CN102914284B - Real-time measurement system for work position of operation arm and measurement method thereof - Google Patents
Real-time measurement system for work position of operation arm and measurement method thereof Download PDFInfo
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- CN102914284B CN102914284B CN201210398065.7A CN201210398065A CN102914284B CN 102914284 B CN102914284 B CN 102914284B CN 201210398065 A CN201210398065 A CN 201210398065A CN 102914284 B CN102914284 B CN 102914284B
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Abstract
The invention provides a real-time measurement system for a work position of an operation arm and a measurement method thereof, relating to the field of an engineering machine. With the adoption of the real-time measurement system for the work position of the operation arm and the measurement method thereof provided by the invention, the real-time measurement can be realized well by arranging a measuring system on an operation arm, and displaying and controlling angles of a direction angle, a pitch angle and a rolling angle of the operation arm through a wireless control terminal, so that the operation precision and the operation efficiency can be improved. The real-time measurement system and the measurement method provided by the invention has the advantages of light weight, high sensitivity, repeat dismounting and multi-type matching, simple operation method, low implementation cost, and high measurement precision, and is suitable for large-size popularization and application.
Description
[technical field]
The present invention relates to engineering machinery field, be specifically related to a kind of real-time measurement system and measuring method thereof of work position of operation arm.
[background technology]
Known, in underground works and tunnel, water conservancy, building, electric power, road, mine, in the construction process such as harbour and national defence, most plant equipment all needs to be grasped or the operating angle of control machine work jibs, thus reach good construction effect, operating efficiency and the homework precision of plant equipment can be improved by accurately controlling work jibs operating angle, ensure construction quality, improve construction safety etc., in practice of construction process, operating personnel can reach operated from a distance by the real-time working angle controlling work jibs, the effect of real-time monitoring, and then achieve the demand of reduction production cost.
At present, angle many employings total powerstation in measurement mechanical equipment availability arm space, angulometer class measuring apparatus carries out manual measurement, and when adopting the operating angle of said method survey engineering plant equipment work jibs, not only time-consuming but also require great effort, and be difficult to realize real-time measurement, construction operation demand cannot be met, even if for operating angle, some require that strict engineering mechanical device self is equipped with the angle control system of working arm, the electric liquid of general many employings jointly controls system, but because it considerably increases machinery production cost, less economical, Rapid Popularization cannot be obtained, so how to improve one and convenient, production cost is low again, the system measuring again work jibs position in real time and measuring method have just become the long-term technology demand of those skilled in the art.
[summary of the invention]
For overcoming the deficiency of above-mentioned technology, the invention provides a kind of real-time measurement system and measuring method thereof of work position of operation arm, the present invention by arranging measuring system in work jibs, and the spatial attitude position angle of work jibs is shown in real time by wireless control terminal, the angle of the angle of pitch and roll angle, the present invention can realize the object measured in real time preferably, thus improve homework precision and operating efficiency, equipment can be measured in real time, simultaneous display, and can dismantle flexibly, be applicable to the exchange between dissimilar engineering machinery, economy is high, suitable for large-scale promotion and application.
For realizing goal of the invention as above, the present invention adopts technical scheme as described below:
A kind of real-time measurement system of work position of operation arm, measuring unit is formed by three axis accelerometer, three axis magnetometer, three-axis gyroscope, temperature sensor, data-carrier store, digital signal processor, program storage and data-interface, described measuring unit connects wireless module, described wireless module is connected power supply respectively with measuring unit, and described wireless module and wireless control terminal realize the real-time measurement system that wireless connections form work position of operation arm;
Described digital signal processor connects three axis accelerometer, three axis magnetometer, three-axis gyroscope, temperature sensor, data-carrier store, program storage and data-interface respectively;
Described data-interface connects wireless module;
Described wireless control terminal comprises wireless transmission and receiver module, central processing unit, storer, input keyboard and liquid crystal display, wherein wireless transmission and receiver module and wireless module carry out communication and the control of data by display and input keyboard, i.e. the data measured in real time of display.
The real-time measurement system of described work position of operation arm, described three axis accelerometer for determining the attitude that work jibs is initial, and is revised and determines three-axis gyroscope drift in the horizontal direction.
The real-time measurement system of described work position of operation arm, described three axis magnetometer is for providing azimuthal initial alignment and revising the position angle drift of three-axis gyroscope.
The real-time measurement system of described work position of operation arm, described three-axis gyroscope is for measuring the absolute angle speed of work jibs, and then the attitude angle of work jibs just obtains by the calculation method of setting.
The real-time measurement system of described work position of operation arm, the data that described three-axis gyroscope, three axis accelerometer, three axis magnetometer and temperature sensor obtain, are all transferred in digital signal processor.
The real-time measurement system of described work position of operation arm, described data-interface is RS-485A data-interface, and described RS485A data-interface receives boat appearance information and raw data, also carries out interactive operation by command mode simultaneously.
A measuring method for the real-time measurement system of work position of operation arm, said method comprising the steps of:
1), by measuring system be arranged in the work jibs of machine, measuring system dynamic measures the position angle of work jibs, the angle of pitch and roll angle;
2), measuring system install after by the power supply opening of measuring system, make measuring system be in holding state;
3) power supply of wireless control terminal, is opened, wireless control terminal and measuring system is made to carry out wireless telecommunications, the spatial attitude of work jibs can be measured in real time, wherein azimuth measurement error≤0.2 ° of work jibs, the angle of pitch and roll angle error≤0.05 °, reproducibility error≤0.5 °, inner turnover rate 100Hz;
4), the control to measurement data can be realized by the input keyboard of wireless control terminal;
5), measure terminate after, namely powered-down completes one-shot measurement.
Adopt technical scheme as above, the present invention has superiority as described below:
The real-time measurement system of a kind of work position of operation arm of the present invention and measuring method thereof, the present invention by arranging measuring system in work jibs, and shown and control the angle of the position angle of work jibs, the angle of pitch and roll angle in real time by wireless control terminal, the present invention can realize the object measured in real time preferably, thus improve homework precision and operating efficiency, the present invention has light and flexible, repeated removal, the feature of multi-model coupling, and method of operating is simple, implementation cost is low, and measuring accuracy is high, suitable for large-scale promotion and application.
[accompanying drawing explanation]
Fig. 1 is mechanical work arm spatial attitude instrumentation plan of the present invention;
Fig. 2 is measurement mechanism structure principle chart of the present invention;
Fig. 3 is the structure principle chart of Attitude Measuring Unit of the present invention;
In figure: 1, work jibs; 2, measuring system; 3, wireless control terminal.
[embodiment]
Can explain the present invention in more detail by the following examples, the present invention is not limited to the following examples;
The real-time measurement system of a kind of work position of operation arm described in 2 ~ 3 by reference to the accompanying drawings, measuring unit is formed by three axis accelerometer, three axis magnetometer, three-axis gyroscope, temperature sensor, data-carrier store, digital signal processor (DSP), program storage and data-interface, described measuring unit connects wireless module, described wireless module is connected power supply respectively with measuring unit, and described wireless module and wireless control terminal 3 realize the real-time measurement system 2 that wireless connections form work jibs 1 station; Described digital signal processor connects three axis accelerometer, three axis magnetometer, three-axis gyroscope, temperature sensor, data-carrier store, program storage and data-interface respectively; Described data-interface connects wireless module; Described wireless control terminal 3 comprises wireless transmission and receiver module, central processing unit, storer, input keyboard and liquid crystal display, wherein wireless transmission and receiver module and wireless module carry out communication and the control of data by display and input keyboard, i.e. the data measured in real time of display.
The real-time measurement system of described work position of operation arm, the drift of three-axis gyroscope (angle of pitch and roll angle) is in the horizontal direction revised and determined to described three axis accelerometer for determining the attitude that work jibs 1 is initial, and.
The real-time measurement system of described work position of operation arm, described three axis magnetometer is for providing azimuthal initial alignment and revising the position angle drift of three-axis gyroscope.
The real-time measurement system of described work position of operation arm, described three-axis gyroscope is for measuring the absolute angle speed of work jibs 1, and then the attitude angle (position angle, the angle of pitch and roll angle) of work jibs 1 just obtains by the calculation method of setting.
The real-time measurement system of described work position of operation arm, the data that described three-axis gyroscope, three axis accelerometer, three axis magnetometer and temperature sensor obtain, are all transferred in digital signal processor (embedded system DSP).
The real-time measurement system of described work position of operation arm, described data-interface is RS-485A data-interface, and described RS485A data-interface receives boat appearance information and raw data, also carries out interactive operation by command mode simultaneously.
The real-time measurement measuring method of the work position of operation arm of the real-time measurement system of 1 enforcement a kind of work position of operation arm of the present invention by reference to the accompanying drawings, said method comprising the steps of:
1), by measuring system 2 be arranged in the work jibs 1 of machine, measuring system 2 dynamic measures the position angle of work jibs 1, the angle of pitch and roll angle;
2), measuring system 2 install after by the power supply opening of measuring system 2, make measuring system 2 be in holding state;
3) power supply of wireless control terminal 3, is opened, wireless control terminal 3 and measuring system 2 is made to carry out wireless telecommunications, the spatial attitude of work jibs 1 can be measured in real time, wherein azimuth measurement error≤0.2 ° of work jibs 1, the angle of pitch and roll angle error≤0.05 °, reproducibility error≤0.5 °, inner turnover rate 100Hz;
4), the control to measurement data can be realized by the input keyboard of wireless control terminal 3;
5), measure terminate after, namely powered-down completes one-shot measurement.
Part not in the detailed description of the invention is prior art.
The embodiment selected in this article in order to open object of the present invention, currently thinks to be suitable for, but it is to be understood that the present invention is intended to comprise all changes belonging to the embodiment in this design and invention scope and improvement.
Claims (7)
1. the real-time measurement system of a work position of operation arm, it is characterized in that: form measuring unit by three axis accelerometer, three axis magnetometer, three-axis gyroscope, temperature sensor, data-carrier store, digital signal processor, program storage and data-interface, described measuring unit connects wireless module, described wireless module is connected power supply respectively with measuring unit, and described wireless module and wireless control terminal (3) realize the real-time measurement system that wireless connections form work position of operation arm;
Described digital signal processor connects three axis accelerometer, three axis magnetometer, three-axis gyroscope, temperature sensor, data-carrier store, program storage and data-interface respectively;
Described data-interface connects wireless module;
Described wireless control terminal (3) comprises wireless transmission and receiver module, central processing unit, storer, input keyboard and liquid crystal display, wherein wireless transmission and receiver module and wireless module carry out communication and the control of data by display and input keyboard, i.e. the data measured in real time of display.
2. the real-time measurement system of work position of operation arm according to claim 1, is characterized in that: described three axis accelerometer is used for the attitude determining that work jibs (1) is initial, and revises and determine three-axis gyroscope drift in the horizontal direction.
3. the real-time measurement system of work position of operation arm according to claim 1, is characterized in that: described three axis magnetometer is for providing azimuthal initial alignment and revising the position angle drift of three-axis gyroscope.
4. the real-time measurement system of work position of operation arm according to claim 1, is characterized in that: described three-axis gyroscope is for measuring the absolute angle speed of work jibs (1), and then the attitude angle of work jibs (1) just obtains by the calculation method of setting.
5. the real-time measurement system of work position of operation arm according to claim 1, is characterized in that: the data that described three-axis gyroscope, three axis accelerometer, three axis magnetometer and temperature sensor obtain, and is all transferred in digital signal processor.
6. the real-time measurement system of work position of operation arm according to claim 1, it is characterized in that: described data-interface is RS-485A data-interface, described RS485A data-interface receives boat appearance information and raw data, also carries out interactive operation by command mode simultaneously.
7. implement the claims the measuring method of the real-time measurement system of a kind of work position of operation arm of the real-time measurement system of a kind of work position of operation arm described in 1 ~ 6 arbitrary claim, said method comprising the steps of:
1), by measuring system (2) be arranged in the work jibs (1) of machine, measuring system (2) dynamic measures position angle, the angle of pitch and the roll angle of work jibs (1);
2), measuring system (2) install after by the power supply opening of measuring system (2), make measuring system (2) be in holding state;
3) power supply of wireless control terminal (3), is opened, wireless control terminal (3) and measuring system (2) is made to carry out wireless telecommunications, the spatial attitude of work jibs (1) can be measured in real time, wherein azimuth measurement error≤0.2 ° of work jibs (1), the angle of pitch and roll angle error≤0.05 °, reproducibility error≤0.5 °, inner turnover rate 100Hz;
4), the control to measurement data can be realized by the input keyboard of wireless control terminal (3);
5), measure terminate after, namely powered-down completes one-shot measurement.
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| CN201210398065.7A CN102914284B (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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| CN201210398065.7A CN102914284B (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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1771113A (en) * | 2003-06-12 | 2006-05-10 | 提姆查克股份有限公司 | Robot remote control system |
| CN101094960A (en) * | 2004-12-21 | 2007-12-26 | 博世力士乐股份有限公司 | Position determination system |
| CN101460735A (en) * | 2006-05-10 | 2009-06-17 | 轻型飞机发动机研究有限公司 | System and process for automatically controlling the flight of power wing airfoils |
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| CN105078580B (en) * | 2010-11-02 | 2017-09-12 | 伊顿株式会社 | Surgical robot system and its laparoscopic procedure method and human body temperature type operation image processing apparatus and its method |
| JP5146621B2 (en) * | 2011-01-31 | 2013-02-20 | トヨタ自動車株式会社 | Articulated arm robot, control method and control program |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1771113A (en) * | 2003-06-12 | 2006-05-10 | 提姆查克股份有限公司 | Robot remote control system |
| CN101094960A (en) * | 2004-12-21 | 2007-12-26 | 博世力士乐股份有限公司 | Position determination system |
| CN101460735A (en) * | 2006-05-10 | 2009-06-17 | 轻型飞机发动机研究有限公司 | System and process for automatically controlling the flight of power wing airfoils |
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