基于陀螺仪的挖掘机运动状态检测算法研究

Research on excavator motion state detection algorithm based on gyroscope

远程监管系统能够检测挖掘机的运动状态以及工作时长等各项数据,已得到广泛应用.目前的监管设备在判断挖掘机运动状态时只能判断是停机状态或是工作状态,无法很好的区分怠速状态与工作状态.为了解决这个问题,使用三轴陀螺仪,对挖掘机3个轴方向上的转动角速度进行数据采集,研究数据之间的关系,提出了区分挖掘机的怠速状态和工作状态的算法,实验表明:该算法可以准确地区分挖掘机的怠速状态与工作状态.

The remote monitoring system is widely used because it can detect all kinds of data such as the motion state,working hours of the excavator and etc..However,the current monitoring equipment can only judge the shutdown state or the working state when judging the movement state of the excavator,which can not distinguish the idle state from the working state.In order to solve this problem,the three axis gyroscope was adopted to collect the data of the angular velocity of the three axis of the excavator,the relation among the data was studied,and an algorithm was presented to distinguish the idle speed and working state of the excavator.Experiments show that the algorithm can distinguish the idle state and working state of the excavator accurately.