Position calculation method suitable for mining area loading equipment

Abstract

The invention discloses a position calculation method suitable for mining area loading equipment, which comprises the following steps: acquiring parameters of the loading equipment, and obtaining the distance L1 between a main controller and a movable arm, the length L2 of the movable arm and the length L3 of a bucket rod according to a specification of the loading equipment or actual measurement; installing angle sensors on the movable arm and the bucket rod, wherein the angle sensors obtain real-time angle data; and calculating the position of the measurement point in the coordinate system of the reference point according to the data obtained in the step S2. According to the technical scheme, the attitude information of multiple points is measured in real time, the relative position of the measured point and the reference point is obtained through an algorithm, and the position information of the loading equipment is obtained. Technical support is provided for location positioning of mining area loading equipment, and landing of combined application of unmanned driving and intelligent loading in a mining area is achieved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a position calculation method suitable for equipment installed in mining areas. Background technique [0002] With the continuous development of automatic driving technology, unmanned vehicles in mining areas are popularized, but in the field of automatic driving, there is not a lot of research and application on the cooperative operation of mining vehicles and mining vehicles, such as electric shovels, excavators, etc. . Upgrading and transforming mining loading equipment is an important direction to improve unmanned driving and collaborative operations in mining areas. At present, the location information of mining equipment is not high, which is an important reason for low efficiency and even casualties. Therefore, the research on the position calculation of loading equipment will greatly reduce the casualties caused by the complex operating envi...

AI Technical Summary

Problems solved by technology

At present, there are many main positioning methods, generally using ranging method, infrared sensor and ultrasonic sensor. Disadvantages: first, it cannot adapt to complex working environment, such as high temperature environment, dust concentration, etc., which interferes with the accuracy of infrared sensor; Sensor and ultrasonic sensor failure

Second, the above method can only solve the distance information between the measured point and the reference point, and cannot obtain its vector information

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