基于MEMS传感器的集装箱吊具位姿检测应用  

Position Detection of Container Spreader Based on MEMS Sensors

作　　者：谢雨端 宋亚男[1] 徐荣华[1] 

机构地区：[1]广东工业大学自动化学院,广东广州510006

出　　处：《电子科技》2015年第10期61-64,68,共5页Electronic Science and Technology

基　　金：广东省自然科学基金博士启动基金资助项目(S2012040007949);广东工业大学博士启动基金资助项目(12ZK0147);全国工程专业学位研究生教育自选课题资助项目(2014-JY-122);广东工业大学教育教学改革基金资助项目(2013ZY011)

摘　　要：针对现有的集装箱吊具位姿检测中存在的装卸效率低、成本高的问题,研究了基于MEMS传感器的集装箱吊具位姿检测系统。系统以LSM303DLHC、L3GD20传感器为数据采集模块,以STM32F303为微控制器,以上位机界面为实时动态监控,重点分析了基于梯度下降法的姿态融合算法。通过实验数据对比和监控跟踪界面分析,文中所研究的系统实时性好、精度较高、界面友好,并在相关课题中得到了充分验证,是一款值得推广的集装箱吊具位姿检测系统。According to the existing problem in position detection system of container spreader, including low handling efficiency highly cost, this paper investigates a position detection system of container spreader based on MEMS sensors. The system consists of the sensor data acquisition modules, the micro-controller and real-time dynamic monitoring. Sensor data acquisition modules contain the LSM303DLHC sensor and the L3GD20 sensor; micro-controller is STM32F303 ; the real-time dynamic monitoring is the PC interface. The gesture fusion algorithm based on gradient descent is analyzed. Comparison of the experimental data and analysis of the tracking monitoring interface show that the proposed system has good real-time performance, high accuracy and friendly interface. The system has been fully validated in related subjects.

关 键 词：MEMS 集装箱吊具 位姿检测 姿态解算 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]