Multi-section boom posture detecting system and method

Abstract

The invention discloses a multi-section boom posture detecting method. The multi-section boom posture detecting method comprises the following steps: (1) through triaxial acceleration sensors inside sensor modules arranged at the head end and the tail end of each boom section, respectively measuring acceleration values of corresponding end parts of the corresponding boom section in the X, Y and Z directions; (2) according to the acceleration values, obtaining the bending angle of each boom section and the included angle between two adjacent boom sections; (3) according to the bending angle and the included angle, obtaining excursion of the boom section due to deformation; (4) according to the excursion, obtaining spatial position coordinates of each boom node so as to achieve accurate detection on the posture of a boom. The invention further discloses a corresponding multi-section boom posture detecting system. Through the multi-section boom posture detecting system and the multi-section boom posture detecting method, the deformation quantity of each section of the boom can be detected so as to achieve continuous modification on the spatial position of the boom and complete accurate detection on the posture of the boom.

Description

technical field [0001] The invention belongs to the technical field of posture control and detection, and in particular relates to a posture detection system and method for a multi-section boom on operating equipment. Background technique [0002] There is usually a jib between the main body end and the working end of the working equipment. Especially when the space between the main body end and the working area is far away, a multi-section jib is required to facilitate remote operation and control. The multi-section boom is usually articulated and connected by a plurality of single arms in a relatively rotatable manner, and the position control of the working end of the end is realized by controlling the attitude and direction of each mechanical arm. [0003] When working equipment is working, there are usually two states of static working state and smooth moving state under normal working conditions, and some equipment may have motion states with other degrees of freedom. ...

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Problems solved by technology

[0007] However, there are obvious defects in the above-mentioned scheme. Firstly, due to the existence of the multi-section boom, the errors accumulated many times will lead to a large error in the final detection result; in addition, because the boom will deform when it is stressed, the multi-section The deformation of the boom will cause a large error in the position of the boom, and the above-mentioned detection system cannot detect the deformation of the single-section boom, so that the overall position detection accuracy of the boom is greatly reduced

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