The invention provides a crawler belt tensity control method and system for a crawler belt type lifting chassis, the system comprises an image acquisition module, a semantic segmentation module, a crawler belt actual perimeter calculation module, a tensity judgment module and an execution module, the image acquisition module is adopted to acquire image data, and a crawler belt mask is extracted through a semantic segmentation neural network; obtaining a track frame line and left and right boundary points on the track frame line by using a track mask, respectively calculating a horizontal pixel difference and a horizontal actual distance between the left and right boundary points, obtaining a proportion of the image to the actual distance, calculating pixels of the track frame line, and finally obtaining the actual perimeter of the track. And the tension degree of the crawler belt is judged according to the difference value between the actual perimeter and the suitable perimeter, and a corresponding control adjusting signal is given. The track perimeter is measured on line in a non-contact mode, and the track perimeter measuring device can be applied to various track machines, has applicability, reliability and accuracy and provides guarantee for walking performance and safety of a track chassis.
本发明提供了一种用于履带式升降底盘的履带张紧度控制方法及系统,包括图像获取模块、语义分割模块、履带实际周长计算模块、张紧度判断模块和执行模块,采用图像获取模块获取图像数据,通过语义分割神经网络提取履带掩膜,利用履带掩膜获取履带边框线以及履带边框线上的左右边界点,分别计算左右边界点之间的水平像素差距以及水平实际距离,获取图像对应实际距离的比例,计算履带边框线的像素,最后得到履带实际周长,并根据实际周长与适合周长之间的差值判断履带的张紧度,给出对应的控制调节信号。本发明以非接触时的方式在线测量履带周长,可以应用于各种履带机械上,具备适用性、可靠性和准确性,为履带底盘的行走性能与安全提供保障。
Crawler belt tensioning degree control method and system for crawler belt type lifting chassis
一种用于履带式升降底盘的履带张紧度控制方法及系统
2023-12-01
Patent
Electronic Resource
Chinese
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