Method of calibrating error of engineering machinery attitude sensor system

Abstract

The invention relates to a method of calibrating an error of an engineering machinery attitude sensor system, including factory calibration of sensors and calibration of field installation errors. Take a small arm of an excavator as an example. A connection rotary axis of the small arm and a large arm is controlled by combining a total station, and the connection rotary axis and a connection rotary axis of the small arm and bucket are kept in the same horizontal plane, and then an angle output by a small arm sensor is an installation error angle of a small arm angle of inclination sensor. In the method, the high-precision total station provides the horizontal plane; the installed shaft is leveled; the total station can automatically detect an error of a dial system and then correct the error, so as to guarantee the precision of the horizontal plane and improves installation error calibration precision. Compared with the existing commonly used installation error calibration solution, the method has advantages of making installation fasts, using the total station with high level accuracy, and improving field calibration accuracy and efficiency of the sensor installation error.

Description

technical field [0001] The invention relates to technical fields such as digital construction and precision agriculture, and specifically relates to a system error calibration method for an attitude sensor of construction machinery. Background technique [0002] With the application of intelligent driving and control technology in the field of digital construction, attitude perception technology is becoming more and more important. The accuracy and response speed of attitude tracking require high-precision inclination sensors and attitude tracking algorithms. The system error calibration of sensors becomes attitude tracking. One of the key technologies for precision improvement. The current installation error calibration technology is mainly based on the level meter or the two-position method. The level meter calibration scheme is easy to install, but it is time-consuming to operate the mechanical shaft system to the level, and it is difficult to ensure that the level meter ...

AI Technical Summary

Problems solved by technology

The current installation error calibration technology is mainly based on the level meter or the two-position method. The level meter calibration scheme is easy to install, but it is time-consuming to operate the mechanical shaft system to the level, and it is difficult to ensure that the level meter and the installation shaft are completely level, so the accuracy Low, it is difficult to obtain a high-precision system error compensation angle; the dual-position method installation error calibration scheme needs to change the position of the sensor, the installation position of the general sensor on construction machinery is relatively fixed, it is inconvenient to disassemble, and the efficiency of on-site calibration is low

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