Rotating Heavy Machine Pose Tracking Without Separate Calibration
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Solution Overview
Problem
The existing methods for calculating the center of rotation and posture of a rotating part in heavy machines, such as power shovels, are cumbersome and require separate calibration steps, often interrupting civil engineering work and posing safety risks.
Innovation Solution
A method and system that utilize a camera and a reflective prism fixed to the rotating part to calculate the center of rotation and posture by measuring the position of the prism and capturing images, employing bundle adjustment calculations to determine the camera's position and then deriving the center of rotation and posture in a global coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the center of rotation is detected by traditional surveying methods, then the position information can be obtained, but the calculation process becomes troublesome and time-consuming
Solution Approach 1:
The patent replaces traditional mechanical surveying methods with a camera-based optical measurement system. By capturing images of the rotating part and using image processing algorithms, the system automatically determines the center of rotation and posture without manual surveying operations, thereby reducing calculation time while maintaining measurement precision
Solution Approach 2:
The patent creates a visual copy of the rotating part through camera images and uses this copy to extract position information. By processing the image data computationally, the system obtains the center of rotation and posture information faster than traditional direct measurement methods
2Measurement precision
If separate calibration steps are performed to calculate center of rotation, then measurement accuracy is improved, but civil engineering work is interrupted and safety risks increase
Solution Approach 1:
The patent performs calibration actions continuously in the background during normal operation rather than requiring separate calibration steps. The system pre-processes image data and maintains updated models of the rotating part's position and posture, allowing accurate center of rotation calculation without interrupting construction work
Solution Approach 2:
The patent enables continuous measurement and calculation during the entire operation of the heavy machine. The camera continuously captures images, and the system continuously updates the position and posture information, eliminating the need to stop work for calibration while maintaining measurement accuracy throughout the operation
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Efficiently calculates the center of rotation and posture of the rotating part without requiring separate calibration or interrupting operations, reducing safety risks and improving efficiency in civil engineering work.
Implementation Method 1
obtaining image data of a captured image captured by a camera fixed to the rotating part
Implementation Method 2
measuring a position of a specific part of the rotating part; wherein the position of the specific part is a position of a reflective prism fixed to the rotating part
Data Source
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AI summary
The position of a moving part of a heavy machine is calculated efficiently. In a method of calculating, in a heavy machine 100 comprising a rotating part 110 that rotates horizontally, a position of a center of rotation of the rotating part 110 and a posture of the rotating part 110, a total station 200 measures a position of a reflective prism 102 fixed to the rotating part 110. Image data of a captured image captured by a camera 101 fixed to the rotating part 110 is obtained. A position of the camera 101 is calculated based on the position of the reflective prism 102 measured by the total station 200 and the image data of the captured image captured by the camera 101. The position of the center of rotation of the rotating part 110 and the posture of the rotating part 110 are calculated based on the calculated positions of the reflective prism 102 and the camera 101.