Unlock instant, AI-driven research and patent intelligence for your innovation.

Vehicle body pose-based operation part tail end pose measurement method

A technology of position and attitude measurement and vehicle body attitude, applied in measurement devices, radio wave measurement systems, satellite radio beacon positioning systems, etc., can solve the problems of GNSS systems and laser sensing difficulties, and reduce labor costs and labor intensity. , the effect of fast speed and high safety performance

Active Publication Date: 2021-06-18
SOUTH CHINA AGRI UNIV
View PDF3 Cites 1 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

More importantly, complex modeling construction and underwater operations require measurement to quickly obtain high-precision position information of the end of the operating part, but GNSS systems and laser sensors are difficult to obtain directly.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Vehicle body pose-based operation part tail end pose measurement method
  • Vehicle body pose-based operation part tail end pose measurement method
  • Vehicle body pose-based operation part tail end pose measurement method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] The present invention is a method for measuring the position and posture of the end of the working part based on the posture and posture of the vehicle body, which is used for leveling machines, such as Figure 3a and 3b As shown, this embodiment mainly briefly describes the application of laser sensing to calculate the elevation difference Δh at the end of the working component based on the reference working plane.

[0057] This embodiment adopts a horse leveling machine, including: equipment car body 1-1, laser receiver 1-2, laser transmitter 1-3, attitude sensor 1-4, elevation cylinder 1-5, leveling shovel 1-6 (the end of the operating part in the present embodiment), the catkin roll 1-7 (carrier platform), and the displacement sensor 1-8. The leveling shovel is connected with the pusher, and the height adjustment of the leveling shovel can be realized through the elevation cylinder. The displacement sensor is installed on the elevation cylinder to measure the strok...

Embodiment 2

[0079] The present invention is a method for measuring the terminal pose of an operating part based on the pose of the vehicle body, which is used for a motor grader, and calculates the pose of the leveling shovel (operating part) based on the pose measurement of the vehicle body, such as Figure 4a As shown, the vehicle body coordinate system is established for the equipped vehicle body 2-1 (wheeled tractor). The vehicle body coordinate system Oxyz is defined as the center of mass of the vehicle body as the origin O, the forward direction of the vehicle body as the y-axis, and the x-axis and the y-axis Pointing vertically to the right side of the car body, the z axis is perpendicular to the x and y axes.

[0080] This embodiment adopts a motor grader, including an equipment car body 2-1, a satellite antenna 2-2, a hydraulic system 2-4, an elevation cylinder 2-5, a horizontal cylinder 2-6, a leveling shovel level attitude sensor 2-7, and a leveling shovel 2-8 (the working part...

Embodiment 3

[0123] The invention discloses a method for measuring the pose of an end of an operating part based on the pose of a vehicle body, which is used for an excavator with a four-degree-of-freedom mechanical arm, and calculates the pose of a bucket (the end of the operating part) based on the pose measurement of the vehicle body. The GNSS coordinate solution model established by this embodiment is as follows:

[0124]

[0125] Among them, r represents the three-dimensional coordinates of the center of the end of the working part; p represents the position information of the satellite antenna; ψ, θ, respectively, the yaw angle, roll angle and pitch angle of the vehicle body; β 1 ,β 2 ,β 3 ,β 4 is the measurement value of the attitude sensor on each actuator;

[0126]The other steps of the calculation are similar to the second embodiment, only the position information of the center of the end of the working part based on the vehicle body coordinate system may be different acc...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a vehicle body pose-based operation part tail end pose measurement method. The method comprises the following steps: a, mounting a pose sensor on a vehicle body or a carrier platform to measure the vehicle body pose; b, enabling the GNSS system to measure the pose information of the vehicle body, wherein the laser sensor measures relative position information based on the reference working plane; c, establishing a vehicle body coordinate system Oxyz; d, installing a sensor on the executing mechanism, detecting posture and position changes, and establishing an operation part coordinate system Oxnynzn; e, acquiring position information sensed by a satellite antenna or a laser and attitude and position information measured by each sensor, and establishing a position resolving model of the center of the tail end of the working part; f, calculating the elevation difference delta h of the tail end of the working part based on the reference working plane; and measuring attitude information of the working part, and calculating an angle difference [Delta][alpha] of the end of the working part based on the reference work plane. Vehicle body positioning and operation part tail end pose measurement can be achieved through one GNSS system, and the method belongs to the field of engineering machinery and intelligent agricultural machinery.

Description

technical field [0001] The invention relates to the fields of engineering machinery and intelligent agricultural machinery, in particular to a method for measuring the pose of an end of an operating part based on the pose of a vehicle body. Background technique [0002] With the continuous development of science and technology, people's requirements for the precision and efficiency of machinery work are constantly increasing, which requires accurate perception of the position and orientation information of the terminal working parts. With the rapid development of satellite positioning system carrier phase difference technology, the use of satellite positioning to measure the attitude information of the carrier has quickly become a hot spot in the application of satellite positioning. GNSS pose information has the advantages of high precision, no error accumulation, no initialization and low cost. Laser technology is one of the most important scientific and technological inv...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/53
CPCG01S19/53
Inventor 胡炼赖桑愉何杰罗锡文陈高隆黄浩刘海龙高锐涛
Owner SOUTH CHINA AGRI UNIV