Attitude measurement method of non-contact excavator working device based on vision measurement

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...

AI Technical Summary

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 violent vibrations, which can easily cause damage to the sensors installed on it, and eventually Cause the entire automation control system to fail to operate normally

System reliability is low and maintenance costs are high

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