CN103900497B - Based on the contactless digger operating device attitude measurement method of vision measurement - Google Patents
Based on the contactless digger operating device attitude measurement method of vision measurement Download PDFInfo
- Publication number
- CN103900497B CN103900497B CN201410079270.6A CN201410079270A CN103900497B CN 103900497 B CN103900497 B CN 103900497B CN 201410079270 A CN201410079270 A CN 201410079270A CN 103900497 B CN103900497 B CN 103900497B
- Authority
- CN
- China
- Prior art keywords
- point
- saddle
- coordinate
- saddle point
- feature
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Image Analysis (AREA)
Abstract
A kind of contactless digger operating device attitude measurement method based on vision measurement, it by pasting the characteristic point that serves as a mark of the circular piece with obvious image saddle point characteristics on equipment, then with the industry vidicon picked-up digger operating device image in driver's cabin frame, apply again saddle point detection method and detect in real time online all image saddle points including feature sheet central point on equipment image, and by the distance between feature sheet, the image saddle point of non-feature sheet central point is filtered out, and then the inclination angle that draws the each parts of equipment by the line inclination angle between feature sheet central point, thereby measure the attitude of equipment. this kind of measuring method can dynamically be measured the attitude of digger operating device, and it does not install any rapid wear, precision part on equipment, and the reliability of excavator observing and controlling is improved, and maintenance cost reduces. and its testing result is accurate, calculation procedure is few, method is simple, the rapid dynamic response speed of measurement, and real-time is good.
Description
Technical field
The present invention relates to vision measuring method, relate in particular to a kind of digger operating device attitude measurement method based on vision measurement.
Technical background
Hydraulic crawler excavator is that function is the most typical, structure is the most complicated, purposes one of engineering machinery the most widely. As the main product of engineering machinery, it plays a part very important in the constructions such as industry and civil buildings, communications and transportation, hydraulic and electric engineering engineering, mine excavation and military engineering.
Typical single bucket hydraulic excavator is made up of equipment, revolving dial and running gear three parts. Equipment is the parts that directly complete mining task, by swing arm, dipper, scraper bowl etc., three parts are hinged forms, and between revolving dial and swing arm, swing arm and dipper, scraper bowl and dipper, be hinged with respectively swing arm hydraulic cylinder, dipper hydraulic cylinder, scraper bowl hydraulic cylinder. The operation of excavator is: power shovel is positioned at tap point by the joint operation control by the hydraulic motor to revolving dial and three hydraulic cylinders, then by scraper bowl hydraulic cylinder and dipper hydraulic cylinder being the action of excavating or planish of main joint operation, scraper bowl is being filled after material, by the joint operation of the hydraulic motor to revolving dial and three hydraulic cylinders, scraper bowl is forwarded to emptying point and carries out discharging action again, last scraper bowl again forwards tap point to and carries out dredge operation next time. In a word, the operating process complexity of excavator, conventionally need to carry out joint operation to the hydraulic motor of revolving dial and swing arm hydraulic cylinder, dipper hydraulic cylinder, scraper bowl hydraulic cylinder simultaneously, and need to judge according to vision and empiric observation position and the angle of swing arm, dipper, scraper bowl. Visible, excavator is high to operating personnel's technical requirement, and needing could be on duty through professional training, and its labour intensity is large, work under bad environment; Efficiency of construction, cost and quality to various engineerings cause serious restriction, and the operation automation of needing badly by realizing excavator solves as above problem.
In recent decades, a large amount of research work has been done to the operation automation of excavator by part engineering machinery parent enterprise and colleges and universities both at home and abroad. For example abroad have: Japanese Komatsu, Kase Corp. of the U.S., Lancaster University of Britain etc.; Domestic have Tongji University, Zhejiang University, a mountains and rivers intelligence company etc. The automatic excavating machine being developed into: operating personnel only need send instruction, provide tap point and mining task thereof (type), control system, according to the body locating information of Real-time Feedback, the attitude information of equipment, is controlled the hydraulic motor of revolving dial and the action of three hydraulic cylinders and is automatically realized corresponding dredge operation. Its body locating information is completed by GPS navigation system conventionally. And the obtaining of attitude information to equipment, adopt at hinge place mounted angle sensor or the photoelectric encoder of swing arm, dipper and the scraper bowl of equipment realized more. The problem that its attitude information obtain manner exists is: excavator excavates in operation process, equipment inevitably can with soil, rock, or other objects bump, produce high vibration, very easily cause sensor mounted thereto to damage, finally cause whole automation control system normally to move. The reliability of system is low, and maintenance cost is high.
Summary of the invention
The present invention is directed to the wretched insufficiency of existing automatic excavating machine attitude of working device measuring system, a kind of contactless digger operating device attitude measurement method is proposed, this kind of measuring method can dynamically be measured the attitude information of digger operating device, it does not install any rapid wear, precision part on equipment, the reliability of excavator observing and controlling is improved, and maintenance cost reduces. And its testing result is accurate, calculation procedure is few, method is simple, the rapid dynamic response speed of measurement, and real-time is good.
The technical solution adopted for the present invention to solve the technical problems is: a kind of contactless digger operating device attitude measurement method based on vision measurement, comprises the following steps:
The layout of A, camera and feature sheet:
Industry vidicon is arranged in excavator cab frame, and industry vidicon visual field covers the equipment of excavator from a side, and the USB interface of industry vidicon is connected with the automatic control system of excavator;
Simultaneously, all paste two circular feature sheets at excavator swing arm, dipper and scraper bowl towards the side of industry vidicon, the surface segmentation of feature sheet is four 90 degree fan sections, wherein two relative fan sections are black region, another two relative fan sections are white area, make the central point of feature sheet can be detected as saddle point in the saddle point of image detects;
The central point line of two feature sheets on swing arm is parallel with the line of two rod member hinges on swing arm; The central point line of two feature sheets on dipper is parallel with the line of two rod member hinges on dipper; The central point line of two feature sheets on scraper bowl is parallel with the line of the rod member hinge of scraper bowl and spear;
The central point distance of two feature sheets on described swing arm is l1, the central point distance of two feature sheets on dipper is l2, the central point distance of two feature sheets on scraper bowl is l3, and l1≠l2≠l3,l1≠l3；
B, image acquisition: in the time that excavator is worked, industry vidicon absorbs a width digital picture every 60～80ms, and by USB interface, digital picture is passed to automatic control system;
C, saddle point detect:
When primary detection, automatic control system detects saddle point i in whole digital picture by saddle point searching algorithm, obtains the image coordinate system coordinate P ' of saddle point ii(ri,ci), wherein, the sequence number that i is saddle point, i=1,2 ... n, riFor the row-coordinate of saddle point, ciFor the row coordinate of saddle point;
First later detection, automatic control system detects saddle point i by saddle point searching algorithm in the definite hough transform region of the step F last time detecting, and obtains the image coordinate system coordinate P ' of saddle point ii(ri,ci), wherein, the sequence number that i is saddle point, i=1,2 ... n, riFor the row-coordinate of saddle point, ciFor the row coordinate of saddle point;
D, coordinate transform: by the image coordinate system coordinate P ' of saddle point ii(ri,ci) be converted to the coordinate P as the world coordinate system (WCS) of x-y plane taking the side being shot of swing arm (1), dipper (2) and scraper bowl (3)i(xiyi,0)；
E, saddle point filter and measurement of dip angle: calculating the phase mutual edge distance of any two saddle points in world coordinate system is that saddle point is apart from ajk, obtain distance matrix L:
In formula: ajkRepresent the distance between i=j saddle point and i=k saddle point, L is symmetrical matrix;
Calculate all saddle points apart from ajkWith the saddle point of two feature sheets on swing arm apart from l1The absolute value of difference | ajk-l1|, if | aj1,k1-l1| value be minimum, judge that corresponding two saddle point j1 and k1 are the central point of two feature sheets on swing arm; The inclination angle of two central point lines is α1：
Calculate all saddle points apart from ajkWith the saddle point of two feature sheets on dipper apart from l2The absolute value of difference | ajk-l2|, if | aj2,k2-l2| value be minimum, judge that corresponding two saddle point j2 and k2 are the central point of two feature sheets on swing arm; The inclination angle of two central point lines is α2：
Calculate all saddle points apart from ajkWith the saddle point of two feature sheets on scraper bowl apart from l3The absolute value of difference | ajk-l3|, if | aj3,k3-l3| value be minimum, judge that corresponding two saddle point j3 and k3 are the central point of two feature sheets on swing arm; The inclination angle of two central point lines is α3：
F, dwindle surveyed area: current detection to the central point world coordinate system coordinate of six feature sheets in, find out the most left center point coordinate L (xl,yl, 0), the rightest center point coordinate R (xr,yr, 0), the center point coordinate T (x that goes up mostt,yt, 0) and under center point coordinate B (xb,yb,0)，x0For the ultimate range of all feature sheets transverse movement in detection time interval of setting, y0For the ultimate range of all feature sheets lengthwise movement in detection time interval; Two of the rectangular area of next time detecting to angular coordinate are: LB (xl-x0,yl-y0,0)、TR(xr+x0,yr+y0, 0), then can obtain two of the hough transform region next time image coordinate system coordinate to angle point by coordinate inverse transformation, and then determine the hough transform region in the image coordinate system next time detecting;
G, repetition B-F step, kinetic measurement in real time goes out the attitude of digger operating device.
Compared with prior art, income effect of the present invention is:
One, the present invention proposes a kind of contactless digger operating device attitude measurement method based on vision measurement technology, the method is arranged on industry vidicon in excavator cab frame, on equipment, paste cheap, the non-damageable band look circular piece characteristic point that serves as a mark, it is simple in structure, acquisition cost is low; Meanwhile, it has been avoided large in action, has easily collided, vibrates mounted angle sensor accurate measurement part on strong equipment and flimsy defect with manipulating object, has improved the reliability of excavator TT&C system, has reduced maintenance cost.
Two, by paste the characteristic point that serves as a mark of the circular piece with obvious image saddle point characteristics on equipment, then process in real time the digger operating device image applications saddle point detection method of picked-up is online, detect all image saddle points including feature sheet central point on equipment, and by the distance between feature sheet, the image saddle point of non-feature sheet central point is filtered out, and then draw the inclination angle of the each parts of equipment by the line inclination angle between feature sheet central point, thereby measure the attitude of equipment. Than the mode that whole image large area analysis is caught to outline line, its testing result is accurate, and calculation procedure is few, method is simple, has improved the dynamic responding speed of measuring system, has ensured requirement of real-time. Subsequent detection after primary detection only detects being slightly larger than in the characteristic point region last time detecting, and has further shortened searching the time of saddle point, has accelerated the speed of measuring.
Below in conjunction with the drawings and specific embodiments, the present invention is further illustrated.
Brief description of the drawings
Fig. 1 is the hardware layout schematic diagram adopting in the embodiment of the present invention.
Fig. 2 is the rectangular area (the solid line region in figure) at these 6 feature sheet central point places that detect of drawing in embodiment of the present invention step B and the next hough transform region (dashed region in figure) that anticipation goes out.
Fig. 3 tests the inventive method drawing and the boom angle result comparison diagram that sensor installation is measured on swing arm hinge.
Detailed description of the invention
Embodiment
Fig. 1 illustrates, a kind of detailed description of the invention of the present invention is: a kind of contactless attitude of working device measuring method based on vision measurement, comprises the following steps:
The layout of A, camera and feature sheet:
Industry vidicon 4 is arranged in excavator cab frame 5, and industry vidicon 4 visual fields cover the equipment of excavator from a side, and the USB interface of industry vidicon 4 is connected with the automatic control system of excavator;
Simultaneously, all paste two circular feature sheets 6 at excavator swing arm 1, dipper 2 and scraper bowl 3 towards the side of industry vidicon 4, the surface segmentation of feature sheet 6 is four 90 degree fan sections, wherein two relative fan sections are black region 6a, another two relative fan sections are white area 6b, make the central point of feature sheet 6 can be detected as saddle point in the saddle point of image detects;
The central point line of two feature sheets 6 on swing arm 1 is parallel with the line of two rod member hinges on swing arm 1; The central point line of two feature sheets 6 on dipper 2 is parallel with the line of two rod member hinges on dipper 2; The central point line of two feature sheets 6 on scraper bowl 3 is parallel with the line of the rod member hinge of scraper bowl 3 and spear;
In the present invention, two rod member hinges on swing arm 1 refer to the pin joint between pin joint and swing arm 1 and the dipper 2 between swing arm 1 and revolving dial; Two rod member hinges on dipper 2 refer to the pin joint between pin joint and dipper 2 and the scraper bowl 3 between dipper 2 and swing arm 1; The rod member hinge of scraper bowl 3 refers to the pin joint between scraper bowl 3 and dipper 2.
The central point distance of two feature sheets 6 on described swing arm 1 is l1, the central point distance of two feature sheets 6 on dipper 2 is l2, the central point distance of two feature sheets 6 on scraper bowl 3 is l3, and l1≠l2≠l3,l1≠l3；
B, image acquisition: in the time that excavator is worked, industry vidicon 4 absorbs a width digital picture every 60～80ms, and by USB interface, digital picture is passed to automatic control system;
C, saddle point detect:
When primary detection, automatic control system detects saddle point i in whole digital picture by saddle point searching algorithm, obtains the image coordinate system coordinate P ' of saddle point ii(ri,ci), wherein, the sequence number that i is saddle point, i=1,2 ... n, riFor the row-coordinate of saddle point, ciFor the row coordinate of saddle point;
First later detection, automatic control system detects saddle point i by saddle point searching algorithm in the definite hough transform region of the step F last time detecting, and obtains the image coordinate system coordinate P ' of saddle point ii(ri,ci), wherein, the sequence number that i is saddle point, i=1,2 ... n, riFor the row-coordinate of saddle point, ciFor the row coordinate of saddle point;
D, coordinate transform: by the image coordinate system coordinate P ' of saddle point ii(ri,ci) be converted to the coordinate P as the world coordinate system (WCS) of x-y plane taking the side being shot of swing arm 1, dipper 2 and scraper bowl 3i(xiyi,0)；
E, saddle point filter and measurement of dip angle: calculating the phase mutual edge distance of any two saddle points in world coordinate system is that saddle point is apart from ajk, obtain distance matrix L:
In formula: ajkRepresent the distance between i=j saddle point and i=k saddle point, L is symmetrical matrix;
Calculate all saddle points apart from ajkWith the saddle point of two feature sheets 6 on swing arm 1 apart from l1The absolute value of difference | ajk-l1|, if | aj1,k1-l1| value be minimum, judge that corresponding two saddle point j1 and k1 are the central point of two feature sheets 6 on swing arm; The inclination angle of two central point lines is α1：
Calculate all saddle points apart from ajkWith the saddle point of two feature sheets 6 on dipper 2 apart from l2The absolute value of difference | ajk-l2|, if | aj2,k2-l2| value be minimum, judge that corresponding two saddle point j2 and k2 are the central point of two feature sheets 6 on swing arm; The inclination angle of two central point lines is α2：
Calculate all saddle points apart from ajkWith the saddle point of two feature sheets 6 on scraper bowl 3 apart from l3The absolute value of difference | ajk-l3|, if | aj3,k3-l3| value be minimum, judge that corresponding two saddle point j3 and k3 are the central point of two feature sheets 6 on swing arm; The inclination angle of two central point lines is α3：
F, dwindle surveyed area: referring to Fig. 2, current detection to the central point world coordinate system coordinate of six feature sheets 6 in, find out the most left center point coordinate L (xl,yl, 0), the rightest center point coordinate R (xr,yr, 0), the center point coordinate T (x that goes up mostt,yt, 0) and under center point coordinate B (xb,yb,0)，x0For the ultimate range of all feature sheets 6 transverse movement in detection time interval of setting, y0For the ultimate range of all feature sheets lengthwise movement in detection time interval; Two of the rectangular area of next time detecting to angular coordinate are: LB (xl-x0,yl-y0,0)、TR(xr+x0,yr+y0, 0), then can obtain two of the hough transform region next time image coordinate system coordinate to angle point by coordinate inverse transformation, and then determine the hough transform region in the image coordinate system next time detecting;
G, repetition B-F step, kinetic measurement in real time goes out the attitude of digger operating device.
Fig. 3 is the inventive method (l that experiment draws1＝100mm,l2＝200mm,l3=300mm) and on swing arm hinge when sensor installation, the inclination angle result comparison diagram of the swing arm of measuring under quiescent conditions. L when experiment1Value is 100mm, l2Value is 200mm, l3Value is 300mm, and as seen from Figure 3, under quiescent conditions, the relative measurement error of the two is in 0.04 °; Measuring single-frame images the inventive method time used is 60～80ms.
Experiment shows, the inventive method can meet certainty of measurement and require and requirement of real-time under quiescent conditions, has feasibility and applicability on digger operating device attitude measurement.
Claims (1)
1. the contactless attitude of working device measuring method based on vision measurement, comprises the following steps:
The layout of A, camera and feature sheet:
Industry vidicon (4) is arranged in excavator cab frame (5), industry vidicon (4) visual field covers the equipment of excavator from a side, the USB interface of industry vidicon (4) is connected with the automatic control system of excavator;
Simultaneously, all paste two circular feature sheets (6) at excavator swing arm (1), dipper (2) and scraper bowl (3) towards the side of industry vidicon (4), the surface segmentation of feature sheet (6) is four 90 degree fan sections, wherein two relative fan sections are black region (6a), another two relative fan sections are white area (6b), make the central point of feature sheet (6) can be detected as saddle point in the saddle point of image detects;
The central point line of two the feature sheets (6) on swing arm (1) is parallel with the line of upper two the rod member hinges of swing arm (1); The central point line of two the feature sheets (6) on dipper (2) is parallel with the line of upper two the rod member hinges of dipper (2); The central point line of two the feature sheets (6) on scraper bowl (3) is parallel with the rod member hinge of scraper bowl (3) and the line of spear;
The central point distance of two the feature sheets (6) on described swing arm (1) is l1, the central point distance of two the feature sheets (6) on dipper (2) is l2, the central point distance of two the feature sheets (6) on scraper bowl (3) is l3, and l1≠l2≠l3,l1≠l3；
B, image acquisition: in the time that excavator is worked, industry vidicon (4) absorbs a width digital picture every 60～80ms, and by USB interface, digital picture is passed to automatic control system;
C, saddle point detect:
When primary detection, automatic control system detects saddle point i in whole digital picture by saddle point searching algorithm, obtains the image coordinate system coordinate P ' of saddle point ii(ri,ci), wherein, the sequence number that i is saddle point, i=1,2 ... n, riFor the row-coordinate of saddle point, ciFor the row coordinate of saddle point;
First later detection, automatic control system detects saddle point i by saddle point searching algorithm in the definite hough transform region of the step F last time detecting, and obtains the image coordinate system coordinate P ' of saddle point ii(ri,ci), wherein, the sequence number that i is saddle point, i=1,2 ... n, riFor the row-coordinate of saddle point, ciFor the row coordinate of saddle point;
D, coordinate transform: by the image coordinate system coordinate P ' of saddle point ii(ri,ci) be converted to the coordinate P as the world coordinate system (WCS) of x-y plane taking the side being shot of swing arm (1), dipper (2) and scraper bowl (3)i(xiyi,0)；
E, saddle point filter and measurement of dip angle: calculating the phase mutual edge distance of any two saddle points in world coordinate system is that saddle point is apart from ajk, obtain distance matrix L:
In formula: ajkRepresent the distance between i=j saddle point and i=k saddle point, L is symmetrical matrix;
Calculate all saddle points apart from ajkWith the saddle point of upper two the feature sheets of swing arm (1) (6) apart from l1The absolute value of difference | ajk-l1|, if | aj1,k1-l1| value be minimum, judge that corresponding two saddle point j1 and k1 are the central point of two the feature sheets (6) on swing arm; The inclination angle of two central point lines is α1：
Calculate all saddle points apart from ajkWith the saddle point of upper two the feature sheets of dipper (2) (6) apart from l2The absolute value of difference | ajk-l2|, if | aj2,k2-l2| value be minimum, judge that corresponding two saddle point j2 and k2 are the central point of two the feature sheets (6) on swing arm; The inclination angle of two central point lines is α2：
Calculate all saddle points apart from ajkWith the saddle point of upper two the feature sheets of scraper bowl (3) (6) apart from l3The absolute value of difference | ajk-l3|, if | aj3,k3-l3| value be minimum, judge that corresponding two saddle point j3 and k3 are the central point of two the feature sheets (6) on swing arm; The inclination angle of two central point lines is α3：
F, dwindle surveyed area: in the central point world coordinate system coordinate of six the feature sheets (6) that arrive in current detection, find out the most left center point coordinate L (xl,yl, 0), the rightest center point coordinate R (xr,yr, 0), the center point coordinate T (x that goes up mostt,yt, 0) and under center point coordinate B (xb,yb,0)，x0For the ultimate range of all feature sheets (6) transverse movement in detection time interval of setting, y0For the ultimate range of all feature sheets lengthwise movement in detection time interval; Two of the rectangular area of next time detecting to angular coordinate are: LB (xl-x0,yl-y0,0)、TR(xr+x0,yr+y0, 0), then can obtain two of the hough transform region next time image coordinate system coordinate to angle point by coordinate inverse transformation, and then determine the hough transform region in the image coordinate system next time detecting;
G, repetition B-F step, kinetic measurement in real time goes out the attitude of digger operating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410079270.6A CN103900497B (en) | 2014-03-06 | 2014-03-06 | Based on the contactless digger operating device attitude measurement method of vision measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410079270.6A CN103900497B (en) | 2014-03-06 | 2014-03-06 | Based on the contactless digger operating device attitude measurement method of vision measurement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103900497A CN103900497A (en) | 2014-07-02 |
| CN103900497B true CN103900497B (en) | 2016-06-15 |
Family
ID=50991967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410079270.6A Expired - Fee Related CN103900497B (en) | 2014-03-06 | 2014-03-06 | Based on the contactless digger operating device attitude measurement method of vision measurement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103900497B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015224875A (en) * | 2014-05-26 | 2015-12-14 | Ｋｙｂ株式会社 | Operation state detection system of work machine, and work machine |
| JP6671152B2 (en) * | 2015-11-19 | 2020-03-25 | 日立建機株式会社 | Abnormality detection device of self-position estimation device and vehicle |
| CN108007345A (en) * | 2017-12-01 | 2018-05-08 | 南京工业大学 | Measuring method of excavator working device based on monocular camera |
| JP7045926B2 (en) * | 2018-05-22 | 2022-04-01 | 株式会社小松製作所 | Hydraulic excavator, and system |
| JP7166108B2 (en) | 2018-08-31 | 2022-11-07 | 株式会社小松製作所 | Image processing system, display device, image processing method, trained model generation method, and training data set |
| CN109296024B (en) * | 2018-11-30 | 2023-04-07 | 徐州市产品质量监督检验中心 | Unmanned excavator mining and loading pose precision detection method |
| CN110954067B (en) * | 2019-12-28 | 2023-02-07 | 长安大学 | Monocular vision excavator pose measurement system and method based on target |
| CN113805581B (en) * | 2021-07-28 | 2024-02-27 | 中科云谷科技有限公司 | Method for docking excavator and mine card and main control device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101094960A (en) * | 2004-12-21 | 2007-12-26 | 博世力士乐股份有限公司 | Position determination system |
| CN102561445A (en) * | 2012-01-09 | 2012-07-11 | 三一重工股份有限公司 | System and method for judging working posture of excavator, and excavator |
| CN102620694A (en) * | 2012-03-31 | 2012-08-01 | 西北工业大学 | Method for calculating fine-machining attitude of wing |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3849228B2 (en) * | 1997-05-27 | 2006-11-22 | 株式会社明電舎 | 3D position / orientation detection device for circular feature of parts, detection method thereof, and recording medium thereof |
-
2014
- 2014-03-06 CN CN201410079270.6A patent/CN103900497B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101094960A (en) * | 2004-12-21 | 2007-12-26 | 博世力士乐股份有限公司 | Position determination system |
| CN102561445A (en) * | 2012-01-09 | 2012-07-11 | 三一重工股份有限公司 | System and method for judging working posture of excavator, and excavator |
| CN102620694A (en) * | 2012-03-31 | 2012-08-01 | 西北工业大学 | Method for calculating fine-machining attitude of wing |
Non-Patent Citations (2)
| Title |
|---|
| 基于计算机视觉的飞机尾旋运动姿态测量方法;罗武胜;《电子器件》;20080630;第31卷(第3期);第992-995、1002页 * |
| 物体位姿单目视觉传感测量系统;陈杉等;《传感技术学报》;20070930;第20卷(第9期);第2011-2015页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103900497A (en) | 2014-07-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103900497B (en) | Based on the contactless digger operating device attitude measurement method of vision measurement | |
| CN107905275B (en) | Digitlization auxiliary construction system of excavator and auxiliary construction method thereof | |
| CN110954067B (en) | Monocular vision excavator pose measurement system and method based on target | |
| JP7240382B2 (en) | working machine | |
| WO2017222136A1 (en) | Excavator 3d earthwork bim system for providing real time geometric information of excavator during earthwork construction | |
| CN111485879B (en) | Heading machine vehicle body and positioning method and positioning system of cutting drum of heading machine vehicle body | |
| JP2005227233A (en) | Measuring system of ground density | |
| CN106104197A (en) | The duty detecting system of engineering machinery and engineering machinery | |
| DE112017002276T5 (en) | Construction system and construction method | |
| CN103852059B (en) | The scraper bowl locating device of backhoe [shovel and method | |
| JP7023813B2 (en) | Work machine | |
| Feng et al. | Vision-based articulated machine pose estimation for excavation monitoring and guidance | |
| CN102995673B (en) | Stay cord positioning control method, device and system | |
| CN112901198B (en) | Intelligent cantilever type digging and anchoring machine based on image recognition and construction method | |
| CN113047353A (en) | Intelligent construction guiding system and method for excavator | |
| CN114174608A (en) | Position determining system for construction machine | |
| CN111536955A (en) | Heading machine pose detection system and method based on V-shaped laser target image recognition | |
| CN210134942U (en) | Cutting control device of heading machine and cantilever heading machine | |
| CN204919653U (en) | Excavator real -time monitoring system | |
| CN112652012A (en) | Intelligent control method, device and equipment for excavator, storage medium and excavator | |
| JP6616149B2 (en) | Construction method, work machine control system, and work machine | |
| CN106193148A (en) | A kind of backacter digs force guide device and using method thereof | |
| CN116091602A (en) | Digital twin interaction method and system for tunneling robot | |
| CN109241608A (en) | Excavator turntable equivalent force time history obtains and method for sorting is composed in fatigue test | |
| DE102017203653A1 (en) | Method and device for determining the position of kinematics, in particular mobile machines |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160615 Termination date: 20200306 |