| Engineering machinery for the future development direction is intelligent,efficiency,extension,development applications at present,Due to issues such as work posture and path monitoring,mechanical equipment operating agencies have huge deficiencies in obstacle avoidance and path planning tasks.This paper proposes an attitude monitoring system based on NRF(Wireless Transceiver Chip)wireless communication mechanical operation mechanism for the needs of intelligent control of level and height of agricultural machinery operating agencies and posture monitoring of construction machinery work arms.It utilizes gyroscopes and accelerations.Sensors,geomagnetic sensors,etc.are used to monitor the parameters of mechanical operating mechanisms,and the kinematics and dynamic attitude data of mechanical operating mechanisms are transmitted through wireless communication.The relevant attitude settlement and prediction algorithms are compiled.Finally,a system test platform is built and relevant.Experimental verification,the main research content is as follows:(1)Analyze the characteristics of construction machinery,abstractly build the structure model of the construction machinery operation mechanism,according to the basic principle of attitude detection and attitude calculation theory of the sensor detection principle used in this paper,including the definition of attitude angle,attitude angle representation method,and quaternion update algorithm.Based on the attitude calculation algorithm of gyroscope+acceleration sensor+geomagnetic sensor,the MATLAB and ADAMS kinematics simulations and verifications are performed for a typical engineering mechanical model.(2)The principle of relevant sensor detection is described,and the selection of relevantsensors and CPUs is performed according to the power consumption requirements of the system;the hardware principles of the data acquisition module and data receiving module are performed according to the structure size of the operating mechanism and the heat dissipation requirements of the circuit board.Figure design,through the introduction of functions and extension point circuit analysis,completed the corresponding PCB board design,and printed and soldered the circuit board.(3)For the serial communication protocol technology,data processing technology and human-computer interaction technology designed by this system,corresponding software system design is carried out.Serial communication technology mainly includes two communication technologies: NRF wireless transmission and CAN bus wired transmission;Data processing technology mainly includes the filtering and attitude calculation algorithms of attitude data;In order to meeting the dynamic display,human-computer interaction,human-computer interaction technology involves Lower computer display interface,upper computer data display interface,upper computer action display page.Based on three kinds of technology to design the system of the overall software system,part of the subsystem software algorithm,MATLAB posture verification algorithm,then according to the design of the algorithm for the construction of the software platform,in the final analysis system error sources that exist in the acquisition process,and according to the characteristics of the error source and error calibration algorithm(4)Carry out the attitude test system test research.The lower computer interface display and sensor receiving test,host computer data receiving and displaying test are designed.The test results show that the requirements of the attitude detection system have been met;the data fusion filter test has been conducted,and the test results show that the data fusion algorithm composed of MPU6050+HMC5883L is used to eliminate The integral error of the heading angle is accumulated,and the stability of other attitude angles is improved.The path planning test of the four-degree-of-freedom manipulator arm shows that the attitude detection system can provide accurate and stable path design for the engineering machinery. |
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