CN102914284A - 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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- CN102914284A CN102914284A CN2012103980657A CN201210398065A CN102914284A CN 102914284 A CN102914284 A CN 102914284A CN 2012103980657 A CN2012103980657 A CN 2012103980657A CN 201210398065 A CN201210398065 A CN 201210398065A CN 102914284 A CN102914284 A CN 102914284A
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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 jibs station.
[background technology]
Known, in underground works and tunnel, water conservancy, building, electric power, road, the mine, in the engineering construction such as harbour and the national defence process, most plant equipment all needs to be grasped or controls the operating angle of machine work jibs, thereby reach preferably construction effect, can improve operating efficiency and the homework precision of plant equipment by accurate control work jibs operating angle, guarantee construction quality, improve construction safety etc., in the practice of construction process, operating personnel can reach operated from a distance by the real-time working angle of control work jibs, the effect of real-time monitoring, and then realized the demand of reduction production cost.
At present, the angle in measurement mechanical equipment availability arm space adopts total powerstation more, angulometer class measuring apparatus carries out manual measurement, and when adopting said method to measure the operating angle of engineering mechanical device work jibs, not only time-consuming but also require great effort, and be difficult to realize real-time measurement, can't satisfy the construction operation demand, even if some have been equipped with the angle control system of working arm for the strict engineering mechanical device self of operating angle, the electric liquid of general many employings jointly controls system, but because it has increased the machinery production cost greatly, less economical, can't obtain Rapid Popularization, it is a kind of namely convenient so how to improve, and production cost is low again, and the system that can measure in real time again the work jibs position and measuring method have just become those skilled in the art's long-term technology demand.
[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 jibs station, the present invention is by arranging measuring system in work jibs, and show in real time the spatial attitude position angle of work jibs by wireless control terminal, the angle of the angle of pitch and roll angle, the present invention can realize the in real time purpose of measurement preferably, thereby improve homework precision and operating efficiency, equipment can be measured in real time, simultaneous display, and can dismantle flexibly, applicable to the exchange between the dissimilar engineering machinery, economy is high, suitable for large-scale promotion and application.
For realizing aforesaid goal of the invention, the present invention adopts technical scheme as described below:
A kind of real-time measurement system of work jibs station, consist of 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 and measuring unit respectively connect power supply, and described wireless module and wireless control terminal realize that wireless connections form the real-time measurement system of work jibs station;
Described digital signal processor connects respectively three axis accelerometer, three axis magnetometer, three-axis gyroscope, temperature sensor, data-carrier store, program storage and data-interface;
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, namely show the data of measuring in real time.
The real-time measurement system of described work jibs station, described three axis accelerometer are used for determining the initial attitude of work jibs, and correction and the drift in the horizontal direction of definite three-axis gyroscope.
The position angle that the real-time measurement system of described work jibs station, described three axis magnetometer are used for azimuthal initial alignment being provided and revising three-axis gyroscope drifts about.
The real-time measurement system of described work jibs station, described three-axis gyroscope is used for measuring the absolute angle speed of work jibs, and then the attitude angle of work jibs just can obtain by the calculation method of setting.
The real-time measurement system of described work jibs station, the data that described three-axis gyroscope, three axis accelerometer, three axis magnetometer and temperature sensor obtain all are transferred in the digital signal processor.
The real-time measurement system of described work jibs station, described data-interface are the RS-485A data-interface, and described RS485A data-interface receives boat appearance information and raw data, also can carry out interactive operation by command mode simultaneously.
A kind of measuring method of real-time measurement system of work jibs station said method comprising the steps of:
1), measuring system is installed on the work jibs of machine, measuring system can dynamically be measured position angle, the angle of pitch and the roll angle of work jibs;
2), measuring system install after with the power supply opening of measuring system, make measuring system be in holding state;
3), open the power supply of wireless control terminal, make wireless control terminal and measuring system carry out wireless telecommunications, can measure in real time the spatial attitude of work jibs, the wherein azimuth measurement error of work jibs≤0.2 °, the angle of pitch and roll angle error≤0.05 °, reproducibility error≤0.5 °, inner turnover rate 100Hz;
4), the input keyboard by wireless control terminal can be realized the control to measurement data;
5), measure to finish after, powered-down has namely been finished one-shot measurement.
Adopt aforesaid technical scheme, the present invention has superiority as described below:
The real-time measurement system of a kind of work jibs station of the present invention and measuring method thereof, the present invention is by arranging measuring system in work jibs, and by the real-time angle that shows and control position angle, the angle of pitch and the roll angle of work jibs of wireless control terminal, the present invention can realize the in real time purpose of measurement preferably, thereby improve homework precision and operating efficiency, the present invention has light and flexible, repeated removal, the characteristics 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.
[description of drawings]
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;
Among the figure: 1, work jibs; 2, measuring system; 3, wireless control terminal.
[embodiment]
Can explain in more detail the present invention by the following examples, the present invention is not limited to the following examples;
The real-time measurement system of 2～3 described a kind of work jibs stations by reference to the accompanying drawings, consist of measuring unit 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 and measuring unit respectively connect power supply, and described wireless module and wireless control terminal 3 realize that wireless connections form the real-time measurement system 2 of work jibs 1 station; Described digital signal processor connects respectively three axis accelerometer, three axis magnetometer, three-axis gyroscope, temperature sensor, data-carrier store, program storage and data-interface; 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, namely show the data of measuring in real time.
The real-time measurement system of described work jibs station, described three axis accelerometer be used for to be determined the attitude that work jibs 1 is initial, and correction and the in the horizontal direction drift of (angle of pitch and roll angle) of definite three-axis gyroscope.
The position angle that the real-time measurement system of described work jibs station, described three axis magnetometer are used for azimuthal initial alignment being provided and revising three-axis gyroscope drifts about.
The real-time measurement system of described work jibs station, described three-axis gyroscope is used for measuring the absolute angle speed of work jibs 1, and then the attitude angle of work jibs 1 (position angle, the angle of pitch and roll angle) just can obtain by the calculation method of setting.
The real-time measurement system of described work jibs station, the data that described three-axis gyroscope, three axis accelerometer, three axis magnetometer and temperature sensor obtain all are transferred in the digital signal processor (embedded system DSP).
The real-time measurement system of described work jibs station, described data-interface are the RS-485A data-interface, and described RS485A data-interface receives boat appearance information and raw data, also can carry out interactive operation by command mode simultaneously.
The 1 Real-time Measuring measuring method of work jibs station of implementing the real-time measurement system of a kind of work jibs station of the present invention by reference to the accompanying drawings said method comprising the steps of:
1), measuring system 2 is installed on the work jibs 1 of machine, measuring system 2 can dynamically be measured position angle, the angle of pitch and the roll angle of work jibs 1;
2), measuring system 2 install after with the power supply opening of measuring system 2, make measuring system 2 be in holding state;
3), open the power supply of wireless control terminal 3, make wireless control terminal 3 and measuring system 2 carry out wireless telecommunications, can measure in real time the spatial attitude of work jibs 1, the wherein azimuth measurement error of work jibs 1≤0.2 °, the angle of pitch and roll angle error≤0.05 °, reproducibility error≤0.5 °, inner turnover rate 100Hz;
4), the input keyboard by wireless control terminal 3 can be realized the control to measurement data;
5), measure to finish after, powered-down has namely been finished one-shot measurement.
Part not in the detailed description of the invention is prior art.
The embodiment that selects in this article in order to disclose purpose of the present invention currently thinks to suit, and still, will be appreciated that the present invention is intended to comprise that all belong to all changes and the improvement of the embodiment in this design and the invention scope.
Claims (7)
1. the real-time measurement system of a work jibs station, it is characterized in that: consist of 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 and measuring unit respectively connect power supply, and described wireless module and wireless control terminal (3) realize that wireless connections form the real-time measurement system (2) of work jibs (1) station;
Described digital signal processor connects respectively three axis accelerometer, three axis magnetometer, three-axis gyroscope, temperature sensor, data-carrier store, program storage and data-interface;
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, namely show the data of measuring in real time.
2. the real-time measurement system of work jibs station according to claim 1 is characterized in that: described three axis accelerometer is used for determining the initial attitude of work jibs (1), and correction and the drift in the horizontal direction of definite three-axis gyroscope.
3. the real-time measurement system of work jibs station according to claim 1 is characterized in that: described three axis magnetometer is used for the position angle drift that azimuthal initial alignment is provided and revises three-axis gyroscope.
4. the real-time measurement system of work jibs station according to claim 1 is characterized in that: described three-axis gyroscope is used for measuring the absolute angle speed of work jibs (1), and then the attitude angle of work jibs (1) just can obtain by the calculation method of setting.
5. the real-time measurement system of work jibs station according to claim 1, it is characterized in that: the data that described three-axis gyroscope, three axis accelerometer, three axis magnetometer and temperature sensor obtain all are transferred in the digital signal processor.
6. the real-time measurement system of work jibs station according to claim 1, it is characterized in that: described data-interface is the RS-485A data-interface, described RS485A data-interface receives boat appearance information and raw data, also can carry out interactive operation by command mode simultaneously.
7. implement a kind of measuring method of real-time measurement system of work jibs station of the real-time measurement system of the described a kind of work jibs station of the arbitrary claim of claim 1～6, said method comprising the steps of:
1), measuring system (2) is installed on the work jibs (1) of machine, measuring system (2) can dynamically be measured position angle, the angle of pitch and the roll angle of work jibs (1);
2), measuring system (2) install after with the power supply opening of measuring system (2), make measuring system (2) be in holding state;
3), open the power supply of wireless control terminal (3), make wireless control terminal (3) and measuring system (2) carry out wireless telecommunications, can measure in real time the spatial attitude of work jibs (1), the wherein azimuth measurement error of work jibs (1)≤0.2 °, the angle of pitch and roll angle error≤0.05 °, reproducibility error≤0.5 °, inner turnover rate 100Hz;
4), the input keyboard by wireless control terminal (3) can be realized the control to measurement data;
5), measure to finish after, powered-down has namely been finished one-shot measurement.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103631250A (en) * | 2013-02-07 | 2014-03-12 | 中国科学院光电研究院 | Method for implementing ground test on tracking precision of pitch axis of antenna |
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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 |
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| 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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| CN103631250A (en) * | 2013-02-07 | 2014-03-12 | 中国科学院光电研究院 | Method for implementing ground test on tracking precision of pitch axis of antenna |
| CN103631250B (en) * | 2013-02-07 | 2016-02-03 | 中国科学院光电研究院 | A kind of method of elevation axis of antenna tracking accuracy being carried out to ground test |
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| CN102914284B (en) | 2015-07-08 |
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