郭胜君,赵祚喜,张智刚,谈婷,冯荣,宋俊文.基于单目高速相机的平地铲位姿参数动态测量方法[J].农业机械学报,2019,50(Supp):62-66.
GUO Shengjun,ZHAO Zuoxi,ZHANG Zhigang,TAN Ting,FENG Rong,SONG Junwen.Dynamic Measurement Method of Position and Attitude Parameters of Flat Shovel Based on Monocular High-speed Camera[J].Transactions of the Chinese Society for Agricultural Machinery,2019,50(Supp):62-66.
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基于单目高速相机的平地铲位姿参数动态测量方法   [下载全文]
Dynamic Measurement Method of Position and Attitude Parameters of Flat Shovel Based on Monocular High-speed Camera   [Download Pdf][in English]
投稿时间:2019-04-23  
DOI:10.6041/j.issn.1000-1298.2019.S0.010
中文关键词:  平地铲  位姿参数  高速相机  动态测量  高斯牛顿法  AHRS传感器
基金项目:国家重点研发计划项目(2016YFD0700101-02)、省级重大科研项目(2016KZDXM027)和广东省自然科学基金项目(2016A030310448)
作者单位
郭胜君 华南农业大学 
赵祚喜 华南农业大学 
张智刚 华南农业大学 
谈婷 华南农业大学 
冯荣 华南农业大学 
宋俊文 华南农业大学 
中文摘要:为研究水田激光平地机动力学模型,提高控制算法精度,优化机械结构设计,提出一种基于单目高速相机的平地铲位姿参数动态测量方法。该方法利用直接线性变换(Direct linear transformation,DLT)分别建立单目相机与平地铲局部坐标系、单目相机与平地铲台架之间的对应关系方程,通过高斯-牛顿迭代法间接求解出平地铲上两个坐标系之间的转换关系,从而实现平地铲空间位置和姿态角的测量。利用单目高速相机进行了试验验证,并与AHRS(Attitude and heading reference system)传感器进行数据对比。试验结果表明:本文方法可以实现平地铲的位姿参数测量,与AHRS传感器相比,姿态角平均绝对误差为0.687°、标准差为0.543°,最大绝对误差为-1.92°,出现在平地铲运动到3.76s处;测得的质心位置在X、Y、Z轴方向上的变化与平地铲实际运动相符。
GUO Shengjun  ZHAO Zuoxi  ZHANG Zhigang  TAN Ting  FENG Rong  SONG Junwen
South China Agricultural University,South China Agricultural University,South China Agricultural University,South China Agricultural University,South China Agricultural University and South China Agricultural University
Key Words:flat shovel  position and attitude parameters  high speed camera  dynamic measurement  Gauss-Newton method  AHRS sensor
Abstract:In order to study the dynamic model of laser grader in paddy field, improve the accuracy of control algorithm and optimize the design of mechanical structure, a dynamic measurement method of position and attitude parameters of grader based on monocular high speed camera was proposed. Direct linear transformation (DLT) was used to establish the corresponding equations between monocular camera and local coordinate system, monocular camera and flat shovel platform respectively, and indirectly solve the transformation relationship between the two coordinate systems on flat shovel by Gauss-Newton iteration method, so as to realize the measurement of spatial position and attitude angle of flat shovel. Experiments were carried out with a monocular high speed camera, and the data were compared with that of the attitude and heading reference system (AHRS) sensor. The experimental results showed that this method can measure the position and attitude parameters of the flat shovel. Compared with the AHRS sensor, the average absolute error of attitude angle was 0.687° and the standard deviation was 0.543°. The maximum absolute error occurred when the flat shovel was moved to a limit position of 3.76s, which was -1.92°. The measured position of the center of mass in the X, Y and Z axes was in accordance with the actual movement of the flat shovel. The motion condition provided a method for the simulation and verification of the dynamic model of the flat shovel.

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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