Excavator work device measuring method based on monocular camera

A technology of a working device and a measuring method, which is applied in the field of excavator working device measurement based on a monocular camera, can solve the problems of large amount of data, poor dynamic response, etc., and achieves a high degree of automation, low cost, and reasonable selection of measurement positions. Effect

Inactive Publication Date: 2018-05-08
NANJING UNIV OF TECH +1
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Problems solved by technology

[0004] Aiming at the deficiencies in the measurement of the position and orientation of the excavator by the contact sensor and the defects of large data volume and poor dynamic response of visual measurement schemes such as laser radar, the present invention proposes a method for measuring the working device of the excavator based on a monocular camera

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  • Excavator work device measuring method based on monocular camera
  • Excavator work device measuring method based on monocular camera
  • Excavator work device measuring method based on monocular camera

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Embodiment Construction

[0042] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0043] refer to figure 1 , the vision-based equipment for measuring the pose of an excavator working device includes an excavator 1 , a signboard 2 , a camera 3 , a pan-tilt tripod 4 , a notebook computer 5 and a total station 6 .

[0044] The camera 3 is arranged on the tripod 4 of the cloud platform, and the platform should have a spirit level function to ensure the level of the camera. The placement of the camera 3 should pay attention to the following two points: (1) the vertical distance from the working device of the excavator is 4m to 5m, preferably 4.5m; (2) the optical axis of the camera 3 should be perpendicular to the plane where the working device of the excavator works (measurement plane ). The camera 3 is electrically connected with the notebook computer 5 to realize real-time data transmission. The images captured by the camera 3 are p...

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Abstract

The invention discloses an excavator work device measuring method based on a monocular camera. The method comprises the following steps of step1, designing an identification plate of pose measurement;step2, selecting an identification plate pasting position: pasting the identification plate on four articulation points of an excavator work device; step3, acquiring articulation point pixel coordinates and extracting a central point coordinate of the identification plate; and step4, carrying out coordinate conversion of the pixel coordinates and a world coordinate and acquiring the world coordinate of each articulation point so as to complete the pose measurement of the excavator work device.

Description

technical field [0001] The invention relates to the technical field of excavator working device measurement, in particular to a method for measuring the excavator working device based on a monocular camera. Background technique [0002] The pose measurement of the excavator working device is the key technology to realize autonomous excavation. The traditional position and attitude measurement methods of the working device mostly use contact displacement sensors and electronic compass to measure the working device of the excavator. The advantages of these technologies are high precision, but the cost is relatively high; On the other hand, it is easy to be damaged by collision during the construction process, and the reliability is poor. [0003] As a non-contact measurement method, visual measurement has the advantages of low equipment price, easy operation and high measurement accuracy. In recent years, with the rapid development of computer and microelectronics technology...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
CPCG01B11/00
Inventor 殷晨波马伟冯浩李蓉马夫华
Owner NANJING UNIV OF TECH
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