CN110031023A - A kind of engineering machinery attitude transducer systematic error scaling method - Google Patents
A kind of engineering machinery attitude transducer systematic error scaling method Download PDFInfo
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- CN110031023A CN110031023A CN201910408448.XA CN201910408448A CN110031023A CN 110031023 A CN110031023 A CN 110031023A CN 201910408448 A CN201910408448 A CN 201910408448A CN 110031023 A CN110031023 A CN 110031023A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000009897 systematic effect Effects 0.000 title claims description 18
- 238000009434 installation Methods 0.000 claims abstract description 34
- 210000000245 forearm Anatomy 0.000 claims abstract description 18
- 230000003068 static effect Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 description 11
- 238000005259 measurement Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The present invention passes through sensor factory calibration and in-site installation error calibration；The present invention is by taking small arm of digger as an example, in conjunction with the connection axis of rotation of total station control forearm and large arm, with the junction axis of rotation of forearm, bucket, the two is maintained at the same horizontal plane, and the angle of small arm sensor output is the fix error angle of forearm obliquity sensor at this time；The present invention provides horizontal plane using high precision total station, levels to installation axle, which automatic degree of detection disc system error and can be modified, and ensure that the precision of horizontal plane, improves the precision of process alignment error calibration；Relative to currently used process alignment error calibration scheme, program installation is fast, and total station horizontal accuracy is high, improves the accuracy and efficiency of sensor installation error field calibration.
Description
Technical field
The present invention relates to the technical fields, specially a kind of engineering machinery attitude transducer system such as number construction and precision agriculture
System error calibrating method.
Background technique
As intelligent driving and control technology are in the application of digital construction field, posture perception technology seems ever more important,
Precision, response speed of Attitude Tracking etc. need high precision dip sensor and Attitude Tracking algorithm, and the system of sensor is missed
Difference demarcates one of the key technology at Attitude Tracking precision improvement.Current process alignment error calibration technology mainly with level meter or
Based on the method process alignment error calibration of person two-position, wherein level meter scaling scheme is easy for installation, but operates mechanical shafting to level
Than relatively time-consuming, and level meter and installation axle be it is difficult to ensure that fully horizontally, therefore precision is lower, it is difficult to obtain high-precision system
Error compensation angle；Two-position method process alignment error calibration scheme needs the position of transformative transducer, generally to sense in engineering machinery
The installation site of device all compares fixation, and disassembly is inconvenient, and field calibration efficiency is lower.
Summary of the invention
The purpose of the present invention is to provide a kind of engineering machinery attitude transducer systematic error scaling methods, and the present invention is with 2D
For excavator control system, engineering machinery Attitude Tracking sensing system error calibration scheme is described, the scaling scheme is by water
Platform, level meter, regular hexahedron, obliquity sensor, total station are constituted, wherein obliquity sensor by least three axis accelerometer and
Single axis gyroscope composition, the systematic error of the sensor are made of static zero bias and installation error two parts.Accelerometer and top
Spiral shell instrument needs to demarcate and compensate respectively due to there are static zero bias；Wherein, gyroscope static state zero bias can pass through stationary acquisition one
The angular speed of section time simultaneously takes mean value, and the calibration of acceleration zero bias needs horizontal platform and regular hexahedron to complete.By accelerating
Obliquity sensor after degree error compensation is mounted in the shafting of engineering machinery, it usually needs measurement installation shafting and horizontal plane
Angle, due to it is difficult to ensure that sensor shafting and mechanical erection shafting keeping parallelism, the angle of sensor reality output is to pass
The angle of sensor sensitive axes and horizontal plane；Therefore it needs to adjust mechanical installation shafting to horizontal plane, current sensor is defeated
Angle is the fix error angle of sensor out, and the attitude measurement for industrial applications carriers such as number construction and precision agricultures mentions
For a more effective systematic error scaling scheme, the absolute precision of attitude measurement is improved.
To achieve the above object, the invention provides the following technical scheme: a kind of engineering machinery attitude transducer systematic error
Scaling method, comprising the following steps:
Step (1): attitude transducer system factory calibration；
Step (2): in-site installation error calibration；
Wherein, attitude transducer system include horizontal platform, level meter, regular hexahedron, obliquity sensor, total station constitute,
Wherein obliquity sensor is made of at least three axis accelerometer and single axis gyroscope.
Preferably, the step (1) specifically includes:
Step (1.1): horizontal platform leveling；
Step (1.2): six position method data of regular hexahedron acquisition；
Step (1.3): accelerometer system deviation calculates；
Step (1.4): accelerometer error compensation.
Preferably, the step (2) specifically includes:
Step (2.1): sensor installation；
Step (2.2): total station levels installation axle；
Step (2.3): obliquity sensor data acquisition；
Step (2.4): gyroscope zero bias calculate；
Step (2.5): fix error angle is exported and is compensated.
Preferably, the step (1.2) specifically includes: sensor being placed in inside regular hexahedron and fixed, passes through positive six
Face body carries out the acquisition of six position method static datas to sensor, and each position respectively acquires 1 minute data.
Preferably, the step (1.3) specifically includes: obtaining the zero of accelerometer by accelerometer error Models computed
Bias and installation error coefficient, then compensate accelerometer.
Preferably, the company of forearm and large arm is controlled in the calibration of small arm of digger attitude transducer systematic error by total station
Axis of rotation is connect, the junction axis of rotation with forearm, bucket, the two is maintained at the same horizontal plane, at this time small arm sensor
The angle of output is the fix error angle of forearm obliquity sensor.
Compared with prior art, beneficial effects of the present invention are as follows:
(1) present invention employs the SCC2230 sensor plans of murata, and by horizontal platform and regular hexahedron to acceleration
Degree meter systems error is demarcated and has been compensated, sensor accelerometer bias attitude accuracy after 6mg or so, zero offset compensation
Improve 0.6 degree or so.(2) present invention provides horizontal plane using high precision total station, levels to installation axle, the total station
It automatic degree of detection disc system error and can be modified, ensure that the precision of horizontal plane, improve the precision of process alignment error calibration；
Relative to currently used process alignment error calibration scheme, program installation is fast, and total station horizontal accuracy is high, improves biography
The accuracy and efficiency of sensor installation error field calibration；(3) design scheme of the present invention can export carrier installation axle simultaneously
Acceleration value and rotational angular velocity provide input abundant for intelligent driving and control.
Detailed description of the invention
Fig. 1 Construction Machinery System error calibration conceptual design figure；
Fig. 2 sensor factory demarcation flow figure；
Fig. 3 sensor in-site installation error calibration flow chart.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-3, a kind of engineering machinery attitude transducer systematic error scaling method, in Fig. 1, obliquity sensor
It is installed on the left side of small arm of digger, label is in Fig. 1, for measuring the angle of forearm and horizontal plane；It gets the bid in Fig. 1
Remember A are as follows: the junction axis of rotation of forearm and large arm；B is marked in Fig. 1 are as follows: forearm and bucket junction axis of rotation；Whole station
Instrument: for providing horizontal plane, adjustment A, B point to horizontal plane.
Refering to what is shown in Fig. 1, the present invention by taking 2D excavator control system as an example, describes engineering machinery Attitude Tracking sensor system
System error calibration scheme, the scaling scheme are made of horizontal platform, level meter, regular hexahedron, obliquity sensor, total station, wherein
Obliquity sensor is made of at least three axis accelerometer and single axis gyroscope, and the systematic error of the sensor is by static zero bias and peace
Error two parts are filled to constitute.Accelerometer and gyroscope need to demarcate and compensate respectively due to there are static zero bias；Wherein,
Gyroscope static state zero bias can pass through the angular speed of stationary acquisition for a period of time and take mean value, and the calibration of acceleration zero bias needs water
Platform and regular hexahedron are completed.
It is mounted in the shafting of engineering machinery by the compensated obliquity sensor of acceleration error, it usually needs measurement peace
The angle for filling shafting and horizontal plane, due to it is difficult to ensure that sensor shafting and mechanical erection shafting keeping parallelism, sensor is real
The angle of border output is the angle of sensor sensing axis and horizontal plane；Therefore it needs to adjust mechanical installation shafting to level
Face, current sensor output angle are the fix error angle of sensor.
Further, the present invention program consists of two parts: sensor factory calibration and in-site installation error calibration.It is logical first
Level meter leveling horizontal platform is crossed, factory calibration is carried out to accelerometer by six position methods using regular hexahedron, and to acceleration
Meter compensates, and carries out in-site installation error calibration secondly by total station；The present invention is by taking small arm of digger as an example, in conjunction with whole station
The connection axis of rotation of instrument control forearm and large arm, the junction axis of rotation with forearm, bucket, the two are maintained at the same water
Plane, the angle of small arm sensor output is the fix error angle of forearm obliquity sensor at this time；The invention patent is common to
The systematic error of Other Engineering machinery attitude measurement is demarcated.
In the present invention, the solution of the present invention design include: level meter, it is horizontal platform, regular hexahedron, attitude transducer, complete
It stands instrument: where level meter: for adjusting horizontal platform to horizontal position；Horizontal platform: it is mentioned for the factory calibration of accelerometer system error
For horizontal plane；Regular hexahedron: the high-precision regular hexahedron of customization is used for Installation posture sensor, is measured and is passed by six position methods
The static acceleration value of sensor obtains the static zero bias value and installation error coefficient of accelerometer；See attached drawing 2；Attitude transducer:
By taking small arm of digger as an example, which is mounted on the left of forearm, the acceleration value of forearm and angle speed when measurement excavator works
Angle value is merged using the pitch angle of acceleration calculation with the pitch angle that gyroscope calculates, and bowing for forearm and horizontal plane is obtained
The elevation angle；Total station: horizontal plane is provided for sensor in-site installation error calibration, for adjusting two of attitude transducer installation axle
Axis of rotation A point and B point are to horizontal plane.
In the present invention, the attitude transducer systematic error calibration principle in the present invention is described briefly:
Step 1: sensor factory calibration, adjusts horizontal platform to horizontal position by level meter first；
Step 2: sensor to be placed in inside regular hexahedron and fix, six positions are carried out to sensor by regular hexahedron
The acquisition of method static data, each position respectively acquires 1 minute data；
Step 3: obtaining the zero bias value and installation error coefficient of accelerometer by accelerometer error Models computed, so
Accelerometer is compensated afterwards.
Step 4: sensor in-site installation error calibration, first leveling total station, provide horizontal plane by total station；
Step 5: making B point and A point be in same level in conjunction with total station control excavator movement；
Step 6: the initialization of obliquity sensor gyro is waited to complete, the mean value of static angular velocity data is acquired as gyro
The static zero bias value of instrument, and the angular speed of gyroscope is exported and carries out gyro zero offset compensation；
Step 7: obliquity sensor acceleration and angular speed value, obtains pitch angle according to Attitude Tracking algorithm, which is
For the fix error angle of forearm obliquity sensor.Present invention employs the SCC2230 sensor plans of murata, and pass through level
Platform and regular hexahedron are demarcated and have been compensated to accelerometer system error, the sensor accelerometer bias in 6mg or so,
Attitude accuracy improves 0.6 degree or so after zero offset compensation.And horizontal plane is provided using high precision total station, installation axle is carried out
Leveling, the total station automatic degree of detection disc system error and can be modified, ensure that the precision of horizontal plane, improve installation and miss
The precision of difference calibration；Relative to currently used process alignment error calibration scheme, program installation is fast, the horizontal essence of total station
Degree is high, improves the accuracy and efficiency of sensor installation error field calibration；And carrier installation axle can be exported simultaneously
Acceleration value and rotational angular velocity provide input abundant for intelligent driving and control.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of engineering machinery attitude transducer systematic error scaling method, it is characterised in that: the following steps are included:
Step (1): attitude transducer system factory calibration；
Step (2): in-site installation error calibration；
Wherein, attitude transducer system include horizontal platform, level meter, regular hexahedron, obliquity sensor, total station constitute, wherein
Obliquity sensor is made of at least three axis accelerometer and single axis gyroscope.
2. a kind of engineering machinery attitude transducer systematic error scaling method according to claim 1, it is characterised in that: institute
Step (1) is stated to specifically include:
Step (1.1): horizontal platform leveling；
Step (1.2): six position method data of regular hexahedron acquisition；
Step (1.3): accelerometer system deviation calculates；
Step (1.4): accelerometer error compensation.
3. a kind of engineering machinery attitude transducer systematic error scaling method according to claim 2, it is characterised in that: institute
Step (2) is stated to specifically include:
Step (2.1): sensor installation；
Step (2.2): total station levels installation axle；
Step (2.3): obliquity sensor data acquisition；
Step (2.4): gyroscope zero bias calculate；
Step (2.5): fix error angle is exported and is compensated.
4. a kind of engineering machinery attitude transducer systematic error scaling method according to claim 3, it is characterised in that: institute
It states step (1.2) to specifically include: sensor is placed in inside regular hexahedron and is fixed, six are carried out to sensor by regular hexahedron
The acquisition of position method static data, each position respectively acquires 1 minute data.
5. a kind of engineering machinery attitude transducer systematic error scaling method according to claim 4, it is characterised in that: institute
It states step (1.3) to specifically include: zero bias value and the installation error system of accelerometer is obtained by accelerometer error Models computed
Number, then compensates accelerometer.
6. a kind of engineering machinery attitude transducer systematic error scaling method according to claim 5, it is characterised in that: dig
It is and small by the connection axis of rotation of total station control forearm and large arm in the calibration of pick machine forearm attitude transducer systematic error
The junction axis of rotation of arm, bucket, the two are maintained at the same horizontal plane, and the angle of small arm sensor output is as small at this time
The fix error angle of arm obliquity sensor.
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| CN111501895A (en) * | 2020-03-23 | 2020-08-07 | 潍柴动力股份有限公司 | Calibration method, calibration device and calibration system for excavator sensor |
| CN112147986A (en) * | 2020-09-30 | 2020-12-29 | 徐州徐工挖掘机械有限公司 | Parameter calibration control method suitable for excavator |
| CN113345030A (en) * | 2021-06-17 | 2021-09-03 | 三一重机有限公司 | Calibration method and device for sensor of working machine, working machine and electronic equipment |
| CN113570746A (en) * | 2021-07-14 | 2021-10-29 | 河南金芯数联电子科技有限公司 | CPR feedback pad calibration system |
| CN114485582A (en) * | 2021-12-16 | 2022-05-13 | 山东科技大学 | Method for calibrating angles and distances of excavator key points based on total station measurement |
| CN115183732A (en) * | 2022-06-27 | 2022-10-14 | 三一重机有限公司 | Excavator pose calibration method and system and excavator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111501895A (en) * | 2020-03-23 | 2020-08-07 | 潍柴动力股份有限公司 | Calibration method, calibration device and calibration system for excavator sensor |
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| CN113345030A (en) * | 2021-06-17 | 2021-09-03 | 三一重机有限公司 | Calibration method and device for sensor of working machine, working machine and electronic equipment |
| CN113345030B (en) * | 2021-06-17 | 2024-01-02 | 三一重机有限公司 | Calibration method and device for working machine sensor, working machine and electronic equipment |
| CN113570746A (en) * | 2021-07-14 | 2021-10-29 | 河南金芯数联电子科技有限公司 | CPR feedback pad calibration system |
| CN114485582A (en) * | 2021-12-16 | 2022-05-13 | 山东科技大学 | Method for calibrating angles and distances of excavator key points based on total station measurement |
| CN114485582B (en) * | 2021-12-16 | 2023-09-26 | 山东科技大学 | Method for calibrating angles and distances of key points of excavator based on total station measurement |
| CN115183732A (en) * | 2022-06-27 | 2022-10-14 | 三一重机有限公司 | Excavator pose calibration method and system and excavator |
| CN115183732B (en) * | 2022-06-27 | 2023-10-20 | 三一重机有限公司 | Pose calibration method and system for excavator and excavator |
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Application publication date: 20190719 |