Azimuth Detection Device, Rotating Mechanism, Azimuth Detection Method and Storage Medium

Abstract

The present invention discloses an azimuth detection device, a rotating mechanism, an azimuth detection method and a storage medium. The azimuth detection device is applied to the rotating mechanism. The azimuth detection device includes an induction metal structure, an induction sensor and an attitude sensor. The induction metal structure is used to be arranged on the chassis structure. The induction sensor is arranged above the induction metal structure and is used to be arranged at the bottom of the rotating platform. The attitude sensor is communicatively connected to the induction sensor and is used to be arranged at the bottom of the rotating platform and communicatively connected to the control system. Wherein, the induction sensor is used to detect the induction metal structure and send an electrical signal to the attitude sensor. The attitude sensor is used to obtain the azimuth angle of the rotating platform according to the electrical signal and adjust the azimuth angle for output to the control system, so as to ensure that the control system of the excavator has accurate azimuth information and complete the precise control of the reciprocating motion of the excavator.

Description

Technical Field

[0001] The present invention relates to the field of orientation detection, and particularly to an orientation detection device, a rotating mechanism, an orientation detection method, and a storage medium. Background Art

[0002] There are many rotating mechanisms in engineering applications, and most of them are used to realize the function of rotating reciprocally around a fixed point. Accurate orientation is the basis for the control system to realize the intelligent control of the rotating mechanism. Therefore, it is particularly important to determine the orientation of the rotating mechanism.

[0003] For example, the widely used excavator at present, the cab and the chassis form a typical rotating mechanism. The excavator control system for realizing the automatic operation of the excavator needs to plan the path of the automatic construction according to the accurate posture of the excavator boom and the chassis orientation information. Generally, four attitude sensors are required for the excavator intelligent auxiliary system, three of which are installed on the boom to measure the boom attitude, and one is installed at the bottom of the fuselage to measure the attitude and orientation of the chassis. Since the chassis of the excavator is stationary most of the time during actual construction, and the excavator body rotates to complete the transfer of the excavated soil, the orientation information of the body relative to the chassis is particularly important for the orientation control during excavation. When the excavator digs a trench or a deep pit, the chassis is basically stationary or moves for a short time, and mainly relies on rotating the upper boom part to complete the transfer of the soil, and then continues to repeat the next action. At present, a dual-antenna system is widely used to measure the rotation orientation of the excavator chassis, so as to detect the accurate orientation of the vehicle body in real time. However, since the dual-antenna can only be used in an open scene, when encountering obstacles such as trees and high-rise buildings, the orientation jumps greatly or even cannot be used. At the same time, the cost of the dual-antenna is relatively high, and it is not suitable for widespread production and use.

[0004] Therefore, in view of the above problems, accurate orientation information is required when the excavator control system works to complete the precise control of the reciprocating motion of the excavator body. Summary of the Invention

[0005] The present invention provides an orientation detection device, a rotating mechanism, an orientation detection method, and a storage medium, which can realize stable orientation detection without being blocked by the outside world and at a relatively low cost, so as to ensure that the control system of the excavator has accurate orientation information to complete the precise control of the reciprocating motion of the excavator.

[0006] In a first aspect, a direction detection device is provided, which is applied to a rotating mechanism. The rotating mechanism includes a rotating platform, a chassis structure, and a control system. The direction detection device includes an induction metal structure, an induction sensor, and an attitude sensor. The induction metal structure is configured to be disposed on the chassis structure. The induction sensor is disposed above the induction metal structure and is configured to be disposed at the bottom of the rotating platform. The attitude sensor is communicatively connected to the induction sensor and is configured to be disposed at the bottom of the rotating platform and communicatively connected to the control system. Wherein, the induction sensor is configured to detect the induction metal structure and send an electrical signal to the attitude sensor, and the attitude sensor is configured to obtain the azimuth angle of the rotating platform according to the electrical signal and adjust and output the azimuth angle to the control system.

[0007] According to the first aspect, in a first possible implementation manner of the first aspect, the induction metal structure includes a plurality of induction metal blocks evenly disposed on the outer peripheral side of the chassis structure.

[0008] According to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the induction sensor includes an induction switch body communicatively connected to the attitude sensor and a probe communicatively connected to the induction switch body.

[0009] In a second aspect, a rotating mechanism is provided, which includes a rotating mechanism, a control system, and the direction detection device described above. The rotating mechanism includes a rotating platform and a chassis structure connected to the rotating platform. The control system is connected to the rotating platform or the chassis structure. The direction detection device is respectively connected to the rotating platform, the chassis structure, and the control system.

[0010] In a third aspect, a direction detection method is provided, which includes a rotating mechanism with the direction detection device described above, and includes the following steps:

[0011] When the sensor rotates above the induction metal structure for the first time, obtain the reference azimuth angle of the rotating platform;

[0012] When the sensor rotates above the induction metal structure next time, obtain the current azimuth angle of the rotating platform;

[0013] According to the current azimuth angle and the reference azimuth angle, adjust and output the azimuth angle.

[0014] According to the third aspect, in a first possible implementation manner of the third aspect, the step of "adjusting and outputting the azimuth angle according to the current azimuth angle and the reference azimuth angle" specifically includes the following steps:

[0015] When it is detected that the error value between the current azimuth angle and the reference azimuth angle is within a preset error range, the output azimuth angle is the current azimuth angle;

[0016] When it is detected that the error value between the current azimuth angle and the reference azimuth angle is not within the preset error range, the output azimuth angle is the reference azimuth angle.

[0017] According to the first possible implementation manner of the third aspect, in the second possible implementation manner of the third aspect, the step of "when the sensor first rotates above the induction metal structure, obtain the reference azimuth angle of the rotating platform; when the sensor rotates above the induction metal structure next time, obtain the current azimuth angle of the rotating platform" specifically includes the following steps:

[0018] When the sensor first rotates above the induction metal structure, obtain the first electrical signal sent by the sensor; according to the first electrical signal, obtain the reference azimuth angle of the rotating platform;

[0019] When the sensor rotates above the induction metal structure next time, obtain the next electrical signal sent by the sensor; according to the next electrical signal, obtain the current azimuth angle of the rotating platform.

[0020] In a third aspect, a storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the azimuth detection method as described above is implemented.

[0021] Compared with the prior art, the advantages of the present invention are as follows: When the rotating platform rotates, when the sensor first rotates above the induction metal structure, the induction sensor detects the induction metal structure and sends the first electrical signal to the attitude sensor. When the attitude sensor receives the first electrical signal, the reference azimuth angle of the rotating platform at this time is obtained. When the sensor rotates above the induction metal structure next time, the induction sensor detects the induction metal structure and sends the next electrical signal to the attitude sensor. When the attitude sensor receives the next electrical signal, the current azimuth angle of the rotating platform at this time is obtained. The attitude sensor compares the reference azimuth angle and the current azimuth angle. When the attitude sensor detects that the error value between the current azimuth angle and the reference azimuth angle is within the preset error range, the output azimuth angle is the current azimuth angle; when the attitude sensor detects that the error value between the current azimuth angle and the reference azimuth angle is not within the preset error range, the output azimuth angle is the reference azimuth angle; Therefore, the azimuth angle output by the current attitude sensor can be calibrated and adjusted to be consistent with the azimuth angle detected for the first time. Then, when the rotating platform of the excavator rotates to this position each time later, the attitude sensor can compare and calibrate the azimuth angle at this time to ensure the azimuth stability during continuous long-term rotation; it can achieve stable azimuth detection without being blocked by the outside world and at a relatively low cost, so as to ensure that the control system of the excavator has accurate azimuth information to complete the precise control of the reciprocating motion of the excavator. Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of a rotating mechanism of the present invention;

[0023] Figure 2 is a schematic layout diagram of the induction metal structure of the present invention;

[0024] Figure 3 is a schematic flowchart of a method for detecting orientation of the present invention. Description of the Drawings:

[0026] 100, orientation detection device; 110, induction metal structure; 120, induction sensor; 130, attitude sensor; 200, rotating platform; 300, chassis structure. Detailed Embodiments

[0027] Now, specific embodiments of the present invention will be described in detail, and examples of the present invention are illustrated in the drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the described embodiments. On the contrary, it is intended to cover modifications, variations, and equivalents included within the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0028] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0029] Note: The examples to be introduced next are only specific examples and do not limit the embodiments of the present invention to the specific steps, numerical values, conditions, data, sequences, etc. as follows. Those skilled in the art can use the concept of the present invention described in this specification to construct more embodiments not mentioned in this specification by reading this specification.

[0030] See Figure 1As shown in the figure, an embodiment of the present invention provides an orientation detection device 100, which is applied to a rotating mechanism. The rotating mechanism includes a rotating platform 200, a chassis structure 300, and a control system. The orientation detection device includes an induction metal structure 110, an induction sensor 120, and an attitude sensor 130. The induction metal structure 110 is used to be arranged on the chassis structure 300. The induction sensor 120 is arranged above the induction metal structure 110 and is used to be arranged at the bottom of the rotating platform 200. The attitude sensor 130 is communicatively connected to the induction sensor 120 and is used to be arranged at the bottom of the rotating platform 200 and communicatively connected to the control system. Among them, the induction sensor 120 is used to detect the induction metal structure 110 and send an electrical signal to the attitude sensor 130. The attitude sensor 130 is used to obtain the azimuth angle of the rotating platform 200 according to the electrical signal and adjust the azimuth angle and output it to the control system.

[0031] Specifically, in this embodiment, the rotating mechanism may include an excavator, a tower crane, a concrete pump truck, a robotic arm, etc. The present invention takes an excavator as an example.

[0032] When the rotating platform 200 rotates, when the sensor first rotates above the induction metal structure 110 for the first time, the induction sensor 120 detects the induction metal structure 110 and sends the first electrical signal to the attitude sensor 130. When the attitude sensor 130 receives the first electrical signal, it obtains the reference azimuth angle yaw0 of the rotating platform 200 at this time. When the sensor rotates above the induction metal structure 110 next time, the induction sensor 120 detects the induction metal structure 110 and sends the next electrical signal to the attitude sensor 130. When the attitude sensor 130 receives the next electrical signal, it obtains the current azimuth angle yawi of the rotating platform 200 at this time. The attitude sensor 130 compares the reference azimuth angle yaw0 and the current azimuth angle yawi. When the attitude sensor 130 detects that the error value between the current azimuth angle yawi and the reference azimuth angle yaw0 is within the preset error range ε, it outputs the azimuth angle as the current azimuth angle yawi. When the attitude sensor 130 detects that the error value between the current azimuth angle yawi and the reference azimuth angle yaw0 is not within the preset error range ε, it outputs the azimuth angle as the reference azimuth angle yaw0. Therefore, the azimuth angle output by the current attitude sensor 130 can be calibrated and adjusted to be consistent with the azimuth angle detected for the first time. Then, when the rotating platform 200 of the excavator rotates to this position each time later, the attitude sensor 130 can compare and calibrate the azimuth angle at this time to ensure the azimuth stability during continuous long-term rotation. It can achieve stable azimuth detection without being blocked by the outside world and at a relatively low cost, so as to ensure that the control system of the excavator has accurate azimuth information to complete the precise control of the reciprocating motion of the excavator.

[0033] Optionally, see Figure 2As shown, the induction metal structure 110 includes a plurality of induction metal blocks evenly arranged around the outer peripheral side of the chassis structure 300. Since the excavator may not be able to rotate a full circle each time, it is necessary to arrange the induction metal blocks according to the rotation range of the actual rotation mechanism. That is, a plurality of induction metal blocks need to be arranged around the outer peripheral side of the chassis structure 300 to achieve continuous rotation of the rotation mechanism, and the number of induction metal blocks can be set according to actual applications.

[0034] Optionally, the induction sensor 120 includes an induction switch body communicatively connected to the attitude sensor 130, and a probe communicatively connected to the induction switch body. The probe senses the induction metal block, and the output end of the induction switch body is communicatively connected to the attitude sensor 130.

[0035] See Figure 3 As shown, a method for detecting orientation provided by an embodiment of the present invention includes a rotation mechanism of the orientation detection device described above, and includes the following steps:

[0036] S100, when the sensor rotates above the induction metal structure for the first time, obtain the reference azimuth angle of the rotating platform;

[0037] S200, when the sensor rotates above the induction metal structure next time, obtain the current azimuth angle of the rotating platform;

[0038] S300, adjust the output azimuth angle according to the current azimuth angle and the reference azimuth angle.

[0039] Preferably, in another embodiment of the present application, the step of "S300, adjust the output azimuth angle according to the current azimuth angle and the reference azimuth angle" specifically includes the following steps:

[0040] When it is detected that the error value between the current azimuth angle and the reference azimuth angle is within the preset error range, the output azimuth angle is the current azimuth angle;

[0041] When it is detected that the error value between the current azimuth angle and the reference azimuth angle is not within the preset error range, the output azimuth angle is the reference azimuth angle.

[0042] Preferably, in another embodiment of the present application, the steps of "S100, when the sensor rotates above the induction metal structure for the first time, obtain the reference azimuth angle of the rotating platform; S200, when the sensor rotates above the induction metal structure next time, obtain the current azimuth angle of the rotating platform" specifically include the following steps:

[0043] When the sensor rotates above the induction metal structure for the first time, obtain the first electrical signal sent by the sensor; according to the first electrical signal, obtain the reference azimuth angle of the rotating platform;

[0044] When the sensor rotates above the induction metal structure next time, obtain the next electrical signal sent by the sensor; according to the next electrical signal, obtain the current azimuth angle of the rotating platform.

[0045] Specifically, in this embodiment, when the rotating platform rotates, when the sensor rotates above the induction metal structure for the first time, the induction sensor detects the induction metal structure and sends the first electrical signal to the attitude sensor. When the attitude sensor receives the first electrical signal, obtain the reference azimuth angle yaw0 of the rotating platform at this time. When the sensor rotates above the induction metal structure next time, the induction sensor detects the induction metal structure and sends the next electrical signal to the attitude sensor. When the attitude sensor receives the next electrical signal, obtain the current azimuth angle yawi of the rotating platform at this time. The attitude sensor compares the reference azimuth angle yaw0 and the current azimuth angle yawi. When the attitude sensor detects that the error value between the current azimuth angle yawi and the reference azimuth angle yaw0 is within the preset error range ε, the output azimuth angle is the current azimuth angle yawi; when the attitude sensor detects that the error value between the current azimuth angle yawi and the reference azimuth angle yaw0 is not within the preset error range ε, the output azimuth angle is the reference azimuth angle yaw0; Therefore, the azimuth angle output by the current attitude sensor can be calibrated to be consistent with the azimuth angle detected for the first time. Then, when the rotating platform of the excavator rotates to this position each time later, the attitude sensor can compare and calibrate the azimuth angle at this time to ensure the azimuth stability during continuous long-term rotation; enabling stable azimuth detection without external occlusion and at a relatively low cost, so as to ensure that the control system of the excavator has accurate azimuth information to complete the precise control of the reciprocating motion of the excavator.

[0046] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps of the above method are implemented.

[0047] The implementation of all or part of the processes in the above method of the present invention can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice within the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0048] Based on the same inventive concept, an embodiment of the present application further provides an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, all or part of the method steps in the above method are implemented.

[0049] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the computer device, and connects various parts of the entire computer device through various interfaces and lines.

[0050] The memory can be used to store computer programs and / or modules. By running or executing the computer programs and / or modules stored in the memory, and invoking the data stored in the memory, the processor realizes various functions of the computer device. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0051] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, a server, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) that contain computer-usable program code.

[0052] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0053] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0054] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the functions specified in one process or a plurality of processes and / or blocks Figure 1 in one block or a plurality of blocks Figure 1 in the steps of the method.

[0055] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An orientation detection device is applied to a rotating mechanism, and the rotating mechanism includes a rotating platform, a chassis structure and a control system, characterized in that The azimuth detection device includes: An induction metal structure, which is used to be arranged on the chassis structure; An induction sensor, which is arranged above the induction metal structure and is used to be arranged at the bottom of the rotating platform; and An attitude sensor, which is communicatively connected to the induction sensor and is used to be arranged at the bottom of the rotating platform and communicatively connected to the control system; Wherein, the induction sensor is used to detect the induction metal structure and send an electrical signal to the attitude sensor, and the attitude sensor is used to obtain the azimuth angle of the rotating platform according to the electrical signal and adjust and output the azimuth angle to the control system; When the rotating platform rotates, when the sensor rotates to above the induction metal structure for the first time, the induction sensor detects the induction metal structure and sends a first electrical signal to the attitude sensor. When the attitude sensor receives the first electrical signal, it obtains the reference azimuth angle of the rotating platform at this time; when the sensor rotates to above the induction metal structure next time, the induction sensor detects the induction metal structure and sends the next electrical signal to the attitude sensor. When the attitude sensor receives the next electrical signal, it obtains the current azimuth angle of the rotating platform at this time; the attitude sensor compares the reference azimuth angle and the current azimuth angle. When the attitude sensor detects that the error value between the current azimuth angle and the reference azimuth angle is within the preset error range, it outputs the azimuth angle as the current azimuth angle; when the attitude sensor detects that the error value between the current azimuth angle and the reference azimuth angle is not within the preset error range, it outputs the azimuth angle as the reference azimuth angle.

2. The orientation detection device according to claim 1, wherein The induction metal structure includes a plurality of induction metal blocks evenly arranged on the outer peripheral side of the chassis structure.

3. The orientation detection device according to claim 1, wherein The induction sensor includes an induction switch body communicatively connected to the attitude sensor and a probe communicatively connected to the induction switch body.

4. A rotating mechanism, characterized in that, It includes: A rotating mechanism, which includes a rotating platform and a chassis structure connected to the rotating platform; A control system, which is connected to the rotating platform or the chassis structure; And The azimuth detection device according to any one of claims 1 to 3, wherein the azimuth detection device is respectively connected to the rotating platform, the chassis structure and the control system.

5. An azimuth detection method, comprising a rotating mechanism of the azimuth detection device according to any one of claims 1 to 3, characterized in that, It includes the following steps: When the sensor rotates to above the induction metal structure for the first time, obtain the reference azimuth angle of the rotating platform; When the sensor rotates to above the induction metal structure next time, obtain the current azimuth angle of the rotating platform; Adjust and output the azimuth angle according to the current azimuth angle and the reference azimuth angle; The step of "adjusting and outputting the azimuth angle according to the current azimuth angle and the reference azimuth angle" specifically includes the following steps: When it is detected that the error value between the current azimuth angle and the reference azimuth angle is within the preset error range, output the azimuth angle as the current azimuth angle; When it is detected that the error value between the current azimuth angle and the reference azimuth angle is not within the preset error range, output the azimuth angle as the reference azimuth angle.

6. The orientation detection method according to claim 5, wherein The step of "when the sensor rotates above the induction metal structure for the first time, obtain the reference azimuth angle of the rotating platform; when the sensor rotates above the induction metal structure next time, obtain the current azimuth angle of the rotating platform" specifically includes the following steps: When the sensor rotates above the induction metal structure for the first time, obtain the first electrical signal sent by the sensor; according to the first electrical signal, obtain the reference azimuth angle of the rotating platform; When the sensor rotates above the induction metal structure next time, obtain the next electrical signal sent by the sensor; according to the next electrical signal, obtain the current azimuth angle of the rotating platform.

7. A storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by the processor, it implements the azimuth detection method according to any one of claims 5 to 6.

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