王海波,邹海龙,张如照.基于视觉测量的挖掘机工作装置姿态测量系统[J].农业机械学报,2015,46(4):302-308.
Wang Haibo,Zou Hailong,Zhang Ruzhao.Attitude Measurement System for Excavator’s Manipulator Based on Vision Measurement[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(4):302-308.
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基于视觉测量的挖掘机工作装置姿态测量系统   [下载全文]
Attitude Measurement System for Excavator’s Manipulator Based on Vision Measurement   [Download Pdf][in English]
投稿时间:2014-05-06  
DOI:10.6041/j.issn.1000-1298.2015.04.045
中文关键词:  挖掘机  视觉测量  姿态角  鞍点检测
基金项目:流体动力与机电系统国家重点实验室开放基金资助项目(GZKF—201308)
作者单位
王海波 西南交通大学 
邹海龙 西南交通大学 
张如照 西南交通大学 
中文摘要:提出了一种基于视觉测量的挖掘机工作装置姿态测量方法。使用工业相机获取工作装置侧视图像,采用鞍点检测方法快速捕捉工作臂上的人工靶标;将靶标间的固定几何尺寸关系作为约束条件筛选出靶标中的鞍点并计算相应工作臂的姿态角;通过预判靶标的运动范围以缩小图像检测区域,提高算法处理速度。试验表明,与挖掘机上原有的拉线传感器测量系统相比较,动臂和斗杆姿态角动态测量偏差分别小于1°和2°,处理每帧工作装置运动图像平均用时在100ms以内,验证了该方法对挖掘机工作装置姿态测量的可行性。
Wang Haibo  Zou Hailong  Zhang Ruzhao
Southwest Jiaotong University,Southwest Jiaotong University and Southwest Jiaotong University
Key Words:Excavator  Vision measurement  Attitude angle  Saddle point detection
Abstract:An attitude measuring method for excavator’s manipulator based on vision measurement was proposed. Using the industrial camera to grab the perspective images of the manipulator, a saddle point detection was adopted to detect the man made targets which was fixed on every arm of the excavator. Then the fixed geometric dimensioning between two targets was used as a constraint condition to select the saddle point in targets, and the attitude angle of the corresponding arm can be derived from the saddle point coordinates. The image detection area was reduced through anticipation of target movement and the algorithm processing speed was improved. Experiment results showed that compared with the original displacement sensor system installed on the excavator, the measured deviations of dynamic attitude angle for boom and arm were less than 1 degree and 2 degrees, respectively. The average processing time of this method for each manipulator movement frame was within 100ms. And the feasibility of this method for measuring excavator manipulator’s attitude was verified.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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