Monocular vision excavator pose measuring system and measuring method based on target

Abstract

The invention discloses a monocular vision excavator pose measuring system and a measuring method based on a target. The system comprises a target, a monocular camera and a calculation module, the target comprises a bucket target, a bucket rod target and a movable arm target which are installed on the same side of the excavator. The bucket target is fixed to the end, close to the bucket, of the bucket connecting rod. Wherein the bucket rod target is fixed on the bucket rod, the movable arm target is fixed on the movable arm, the visual field of the monocular camera covers the bucket target, the bucket rod target and the movable arm target, and the calculation module is used for calculating spatial six-degree-of-freedom parameters of each target according to target images acquired by the monocular camera. The defects that a measuring sensor and other high-price precision measuring pieces installed on a working device which is large in action, severe in working environment, prone to colliding with a working object and large in vibration amplitude are prone to damage can be effectively overcome. Therefore, the reliability and the stability of monitoring are improved, the operation safety of the excavator is ensured, and meanwhile, the maintenance cost is also reduced.

Description

technical field [0001] The invention belongs to the technical field of machine measurement, and in particular relates to a target-based monocular vision excavator pose measurement system and a measurement method. Background technique [0002] The construction industry generally faces the problems of low production efficiency and high risk. In order to reduce the high labor load and high risk in the construction industry, an important way is to improve the automation of construction. 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] The hydraulic excavator is mainly composed of three parts: walking device, working device and sle...

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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