circular piece with obvious image saddle point characteristics is pasted on the working device to be used as a mark characteristic point, then an industrial camera on a cab machine frame is used for shooting an image of the excavator working device, a saddle point detection method is applied to online detecting all image saddle points, comprising the characteristic piece center points, on the image of the working device in real time, image saddle points of non-characteristic piece center points are filtered out through the distance between characteristic pieces, the inclined angles of components of the working device are obtained through the connecting line inclined angle between the characteristic piece center points, and therefore the posture of the working device is measured. According to the measuring method, the posture of the excavator working device can be dynamically measured, no easily-damaged and precise parts are arranged on the working device, the reliability of measurement and control over an excavator is improved, and the maintenance cost is reduced. The detection result is accurate, the calculation steps are few, the method is simple, the measured dynamic response speed is high, and the real-time performance is good.

Description

technical field [0001] The invention relates to a visual measurement method, in particular to a visual measurement-based posture measurement method for excavator working devices. technical background [0002] The hydraulic excavator is one of the construction machinery with the most typical functions, the most complex structure and the widest range of uses. As a mainstream product of construction machinery, it plays an extremely important role in the construction of industrial and civil buildings, transportation, water conservancy and electric power engineering, mining and military engineering. [0003] A typical single-bucket hydraulic excavator consists of three parts: working device, slewing platform and walking device. The working device is a component that directly completes the excavation task. It is composed of three parts: the boom, the stick, and the bucket. Boom hydraulic cylinder, stick hydraulic cylinder, bucket hydraulic cylinder. The operation of the excavat...

Claims

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Application Information

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IPC IPC(8): G01B11/26G01B11/00
Inventor 王海波邹海龙张如照
Owner SOUTHWEST JIAOTONG UNIV
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