基于智能传感器网络的挖掘机动态测深系统的设计与实现

发布时间：2018-04-28 20:44

本文选题：动态测量 + 无线传感器网络　；参考：《南京理工大学》2017年硕士论文

【摘要】：挖掘机作为工程机械第一主力机种,使用量大,应用面广,在降低工程成本、保证工程质量、缩短工期和提高劳动生产率等方面发挥着重要的作用。挖掘机自动化是未来的发展趋势。本课题针对挖掘机自动化的发展状况和实际市场需求,设计并实现了一个基于智能传感器网络的挖掘机动态测深系统。该系统由传感器节点和显控终端两部分构成,组建了一个星型无线传感器网络。传感器节点测量挖掘机工作装置动臂、斗杆和铲斗的倾角,并通过无线通信网络发送给显控终端;显控终端作为汇聚节点,接收传感器节点发来的倾角值,并结合工作装置的机械尺寸,计算当前挖掘深度。同时显控终端集成了电子罗盘的功能,通过OLED屏显示实时挖掘深度和挖掘方向。该系统解决了驾驶员操作挖掘机时视野受限以及挖掘深度测量存在困难和安全性隐患等问题,有助于提高挖掘机作业质量和效率。本文在建立挖掘机深度和方向测量模型的基础上,根据系统需求确定了总体设计方案,然后完成了传感器节点和显控终端的软硬件设计。两者的硬件设计基本相同,都以微控制器CC2530为控制核心,设计了电源管理电路、传感器数据采集电路、射频天线、显示屏电路等。在硬件设计的基础上进行软件开发,以IAR为开发环境,主要实现了电池电量采集、传感器信号采集、无线数据传输等功能模块。在此基础上,针对倾角测量动态误差大的问题,提出了加速度计和陀螺仪信息融合的方法,设计了互补滤波器和卡尔曼滤波器,并对两者的滤波效果进行比较分析;针对电子罗盘罗差大的问题,采用了基于椭圆假设的误差补偿方法。最后对本设计进行了系统测试和分析。测试表明,该系统能够实现预期功能,具有实际应用价值。
[Abstract]:As the first main machine of construction machinery, excavator plays an important role in reducing engineering cost, ensuring engineering quality, shortening construction period and improving labor productivity. Excavator automation is the development trend in the future. Aiming at the development of excavator automation and the actual market demand, a dynamic sounding system of excavator based on intelligent sensor network is designed and implemented in this paper. The system is composed of sensor node and display terminal, and a star wireless sensor network is constructed. The sensor node measures the inclination angle of the moving arm, bucket rod and bucket of the excavator's working device, and sends it to the display and control terminal through the wireless communication network; the display and control terminal acts as the convergent node and receives the inclination value from the sensor node. Combined with the mechanical dimension of the working device, the current excavation depth is calculated. At the same time, the display terminal integrates the function of electronic compass and displays the real-time mining depth and direction through OLED screen. The system solves the problems of limited visual field when the driver operates the excavator, difficulties and hidden safety problems in depth measurement of excavator, and helps to improve the working quality and efficiency of the excavator. On the basis of establishing the depth and direction measurement model of excavator, the overall design scheme is determined according to the requirement of the system, and then the hardware and software design of sensor node and display and control terminal are completed. The hardware design of the two systems is basically the same, and the control core is CC2530. The power management circuit, sensor data acquisition circuit, RF antenna, display circuit and so on are designed. On the basis of the hardware design, the software is developed. With IAR as the development environment, the function modules of battery quantity acquisition, sensor signal acquisition and wireless data transmission are realized. On this basis, aiming at the problem of large dynamic error in inclination measurement, the information fusion method of accelerometer and gyroscope is proposed, and the complementary filter and Kalman filter are designed, and their filtering effects are compared and analyzed. An error compensation method based on elliptical assumption is proposed to solve the problem of large offset of electronic compass. Finally, the system test and analysis of the design are carried out. The test shows that the system can realize the expected function and has practical application value.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP212.9;TN929.5;TU621

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