Design And Implementation Of Dynamic Sounding System For Excavators Based On Intelligent Sensor Networks

As the main mechanical machine,the excavator is widely used in different complex working environments.Excavator is beneficial to reduce the engineering cost,guarantee the engineering quality and effectively shortens the time limit for projects.It plays an important role in enhancing labor productivity.Automation is the development tread of the excavator.Considering the development situation of the excavator and the market demand,this paper designs a depth-measuring system of the excavator based on the intelligent sensor network.The system consists of the the sensor nodes and the control node,which bulid a star wireless sensor network.Sensor nodes are used to measure the tilt angle of the excavator's front attachment including boom,arm and bucket which will be transmitted to the control node through the wireless network.The control node works as the sink node.It receives the data from sensor nodes and calculates the current digging depth combining with the machine size of the front attachment.Besides,the control node offers the function as a electromagnetic compass to indicate the digging direction.The real-time data of the depth and course angle will be shown on the screen.This system solves the problem that drivers' vision is limited when doing digging operations and deals with the difficulty of the manual depth measurement.It does great help to improve the working quality and the efficiency of the excavator.Based on the the kinematics model of the excavator and course angle measuring principle,the overall system design is proposed according to the system requirements.Then this paper completes the hardware and software design of the sensor nodes and the control node.The hardware design of this two types of node are similar.With the microcontroller CC2530 as the core,the system implements the functional modules,including the power monitoring,sensor signal collection,wireless data transmission and so on.To address the problem of dynamic error of tilt angle measurement,the data fusion method of the accelerometer and gyroscope is applied.A complementary filter and a Kalman filter are designed and compared.Also,error compensation method for electromagnetic compass based on ellipse hypothesis is studied and tested.At last,this system is tested and analyzed.Tests show that system can realize the expected functions and has great value of practical application.