【技术领域】【Technical field】
本发明涉及工程机械领域，具体涉及一种作业臂工位的实时测量系统及其测量方法。The invention relates to the field of engineering machinery, in particular to a real-time measurement system and a measurement method for a working arm station.
【背景技术】【Background technique】
已知的，在地下工程与隧道、水利、建筑、电力、道路、矿山、港口和国防等工程施工过程中，大多数的机械设备都需要掌握或控制机器作业臂的工作角度，从而达到较好的施工效果，通过精确控制作业臂工作角度可以提高机械设备的作业效率和作业精度，保证施工质量，提高施工安全等，在实际施工过程中，操作人员可以通过控制作业臂的实时工作角度可达到远程操作、实时调控的效果，进而实现了降低生产的成本诉求。It is known that in the construction process of underground engineering and tunnels, water conservancy, construction, electric power, roads, mines, ports and national defense, most mechanical equipment needs to master or control the working angle of the machine's operating arm, so as to achieve better The construction effect can be improved by precisely controlling the working angle of the working arm, which can improve the working efficiency and precision of mechanical equipment, ensure the construction quality, and improve the construction safety. In the actual construction process, the operator can control the real-time working angle of the working arm to achieve The effect of remote operation and real-time control has realized the demand for reducing production costs.
目前，测量机械设备作业臂空间的角度多采用全站仪、量角仪类测量器械进行人工测量，而采用上述方法测量工程机械设备作业臂的工作角度时，既费时又费力，并且难以实现实时测量，无法满足施工作业需求，即便是一些对于作业角度要求严格的工程机械设备自身配备了工作臂的角度控制系统，一般多采用电液联合控制体系，但由于其大大增加了机械生产成本，经济性差，无法得到快速推广，那么如何提高一种即便捷，生产成本又低，又能进行实时测量作业臂位置的系统和测量方法就成了本领域技术人员的长期技术诉求。At present, the measurement of the space angle of the operating arm of mechanical equipment is mostly carried out manually by measuring instruments such as total stations and protractors. However, it is time-consuming and laborious to measure the working angle of the operating arm of construction machinery and equipment with the above method, and it is difficult to achieve real-time Measurement cannot meet the needs of construction operations. Even if some construction machinery equipment with strict requirements on the operation angle is equipped with the angle control system of the working arm, the electro-hydraulic joint control system is generally used, but because it greatly increases the cost of mechanical production, it is economical. Therefore, how to improve a system and measurement method that is convenient, low in production cost, and capable of real-time measurement of the position of the operating arm has become a long-term technical demand for those skilled in the art.
【发明内容】【Content of invention】
为克服上述技术的不足，本发明提供了一种作业臂工位的实时测量系统及其测量方法，本发明通过在作业臂上设置测量系统，并通过无线控制终端实时显示作业臂的空间姿态方位角、俯仰角和翻滚角的角度，本发明能较好的实现实时测量的目的，从而提高作业精度和作业效率，设备可实时测量，同步显示，并且能够灵活拆卸，可适用于不同类型工程机械之间的互换，经济性高，适合大范围推广和应用。In order to overcome the deficiencies of the above-mentioned technologies, the present invention provides a real-time measurement system and measurement method of the working arm station. The present invention sets the measuring system on the working arm and displays the spatial posture and orientation of the working arm in real time through the wireless control terminal Angle, pitch angle and roll angle, the invention can better realize the purpose of real-time measurement, thereby improving the operation accuracy and work efficiency, the equipment can be measured in real time, displayed synchronously, and can be disassembled flexibly, applicable to different types of construction machinery Interchangeable, high economical, suitable for large-scale promotion and application.
为实现如上所述的发明目的，本发明采用如下所述的技术方案：In order to realize the above-mentioned purpose of the invention, the present invention adopts the following technical solutions:
一种作业臂工位的实时测量系统，由三轴加速度计、三轴磁强计、三轴陀螺仪、温度传感器、数据存储器、数字信号处理器、程序存储器和数据接口构成测量单元，所述测量单元连接无线模块，所述无线模块和测量单元分别连接电源，所述无线模块与无线控制终端实现无线连接形成作业臂工位的实时测量系统；A real-time measurement system for a working arm station, comprising a measurement unit consisting of a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, a temperature sensor, a data memory, a digital signal processor, a program memory and a data interface, the The measuring unit is connected to the wireless module, the wireless module and the measuring unit are respectively connected to the power supply, and the wireless module and the wireless control terminal are wirelessly connected to form a real-time measuring system of the working arm station;
所述数字信号处理器分别连接三轴加速度计、三轴磁强计、三轴陀螺仪、温度传感器、数据存储器、程序存储器和数据接口；The digital signal processor is respectively connected with a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, a temperature sensor, a data memory, a program memory and a data interface;
所述数据接口连接无线模块；The data interface is connected to the wireless module;
所述无线控制终端包括无线发送与接收模块、中央处理器、存储器、输入键盘和液晶显示器，其中无线发送与接收模块和无线模块通过显示器和输入键盘进行数据的通讯和控制，即显示实时测量的数据。The wireless control terminal includes a wireless sending and receiving module, a central processing unit, a memory, an input keyboard and a liquid crystal display, wherein the wireless sending and receiving module and the wireless module perform data communication and control through the display and the input keyboard, that is, display real-time measured data.
所述的作业臂工位的实时测量系统，所述三轴加速度计用于确定作业臂初始的姿态，并修正和确定三轴陀螺仪在水平方向的漂移。In the real-time measurement system of the operating arm station, the three-axis accelerometer is used to determine the initial attitude of the operating arm, and to correct and determine the drift of the three-axis gyroscope in the horizontal direction.
所述的作业臂工位的实时测量系统，所述三轴磁强计用于提供方位角的初始对准以及修正三轴陀螺仪的方位角漂移。In the real-time measurement system of the working arm station, the three-axis magnetometer is used to provide the initial alignment of the azimuth and correct the azimuth drift of the three-axis gyroscope.
所述的作业臂工位的实时测量系统，所述三轴陀螺仪用于测量作业臂的绝对角速率，然后作业臂的姿态角就能通过设定的解算方法来获得。In the real-time measurement system of the operating arm station, the three-axis gyroscope is used to measure the absolute angular rate of the operating arm, and then the attitude angle of the operating arm can be obtained through a set solution method.
所述的作业臂工位的实时测量系统，所述三轴陀螺仪、三轴加速度计、三轴磁强计和温度传感器得到的数据，全部被传输到数字信号处理器中。In the real-time measurement system of the working arm station, the data obtained by the three-axis gyroscope, three-axis accelerometer, three-axis magnetometer and temperature sensor are all transmitted to the digital signal processor.
所述的作业臂工位的实时测量系统，所述数据接口为RS-485A数据接口，所述RS485A数据接口接收航姿信息及原始数据，同时也能通过命令方式进行交互操作。In the real-time measurement system of the working arm station, the data interface is an RS-485A data interface, and the RS485A data interface receives attitude information and original data, and can also perform interactive operations through command mode.
一种作业臂工位的实时测量系统的测量方法，所述方法包括以下步骤：A method for measuring a real-time measurement system of an operating arm station, the method comprising the following steps:
1）、将测量系统安装在机器的作业臂上，测量系统能动态测量作业臂的方位角、俯仰角和翻滚角；1) Install the measuring system on the operating arm of the machine, and the measuring system can dynamically measure the azimuth, pitch and roll angles of the operating arm;
2）、测量系统安装完毕后将测量系统的电源打开，使测量系统处于待机状态；2) After the measurement system is installed, turn on the power of the measurement system, so that the measurement system is in a standby state;
3）、打开无线控制终端的电源，使无线控制终端与测量系统进行无线通讯，即可实时测量作业臂的空间姿态，其中作业臂的方位角测量误差≤0.2°、俯仰角及翻滚角误差≤0.05°，重复性误差≤0.5°，内部更新率100Hz；3) Turn on the power of the wireless control terminal, so that the wireless control terminal can communicate with the measurement system wirelessly, and the spatial attitude of the operating arm can be measured in real time, where the azimuth angle measurement error of the operating arm is ≤0.2°, and the error of pitch angle and roll angle is ≤ 0.05°, repeatability error ≤0.5°, internal update rate 100Hz;
4）、通过无线控制终端的输入键盘能实现对测量数据的控制；4) The control of the measurement data can be realized through the input keyboard of the wireless control terminal;
5）、测量结束后，关闭电源即完成了一次测量。5) After the measurement is completed, turn off the power to complete a measurement.
采用如上所述的技术方案，本发明具有如下所述的优越性：Adopt the above-mentioned technical scheme, the present invention has the following advantages:
本发明所述的一种作业臂工位的实时测量系统及其测量方法，本发明通过在作业臂上设置测量系统，并通过无线控制终端实时显示和控制作业臂的方位角、俯仰角和翻滚角的角度，本发明能较好的实现实时测量的目的，从而提高作业精度和作业效率，本发明具有轻便灵活，重复拆卸，多机型匹配的特点，且操作方法简单，实施成本低，测量精度高，适合大范围推广和应用。The real-time measurement system and measurement method of a working arm station according to the present invention, the present invention sets the measuring system on the working arm, and displays and controls the azimuth, pitch angle and rollover of the working arm in real time through the wireless control terminal angle, the present invention can better realize the purpose of real-time measurement, thereby improving the operation accuracy and work efficiency, the present invention has the characteristics of lightness and flexibility, repeated disassembly, and multi-model matching, and the operation method is simple, the implementation cost is low, and the measurement High precision, suitable for large-scale promotion and application.
【附图说明】【Description of drawings】
图1为本发明机械作业臂空间姿态测量示意图；Fig. 1 is a schematic diagram of the spatial attitude measurement of the mechanical operating arm of the present invention;
图2为本发明测量装置结构原理图；Fig. 2 is a structural principle diagram of the measuring device of the present invention;
图3为本发明姿态测量单元的结构原理图；Fig. 3 is the structural principle diagram of the posture measurement unit of the present invention;
图中：1、作业臂；2、测量系统；3、无线控制终端。In the figure: 1. Operating arm; 2. Measurement system; 3. Wireless control terminal.
【具体实施方式】【Detailed ways】
通过下面的实施例可以更详细的解释本发明，本发明并不局限于下面的实施例；The present invention can be explained in more detail by the following examples, and the present invention is not limited to the following examples;
结合附图2～3所述一种作业臂工位的实时测量系统，由三轴加速度计、三轴磁强计、三轴陀螺仪、温度传感器、数据存储器、数字信号处理器（DSP）、程序存储器和数据接口构成测量单元，所述测量单元连接无线模块，所述无线模块和测量单元分别连接电源，所述无线模块与无线控制终端3实现无线连接形成作业臂1工位的实时测量系统2；所述数字信号处理器分别连接三轴加速度计、三轴磁强计、三轴陀螺仪、温度传感器、数据存储器、程序存储器和数据接口；所述数据接口连接无线模块；所述无线控制终端3包括无线发送与接收模块、中央处理器、存储器、输入键盘和液晶显示器，其中无线发送与接收模块和无线模块通过显示器和输入键盘进行数据的通讯和控制，即显示实时测量的数据。A real-time measurement system for the working arm station described in Figures 2 to 3, consists of a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, a temperature sensor, a data memory, a digital signal processor (DSP), The program memory and the data interface form a measurement unit, the measurement unit is connected to a wireless module, the wireless module and the measurement unit are respectively connected to a power supply, and the wireless module and the wireless control terminal 3 are wirelessly connected to form a real-time measurement system at the station of the operating arm 1 2; the digital signal processor is respectively connected to a three-axis accelerometer, a three-axis magnetometer, a three-axis gyroscope, a temperature sensor, a data memory, a program memory and a data interface; the data interface is connected to a wireless module; the wireless control The terminal 3 includes a wireless sending and receiving module, a central processing unit, a memory, an input keyboard and a liquid crystal display, wherein the wireless sending and receiving module and the wireless module perform data communication and control through the display and the input keyboard, that is, display real-time measured data.
所述的作业臂工位的实时测量系统，所述三轴加速度计用于确定作业臂1初始的姿态，并修正和确定三轴陀螺仪在水平方向（俯仰角和翻滚角）的漂移。In the real-time measurement system of the operating arm station, the three-axis accelerometer is used to determine the initial attitude of the operating arm 1, and to correct and determine the drift of the three-axis gyroscope in the horizontal direction (pitch angle and roll angle).
所述的作业臂工位的实时测量系统，所述三轴磁强计用于提供方位角的初始对准以及修正三轴陀螺仪的方位角漂移。In the real-time measurement system of the working arm station, the three-axis magnetometer is used to provide the initial alignment of the azimuth and correct the azimuth drift of the three-axis gyroscope.
所述的作业臂工位的实时测量系统，所述三轴陀螺仪用于测量作业臂1的绝对角速率，然后作业臂1的姿态角（方位角、俯仰角和翻滚角）就能通过设定的解算方法来获得。In the real-time measurement system of the working arm station, the three-axis gyroscope is used to measure the absolute angular rate of the working arm 1, and then the attitude angle (azimuth angle, pitch angle and roll angle) of the working arm 1 can be set by setting A given solution method is obtained.
所述的作业臂工位的实时测量系统，所述三轴陀螺仪、三轴加速度计、三轴磁强计和温度传感器得到的数据，全部被传输到数字信号处理器（嵌入式系统 DSP）中。In the real-time measurement system of the working arm station, the data obtained by the three-axis gyroscope, three-axis accelerometer, three-axis magnetometer and temperature sensor are all transmitted to the digital signal processor (embedded system DSP) middle.
所述的作业臂工位的实时测量系统，所述数据接口为RS-485A数据接口，所述RS485A数据接口接收航姿信息及原始数据，同时也能通过命令方式进行交互操作。In the real-time measurement system of the working arm station, the data interface is an RS-485A data interface, and the RS485A data interface receives attitude information and original data, and can also perform interactive operations through command mode.
结合附图1实施本发明所述的一种作业臂工位的实时测量系统的作业臂工位的实时测量测量方法，所述方法包括以下步骤：Implement the real-time measurement method of the working arm station of the real-time measurement system of a kind of working arm station of the present invention in conjunction with accompanying drawing 1, described method comprises the following steps:
1）、将测量系统2安装在机器的作业臂1上，测量系统2能动态测量作业臂1的方位角、俯仰角和翻滚角；1) Install the measuring system 2 on the operating arm 1 of the machine, and the measuring system 2 can dynamically measure the azimuth, pitch and roll angles of the operating arm 1;
2）、测量系统2安装完毕后将测量系统2的电源打开，使测量系统2处于待机状态；2) After the measurement system 2 is installed, turn on the power of the measurement system 2, so that the measurement system 2 is in a standby state;
3）、打开无线控制终端3的电源，使无线控制终端3与测量系统2进行无线通讯，即可实时测量作业臂1的空间姿态，其中作业臂1的方位角测量误差≤0.2°、俯仰角及翻滚角误差≤0.05°，重复性误差≤0.5°，内部更新率100Hz；3) Turn on the power of the wireless control terminal 3, and make the wireless control terminal 3 communicate with the measurement system 2 to measure the spatial attitude of the operating arm 1 in real time, wherein the azimuth measurement error of the operating arm 1 is ≤0.2°, the pitch angle And roll angle error ≤ 0.05°, repeatability error ≤ 0.5°, internal update rate 100Hz;
4）、通过无线控制终端3的输入键盘能实现对测量数据的控制；4) The control of the measurement data can be realized through the input keyboard of the wireless control terminal 3;
5）、测量结束后，关闭电源即完成了一次测量。5) After the measurement is completed, turn off the power to complete a measurement.
本发明未详述部分为现有技术。The unspecified parts of the present invention are prior art.
为了公开本发明的目的而在本文中选用的实施例，当前认为是适宜的，但是，应了解的是，本发明旨在包括一切属于本构思和发明范围内的实施例的所有变化和改进。The embodiments selected herein for the purpose of disclosing the present invention are presently considered suitable, however, it should be understood that the present invention is intended to include all changes and modifications of the embodiments that fall within the concept and scope of the invention.
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| CN201210398065.7ACN102914284B (en) | 2012-10-19 | 2012-10-19 | Real-time measurement system for work position of operation arm and measurement method thereof |
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| CN201210398065.7ACN102914284B (en) | 2012-10-19 | 2012-10-19 | Real-time measurement system for work position of operation arm and measurement method thereof |
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