基于D-H法的挖掘机姿态感知关键技术研究  

Study on key technology of attitude perception of excavator based on D-H method

作　　者：王佩 李瑞金 徐海波[1,2] WANG Pei;LI Ruijin;XU Haibo(Anhui and Huaihe River Institute of Hydraulic Research,Hefei 230088,China;Anhui Provincial Key Laboratory of Water Science and Intlligent Water Conservancy,Hefei 230088,China;The Research Center of Water Resources and Hydropower Engineering Technology of Huaihe River Water Commission,Bengbu 233001,China)

机构地区：[1]安徽省·水利部淮河水利委员会水利科学研究院,安徽合肥230088 [2]安徽省水科学与智慧水利重点实验室,安徽合肥230088 [3]淮河水利委员会水利水电工程技术研究中心,安徽蚌埠233001

出　　处：《江淮水利科技》2024年第6期35-39,共5页Jianghuai Water Resources Science and Technology

基　　金：安徽省自然科学基金项目(2208085US18);安徽省水利科技计划项目(slkj202101-07)。

摘　　要：已有的挖掘机姿态监测系统主要是对挖掘机的动臂、斗杆和铲斗的姿态进行监测,不能实时监测挖掘机斗齿尖坐标位置和铲背姿态角度,无法为挖掘机驾驶员提供施工引导。为便于土石方开挖施工中挖掘机进行高程及坡比控制,采用D-H法在挖掘机车身、动臂、斗杆和铲斗等关键部位建立局部坐标系,通过相邻坐标系的矩阵转换,构建挖掘机工作装置机器人正运动学模型,基于该模型开发挖掘机开挖引导系统。测试结果表明挖掘机铲斗齿尖定位技术可实现斗齿尖的空间位置和铲背姿态角度的实时监控,可为挖掘机驾驶员提供开挖高程和坡比实时引导,使开挖作业基本做到一次成型,为土石方开挖施工过程信息化监控提供技术支撑。The existing excavator attitude detection systems mainly detect the attitudes of the boom,dipper arm and bucket of the excavator,but they are unable to detect the coordinate position of the bucket teeth tip and the attitude angle of the bucket back in real time,and thus cannot provide construction guidance for the excavator driver.To facilitate the control of elevation and slope ratio during the earthwork excavation construction by the excavator,the D-H method is adopted to establish local coordinate systems at each joint of the excavator's working device.Through the transformation matrix of the coordinate systems,the forward kinematics model of the excavator's working device robot is established,and based on this model,the excavator excavation guidance system is developed.The test results indicatded that the location technique of the bucket teeth tip of the excavator enabling the real-time monitoring of the spatial position of the bucket teeth tip and the attitude angle of the bucket back.It can provide real-time guidance on the excavation elevation and slope ratio for the excavator driver,simplify the construction process of elevation control and slope control in the earthwork excavation construction,achieve the basic one-time forming of the excavation operation,and provide technical support for the information monitoring of the earthwork excavation construction process.

关 键 词：D-H法 姿态感知 挖掘机运动学模型 实时引导 

分 类 号：TV534[水利工程—水利水电工程]