挖掘机激光高程定位方法.PDFVIP

中国科技论文在线 第 38 卷第 5 期 中南大学学报自然科学版( ) Vol.38 No.5 2007 年 10 月 J. Cent. South Univ. (Science and Technology) Oct. 2007 挖掘机激光高程定位方法 谢习华，何清华，周 亮 ( 中南大学 机电工程学院，湖南 长沙，410083) 摘 要：为实现挖掘机的三维空间定位，在安装工作装置各关节角度传感器的基础上，又安装平台回转角度检测 装置和平台倾角传感器，并在斗杆上安装激光接收仪用于检测地面激光发射器发射的水平激光相对于接收仪零位 的高度。建立挖掘机的运动学模型，推导车体相对于大地的坐标变换矩阵，即完成三维空间的车体定位，并得到 常用而简单的车体高程定位公式。然后，推导该定位车体位姿下铲斗坐标系相对于大地的坐标变换矩阵，导出挖 掘深度定位公式，实现了挖掘机挖掘轨迹的三维空间定位，为实现挖掘机的三维空间轨迹精确控制与挖掘深度控 制打下了基础。 关键词：挖掘机；机器人；激光高程；定位 中图分类号：TP24 文献标识码：A 文章编号：1672-7207(2007)05−0928−04 Laser height-finding of robotic excavator XIE Xi-hua, HE Qing-hua, ZHOU Liang (School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, China) Abstract: In order to get the carriage position of excavator in three-dimensional space, in addition to of joints angle sensors，the obliquity sensor and the swing angle sensor of the platform were mounted, and a laser receiver was mounted on the boom to measure the relative height of the boom to the laser bean from the ground sender. The carriage positioning model of robotic excavator and the coordinate transformation matrix of carriage positioning were formulated, and the height of the body relative to the ground was gotten. The carriage positioning was finished, the coordinate transformation matrix of the bucket relative to the ground and the digging depth were obtained and it is easy to make the three-dimensional trace control of the hydraulic excavator bucket easy. Key words: e