Method for determining end position of boom system, storage medium, device and operating machine

Abstract

The present invention provides a method, storage medium, device and operating machine for determining the position of the end of a boom system, the method comprising: receiving candidate positioning signals sent by positioning devices arranged on different boom sections; determining a target positioning signal based on the candidate positioning signals; the target positioning signal is a signal sent by a positioning device on a target boom section, and the target boom section is the boom section with the least number of boom sections between the boom section where the positioning device sending the candidate positioning signal is located; determining target position information of the target boom section based on the target positioning signal, and obtaining target physical parameters between the target boom section and the boom section; determining the position of the boom section based on the target position information and the target physical parameters. The method, storage medium, device and operating machine for determining the position of the end of a boom system provided by the present invention can improve measurement accuracy, and improve the stability and reliability of obtaining the position of the boom section.

Description

Technical Field

[0001] The present invention relates to the technical field of operating machinery, and in particular to a method for determining the end position of an arm system, a storage medium, a device and an operating machinery. Background Art

[0002] In various complex construction environments, operating machinery plays a key role. As a supporting part, the boom can extend the reach or length of the operating machinery. For example, the boom can be applied to operating machinery such as cranes, concrete pump trucks and fire trucks. The installation form of the boom on the operating machinery is often to use multiple booms connected in series. In the actual operation process, the position and posture of the boom in different parts are different. In order to accurately control the boom in different parts, it is necessary to obtain the position parameters of the corresponding boom end in real time.

[0003] At present, a sensor or camera is often installed at the end of the boom to obtain the position parameters of the end of the boom. This has low measurement accuracy, high requirements on the processor, and will affect the control effect when the signal is missing, and has poor stability and reliability. Summary of the invention

[0004] The present invention provides a method, storage medium, device and operating machine for determining the end position of a boom system, so as to solve the defects in the prior art of low measurement accuracy, high requirements on the processor, influence on the control effect when the signal is missing, and poor stability and reliability, so as to improve the measurement accuracy, reduce the difficulty of data processing, and improve the stability and reliability of position information acquisition.

[0005] The present invention provides a method for determining the position of an end of a boom system, and the method comprises: receiving candidate positioning signals emitted by positioning devices arranged on different boom sections; determining a target positioning signal based on the candidate positioning signals; the target positioning signal is a signal emitted by a positioning device on a target boom section, and the target boom section is the boom section where the positioning device emitting the candidate positioning signal is located and which has the least number of boom sections between it and the end of the boom; determining target position information of the target boom section based on the target positioning signal, and acquiring target physical parameters between the target boom section and the end of the boom; and determining the position of the end of the boom based on the target position information and the target physical parameters.

[0006] According to the method for determining the end position of a boom system of the present invention, determining the target positioning signal based on the candidate positioning signal includes: extracting an arm segment feature identifier based on the candidate positioning signal; determining the arm segment on which the positioning device that sends the candidate positioning signal is located based on the arm segment feature identifier; determining, from the arm segments on which the positioning device that sends the candidate positioning signal is located, the arm segment with the least number of arm segments between it and the end of the boom as the target arm segment, and using the signal sent by the positioning device on the target arm segment as the target positioning signal.

[0007] According to the method for determining the end position of a boom system of the present invention, the target physical parameters include: the length of the last boom section, the length of the boom section from the target boom section to the last boom section, and the angle between every two adjacent boom sections from the target boom section to the last boom section.

[0008] According to the method for determining the end position of a boom system of the present invention, the position information of the boom end is determined based on the target position information and the target physical parameters, including: determining the transformation matrix between the boom end and the target boom section based on the length of the last boom section, the length of the boom section from the target boom section to the last boom section, and the angle between every two adjacent boom sections from the target boom section to the last boom section; and determining the position information of the boom end based on the transformation matrix and the target position information.

[0009] According to the boom system end position determination method of the present invention, when the positioning device is installed at the beginning of the target boom section, the target physical parameter further includes: the length of the target boom section.

[0010] According to the method for determining the end position of the boom system of the present invention, the receiving of candidate positioning signals emitted by positioning devices arranged on different boom sections includes: receiving the candidate positioning signals through a base station positioning device, and the base station positioning device is installed on the top of the front of the operating machinery.

[0011] According to the method for determining the position of the end of a boom system described in the present invention, the receiving of candidate positioning signals emitted by positioning devices arranged on different boom sections includes: receiving a first positioning signal emitted by a positioning device arranged at the end of the boom, and a second positioning signal emitted by a positioning device arranged at the end of a secondary boom section; determining the target positioning signal based on the candidate positioning signals includes: determining the first positioning signal as the target positioning signal when the first positioning signal is confirmed to be valid; and determining the second positioning signal as the target positioning signal when the first positioning signal is confirmed to be missing.

[0012] The present invention also provides a device for determining the position of the end of a boom system, which includes: a receiving module, used to receive candidate positioning signals emitted by positioning devices arranged on different boom sections; a first determination module, used to determine a target positioning signal based on the candidate positioning signal; the target positioning signal is a signal emitted by a positioning device on a target boom section, and the target boom section is the boom section where the positioning device that emits the candidate positioning signal is located and has the least number of boom sections between it and the end of the boom; a second determination module, used to determine target position information of the target boom section based on the target positioning signal, and obtain target physical parameters between the target boom section and the end of the boom; and a third determination module, used to determine the position of the end of the boom based on the target position information and the target physical parameters.

[0013] The present invention further provides an operating machine, comprising: a vehicle body; and a boom system end position determining device as described in any one of the above, wherein the boom system end position determining device is installed on the vehicle body.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the above-mentioned methods for determining the end position of the boom system are implemented.

[0015] The method, storage medium, device and operating machine for determining the end position of a boom system provided by the present invention obtain multiple candidate positioning signals, and determine a target positioning signal from the multiple candidate positioning signals based on the distance between the boom section where a positioning device that sends the candidate positioning signal is located and the end of the boom. The position of the end of the boom is obtained according to the target positioning signal and the target physical parameters between the target boom section and the end of the boom, which can improve the measurement accuracy and improve the stability and reliability of the acquisition of the position of the end of the boom. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic flow chart of a method for determining the end position of a boom system provided by the present invention;

[0018] Figure 2 It is a schematic diagram of the installation position of the positioning device of the boom system end position determination method provided by the present invention;

[0019] Figure 3It is a structural schematic diagram of the boom system end position determination device provided by the present invention;

[0020] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Combine the following Figures 1 to 4 The invention describes a method, a storage medium, a device and an operating machine for determining the end position of a boom system.

[0023] It is worth noting that the method for determining the end position of the boom system can be applied to an operating machine with a boom, and the operating machine may include: a drilling machine, an excavating machine, a loading machine, a transporting machine, a municipal machine, a crusher, and at least one of a vehicle driven by a driver. An excavating machine is an operating machine used for excavating mines. A loading machine is an operating machine used for loading cargo into a transporting machine. Loading machines include at least one of a hydraulic excavator, an electric excavator, and a wheel loader. A transporting machine is an operating machine used for transporting cargo. Municipal machinery is an operating machine used for cleaning and beautifying urban roads, such as a sweeper, a sprinkler, and a vacuum truck. A crusher is an operating machine that crushes soil and rocks thrown in from a transporting machine.

[0024] like Figure 1 and Figure 2 As shown, the present invention provides a method for determining the end position of a boom system, comprising the following steps 110 to 140.

[0025] Among them, step 110 is to receive candidate positioning signals sent by positioning devices arranged on different arm sections.

[0026] It can be understood that the boom of the operating machine can be composed of multiple arm sections connected end to end. For example, the boom of the operating machine can be composed of six arm sections. The multiple arm sections extend outward from the fuselage of the operating machine. The end of the boom close to the fuselage is called the starting end, and the end of the boom away from the fuselage is called the end. This embodiment is to determine the actual position of the end of the boom away from the fuselage, that is, the actual position of the end of the boom.

[0027] Positioning devices can be set on different arm sections of the boom. For example, when the boom includes six arm sections, a positioning device can be set on two of the arm sections, three of the arm sections, four of the arm sections, five of the arm sections, or six of the arm sections. The number of arm sections equipped with positioning devices is not limited here.

[0028] The candidate positioning signals received here may be two or three, or more than one. The number of candidate positioning signals is not limited here and may be determined according to the number of positioning devices.

[0029] Step 120: determine a target positioning signal based on the candidate positioning signal; the target positioning signal is a signal sent by a positioning device on a target boom segment, and the target boom segment is the boom segment where the positioning device sending the candidate positioning signal is located and has the least number of boom segments between it and the end of the boom.

[0030] It can be understood that after acquiring multiple candidate positioning signals, a target positioning signal can be selected from the multiple candidate positioning signals. Specifically, the arm section where the positioning device that sends the target positioning signal is located is the arm section with the least number of arm sections between it and the end of the boom.

[0031] In other words, the positioning devices on multiple boom sections can all send out candidate positioning signals, and the candidate positioning signal sent out by the positioning device on the boom section that is spaced from the end of the boom by the least number of boom sections is used as the target positioning signal.

[0032] For example, the operating machinery may have a front and a body, the boom on the body may have multiple boom sections connected in series head to tail, the operating machinery may be a concrete pump truck, the concrete pump truck may have a total of six boom sections, in the direction extending outward from the body, they are the first boom section, the second boom section, the third boom section, the fourth boom section, the fifth boom section and the sixth boom section, then the sixth boom section is the end boom section of the boom.

[0033] For example, if a candidate positioning signal sent by a positioning device on the fifth boom section and a candidate positioning signal sent by a positioning device on the fourth boom section are received, since the number of boom sections between the fifth boom section and the end of the boom is 0, and the number of boom sections between the fourth boom section and the end of the boom is 1, then since the number of boom sections between the fifth boom section and the end of the boom is smaller than the number of boom sections between the fourth boom section and the end of the boom, the candidate positioning signal sent by the positioning device on the fifth boom section is used as the target positioning signal.

[0034] For another example, if a candidate positioning signal is received from a positioning device on the fourth boom section and a candidate positioning signal is received from a positioning device on the second boom section, since the number of boom sections between the fourth boom section and the end of the boom is 1, and the number of boom sections between the second boom section and the end of the boom is 3, then since the number of boom sections between the fourth boom section and the end of the boom is smaller than the number of boom sections between the second boom section and the end of the boom, the candidate positioning signal from the positioning device on the fourth boom section is used as the target positioning signal.

[0035] For example, if a candidate positioning signal is received from a positioning device on the sixth boom section and a candidate positioning signal is received from a positioning device on the fifth boom section, since the end of the boom is on the sixth boom section, the candidate positioning signal from the positioning device on the sixth boom section can be directly used as the target positioning signal.

[0036] Step 130: Determine the target position information of the target boom section based on the target positioning signal, and obtain the target physical parameters between the target boom section and the boom end.

[0037] It can be understood that after the target positioning signal is determined, since the target positioning signal is sent by the positioning device on the target boom section, the target position information of the target boom section can be determined directly based on the target positioning signal.

[0038] In addition, target physical parameters between the target boom section and the boom end are obtained. The target physical parameters between the target boom section and the boom end refer to the relative position relationship between the target boom section and the boom end. The target physical parameters may include pre-set parameters or parameters measured in real time by sensors such as pressure sensors or angle sensors.

[0039] The target physical parameters between the target boom section and the end of the boom may include: the length of the end boom section, the length of the boom section from the target boom section to the end boom section, and the angle between every two adjacent boom sections from the target boom section to the end boom section. The specific parameters covered by the target physical parameters are not limited here, and those skilled in the art may select specific parameters according to actual needs.

[0040] Step 140: Determine the position of the boom end based on the target position information and the target physical parameters.

[0041] It can be understood that after obtaining the target position information of the target boom section and the target physical parameters between the target boom section and the end of the boom, the position of the end of the boom can be obtained based on the target position information and the target physical parameters, that is, the target position information of the target boom section is converted into the position of the end of the boom through the target physical parameters, so that the position of the end of the boom is successfully obtained.

[0042] It is worth mentioning that candidate positioning signals emitted by positioning devices on multiple boom sections are received here, and the target positioning signal is determined from the candidate positioning signals according to the number of boom sections between the boom section and the end of the boom. In this way, the positioning devices on multiple boom sections can be used for redundant design. When some positioning devices fail, other positioning devices can be used as supplements, which can improve the reliability of positioning signal acquisition. At the same time, when candidate positioning signals emitted by positioning devices on multiple boom sections are received, the boom section with the least number of boom sections between it and the end of the boom is selected from the boom section where the positioning device that emits the candidate positioning signal is located as the target boom section, and the candidate positioning signal emitted by the target boom section is used as the target positioning signal. The number of intervals between the target boom section and the end of the boom is relatively small, so that in the process of data conversion, the position accuracy of the end of the boom is higher.

[0043] The method for determining the end position of a boom system provided by the present invention obtains multiple candidate positioning signals, and determines a target positioning signal from the multiple candidate positioning signals based on the distance between the boom section where a positioning device that sends the candidate positioning signal is located and the boom end, and obtains the position of the boom end according to the target positioning signal and the target physical parameters between the target boom section and the boom end, thereby improving the measurement accuracy and improving the stability and reliability of the acquisition of the boom end position.

[0044] In some embodiments, based on the candidate positioning signals, a target positioning signal is determined, including: extracting an arm segment feature identifier based on the candidate positioning signals; determining the arm segment on which a positioning device that sends the candidate positioning signal is located based on the arm segment feature identifier; from the arm segments on which the positioning device that sends the candidate positioning signal is located, determining the arm segment with the least number of arm segments between it and the end of the boom as the target arm segment, and using the signal emitted by the positioning device on the target arm segment as the target positioning signal.

[0045] It can be understood that after obtaining the candidate positioning signal, the arm segment feature identifier can be extracted from the candidate positioning signal. The arm segment feature identifier is used to represent a specific arm segment and distinguish a specific arm segment from other arm segments. Through the arm segment feature identifier, the arm segment in which the positioning device that sends a candidate positioning signal is located can be determined. At this time, according to the relationship data between the arm segments pre-stored in the system, the arm segment with the least number of arm segments between the arm segment and the end of the boom can be determined from the arm segment where the positioning device that sends the candidate positioning signal is located. The arm segment is used as the target arm segment, and the signal emitted by the positioning device on the target arm segment is used as the target positioning signal.

[0046] In some embodiments, the target physical parameters include: the length of the last boom section, the length of the boom section from the target boom section to the last boom section, and the angle between every two adjacent boom sections from the target boom section to the last boom section.

[0047] In some embodiments, when the positioning device is installed at the beginning of the target arm section, the target physical parameter also includes: the length of the target arm section.

[0048] It is understandable that when the positioning device is installed at the end of the target arm section, the target physical parameters may only include: the length of the last arm section, the length of the arm section from the target arm section to the last arm section, and the angle between every two adjacent arm sections from the target arm section to the last arm section. When the positioning device is installed at the beginning of the target arm section, the target physical parameters may include: the length of the last arm section, the length of the target arm section, the length of the arm section from the target arm section to the last arm section, and the angle between every two adjacent arm sections from the target arm section to the last arm section.

[0049] In some embodiments, the position information of the end of the boom is determined based on the target position information and the target physical parameters, including: determining the transformation matrix between the end of the boom and the target boom section based on the length of the end boom section, the length of the boom section from the target boom section to the end boom section, and the angle between every two adjacent boom sections from the target boom section to the end boom section; determining the position information of the end of the boom based on the transformation matrix and the target position information.

[0050] It can be understood that the transformation matrix between the end of the boom and the target boom section can be determined based on the length of the last boom section, the length of the boom section from the target boom section to the last boom section, and the angle between every two adjacent boom sections from the target boom section to the last boom section. The transformation matrix is ​​presented in the form of a matrix, and then the position information of the end of the boom is obtained based on the transformation matrix and the target position information.

[0051] For example, the target position information and the transformation matrix can be multiplied to obtain the position information of the end of the boom. Of course, other operations can be performed using the target position information and the transformation matrix to obtain the position information of the end of the boom. The specific operation method is not limited here, and technical personnel in this field can select a specific operation method based on actual conditions.

[0052] In some embodiments, receiving candidate positioning signals sent by positioning devices arranged on different arm sections includes: receiving the candidate positioning signals through a base station positioning device, and the base station positioning device is installed on the top of the front of the working machine.

[0053] It can be understood that the positioning devices installed on different arm sections of the boom can be signal transmitters, and a base station positioning device can also be installed on the top of the front of the operating machinery. The base station positioning device can serve as a signal receiver. The base station positioning device can receive the candidate positioning signal sent by the positioning device on the arm section. Through such an installation method, the candidate positioning signal can be received quickly and accurately.

[0054] In some embodiments, receiving candidate positioning signals sent by positioning devices arranged on different arm sections includes: receiving a first positioning signal sent by a positioning device arranged at an end of the boom, and a second positioning signal sent by a positioning device arranged at an end of a secondary arm section.

[0055] Determining a target positioning signal based on the candidate positioning signals includes: determining the first positioning signal as the target positioning signal when the first positioning signal is confirmed to be valid; and determining the second positioning signal as the target positioning signal when the first positioning signal is confirmed to be missing.

[0056] It can be understood that the candidate positioning signals may include a first positioning signal and a second positioning signal. The first positioning signal is a positioning signal emitted by a positioning device arranged at the end of the boom, and the second positioning signal is a positioning signal emitted by a positioning device arranged at the end of a secondary boom section. The secondary boom section refers to the boom section adjacent to the boom section where the end of the boom is located. As mentioned above, the boom section where the end of the boom is located may be the sixth boom section, and the secondary boom section is the fifth boom section.

[0057] Then, when the first positioning signal is received and the first positioning signal is valid, the first positioning signal can be determined as the target positioning signal, and the position of the end of the boom can be directly obtained based on the first positioning signal. If the first positioning signal is missing, the second positioning signal is determined as the target positioning signal, and the position of the end of the boom can be obtained based on the second positioning signal.

[0058] like Figure 2 As shown, in some embodiments, receiving a first positioning signal sent by a positioning device arranged at the end of the boom and a second positioning signal sent by a positioning device arranged at the end of the secondary arm section includes: receiving the first positioning signal and the second positioning signal through a base station positioning device S3, and the base station positioning device S3 is installed on the top of the front of the working machinery.

[0059] That is to say, a base station positioning device S3 can be installed on the top of the front of the working machine, and the base station positioning device S3 can serve as a receiver to receive the first positioning signal sent by the first positioning device S1 and the second positioning signal sent by the second positioning device S2.

[0060] It can be understood that if the first positioning signal is valid and the first positioning signal is not missing, that is, when the valid positioning information sent by the first positioning device S1 is received, the position information of the end of the first arm can be determined directly based on the first positioning signal. In this way, the first positioning signal collected by the first positioning device S1 can be used to quickly determine the position information of the end of the first arm.

[0061] When the first positioning signal is missing and the second positioning signal is valid, the position information of the end of the sixth boom section is determined based on the second positioning signal and the target physical parameters between the sixth boom section and the fifth boom section, wherein the starting end of the sixth boom section is connected to the end of the fifth boom section.

[0062] It can be understood that if the first positioning signal is missing, that is, the positioning information sent by the first positioning device S1 is not effectively received, and the second positioning signal is valid, that is, the second positioning signal is not missing and the valid positioning information sent by the second positioning device S2 is received, then the first positioning signal is discarded and the second positioning signal is used as a reference.

[0063] The position information of the end of the sixth boom section can be obtained according to the second positioning signal and the target physical parameters between the sixth boom section and the fifth boom section. The target physical parameters between the sixth boom section and the fifth boom section may include parameters such as the length, width and height of the sixth boom section and the fifth boom section themselves, and may also include parameters such as the connecting rod offset, joint angle and pressure value between the sixth boom section and the fifth boom section detected by sensors.

[0064] The second positioning signal can represent the position information of the starting end of the sixth boom section. Since the starting end of the sixth boom section is connected to the ending end of the fifth boom section, the position information of the starting end of the sixth boom section and the ending end of the fifth boom section are consistent. The position information of the ending end of the sixth boom section can be obtained according to the position information of the starting end of the sixth boom section through the target physical parameters between the sixth boom section and the fifth boom section. In this way, the position information of the ending end of the sixth boom section can be calculated according to the second positioning signal. The ending end of the sixth boom section is the boom end mentioned above.

[0065] The second positioning signal can serve as a substitute in the absence of the first positioning signal, which is fault-tolerant. Even if the first positioning signal cannot be received, the position information of the end of the sixth boom section can be calculated based on the second positioning signal alone, which can improve the stability and reliability of the position information determination.

[0066] The method for determining the end position of the boom system provided in this embodiment can improve measurement accuracy, reduce the difficulty of data processing, and improve the stability and reliability of obtaining position information by determining the position information of the end of the boom based on the second positioning signal and the target physical parameters of the sixth boom section and the fifth boom section when the first positioning signal is missing.

[0067] In some embodiments, the target physical parameters include: the length of the sixth boom section, the link torsion angle of the sixth boom section, the link offset between the sixth boom section and the fifth boom section, and the joint angle between the sixth boom section and the fifth boom section.

[0068] Based on the second positioning signal and the target physical parameters of the sixth boom section and the fifth boom section, the position information of the end of the sixth boom section is determined, including: based on the second positioning signal, the length of the sixth boom section, the connecting rod torsion angle of the sixth boom section, the connecting rod offset between the sixth boom section and the fifth boom section, and the joint angle between the sixth boom section and the fifth boom section, the position information of the end of the sixth boom section is determined.

[0069] It can be understood that the correspondence between the position information of the end of the sixth arm section and the position information of the starting end of the sixth arm section can be determined according to the length of the sixth arm section, the connecting rod torsion angle of the sixth arm section, the connecting rod offset between the sixth arm section and the fifth arm section, and the joint angle between the sixth arm section and the fifth arm section, thereby quickly calculating the position information of the end of the sixth arm section based on the first positioning signal.

[0070] The length of the sixth boom section, the connecting rod torsion angle of the sixth boom section, the connecting rod offset between the sixth boom section and the fifth boom section, and the joint angle between the sixth boom section and the fifth boom section can together constitute a conversion coefficient. Using this conversion coefficient, the position information of the starting end of the sixth boom section can be quickly converted into the position information of the end end of the sixth boom section.

[0071] In some embodiments, the position information of the end of the sixth arm section is determined based on the second positioning signal, the length of the sixth arm section, the connecting rod torsion angle of the sixth arm section, the connecting rod offset between the sixth arm section and the fifth arm section, and the joint angle between the sixth arm section and the fifth arm section, including: obtaining the transformation matrix between the sixth arm section and the fifth arm section based on the length of the sixth arm section, the connecting rod torsion angle of the sixth arm section, the connecting rod offset between the sixth arm section and the fifth arm section, and the joint angle between the sixth arm section and the fifth arm section.

[0072] It can be understood that the conversion coefficient described in the above embodiment can be a transformation matrix, that is, the transformation matrix can be obtained according to the length of the sixth arm section, the connecting rod torsion angle of the sixth arm section, the connecting rod offset between the sixth arm section and the fifth arm section, and the joint angle between the sixth arm section and the fifth arm section.

[0073] The transformation matrix can reflect the influence of the length of the sixth boom section, the connecting rod torsion angle of the sixth boom section, the connecting rod offset between the sixth boom section and the fifth boom section, and the joint angle between the sixth boom section and the fifth boom section on the conversion coefficient. The use of the transformation matrix can more accurately represent the correspondence between the position information of the end of the sixth boom section and the position information of the beginning of the sixth boom section.

[0074] Based on the second positioning signal and the transformation matrix, the position information of the end of the sixth boom section is determined.

[0075] It can be understood that the position information of the end of the sixth boom section can be obtained according to the transformation matrix combined with the second positioning signal, that is, the position information of the beginning of the sixth boom section is converted into the position information of the end of the sixth boom section through the transformation matrix.

[0076] In some embodiments, the transformation matrix is:

[0077]

[0078] Wherein, θ represents the joint angle between the sixth boom section and the fifth boom section, a represents the length of the sixth boom section, α represents the connecting rod torsion angle of the sixth boom section, and d represents the connecting rod offset between the sixth boom section and the fifth boom section.

[0079] In some embodiments, determining the position information of the end of the sixth boom section based on the second positioning signal and the transformation matrix includes: multiplying the second positioning signal by the transformation matrix to obtain the position information of the end of the sixth boom section.

[0080] It can be understood that the position information P1 of the end of the sixth boom section can be the transformation matrix T multiplied by the second positioning signal P2.

[0081] That is, the following formula can be used

[0082] P1=T·P2

[0083] The position information P1 of the end of the sixth boom section is obtained by calculation.

[0084] The boom system end position determining device provided by the present invention is described below. The boom system end position determining device described below and the boom system end position determining method described above can refer to each other.

[0085] like Figure 3 As shown, the present invention further provides a boom system end position determination device, which includes: a receiving module 310, a first determination module 320, a second determination module 330 and a third determination module 340.

[0086] The receiving module is used to receive candidate positioning signals sent by positioning devices arranged on different arm sections.

[0087] The first determination module is used to determine the target positioning signal based on the candidate positioning signal; the target positioning signal is a signal sent by a positioning device on a target arm section, and the target arm section is the arm section where the positioning device that sends the candidate positioning signal is located and has the least number of arm sections between it and the end of the boom.

[0088] The second determination module is used to determine the target position information of the target boom section based on the target positioning signal, and obtain the target physical parameters between the target boom section and the end of the boom.

[0089] The third determination module is used to determine the position of the boom end based on the target position information and the target physical parameters.

[0090] The present invention further provides an operating machine, which comprises: a vehicle body and the above-mentioned device for determining the position of the end of the boom system, wherein the device for determining the position of the end of the boom system is installed on the vehicle body.

[0091] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call the logic instructions in the memory 430 to execute the method for determining the position of the end of the boom system, the method comprising: receiving candidate positioning signals sent by positioning devices arranged on different boom sections; determining a target positioning signal based on the candidate positioning signals; the target positioning signal is a signal sent by a positioning device on a target boom section, and the target boom section is the boom section where the positioning device sending the candidate positioning signal is located and the number of boom sections between the boom section and the boom section is the smallest; determining the target position information of the target boom section based on the target positioning signal, and obtaining the target physical parameters between the target boom section and the boom section; determining the position of the boom section based on the target position information and the target physical parameters.

[0092] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0093] On the other hand, the present invention also provides a computer program product, which includes a computer program, and the computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the method for determining the end position of the boom system provided by the above-mentioned methods, and the method includes: receiving candidate positioning signals emitted by positioning devices arranged on different boom sections; determining a target positioning signal based on the candidate positioning signals; the target positioning signal is a signal emitted by the positioning device on the target boom section, and the target boom section is the boom section where the positioning device that emits the candidate positioning signal is located and has the least number of boom sections between it and the end of the boom; based on the target positioning signal, determining the target position information of the target boom section, and obtaining the target physical parameters between the target boom section and the end of the boom; determining the position of the end of the boom based on the target position information and the target physical parameters.

[0094] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the method for determining the end position of a boom system provided by the above-mentioned methods, the method comprising: receiving candidate positioning signals emitted by positioning devices arranged on different boom sections; determining a target positioning signal based on the candidate positioning signals; the target positioning signal is a signal emitted by a positioning device on a target boom section, and the target boom section is the boom section where the positioning device emitting the candidate positioning signal is located and which has the least number of boom sections between it and the end of the boom; based on the target positioning signal, determining target position information of the target boom section, and obtaining target physical parameters between the target boom section and the end of the boom; determining the position of the end of the boom based on the target position information and the target physical parameters.

[0095] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the end position of a boom system, characterized in that: include: receiving candidate positioning signals sent by positioning devices arranged on different arm sections; Based on the candidate positioning signal, a target positioning signal is determined; the target positioning signal is a signal sent by a positioning device on a target boom section, and the target boom section is the boom section where the positioning device sending the candidate positioning signal is located and has the least number of boom sections between it and the end of the boom; Based on the target positioning signal, determine the target position information of the target boom section, and obtain the target physical parameters between the target boom section and the boom end; Determining the position of the boom end based on the target position information and the target physical parameters; The target physical parameters include: the length of the last boom section, the length of the boom section from the target boom section to the last boom section, and the angle between every two adjacent boom sections from the target boom section to the last boom section.

2. The method for determining the end position of a boom system according to claim 1, characterized in that: The determining a target positioning signal based on the candidate positioning signal includes: Extracting arm segment feature identifiers based on the candidate positioning signals; Based on the arm segment characteristic identifier, determining the arm segment in which the positioning device that sends the candidate positioning signal is located; From the arm sections where the positioning device that sends the candidate positioning signal is located, the arm section with the least number of arm sections between it and the end of the boom is determined as the target arm section, and the signal sent by the positioning device on the target arm section is used as the target positioning signal.

3. The method for determining the end position of a boom system according to claim 1, characterized in that: The determining the position information of the boom end based on the target position information and the target physical parameter includes: Determine a transformation matrix between the boom end and the target boom section based on the length of the terminal boom section, the length of the boom section from the target boom section to the terminal boom section, and the angle between every two adjacent boom sections from the target boom section to the terminal boom section; Based on the transformation matrix and the target position information, the position information of the boom end is determined.

4. The method for determining the end position of a boom system according to claim 1, characterized in that: In the case where the positioning device is installed at the beginning of the target arm section, the target physical parameter further includes: the length of the target arm section.

5. The method for determining the end position of a boom system according to any one of claims 1 to 4, characterized in that: The receiving of candidate positioning signals sent by positioning devices arranged on different arm sections includes: The candidate positioning signal is received by a base station positioning device, and the base station positioning device is installed on the top of the front of the working machine.

6. The method for determining the end position of a boom system according to any one of claims 1 to 4, characterized in that: The receiving of candidate positioning signals sent by positioning devices arranged on different boom sections includes: receiving a first positioning signal sent by a positioning device arranged at the end of the boom, and a second positioning signal sent by a positioning device arranged at the end of the secondary boom section; The determining a target positioning signal based on the candidate positioning signal includes: When confirming that the first positioning signal is valid, determining the first positioning signal as the target positioning signal; When it is confirmed that the first positioning signal is missing, the second positioning signal is determined as the target positioning signal.

7. A device for determining the end position of a boom system, characterized in that: include: A receiving module, used for receiving candidate positioning signals sent by positioning devices arranged on different arm sections; A first determination module is configured to determine a target positioning signal based on the candidate positioning signal; the target positioning signal is a signal sent by a positioning device on a target boom section, and the target boom section is the boom section where the positioning device sending the candidate positioning signal is located and has the least number of boom sections between it and the end of the boom; A second determination module is used to determine the target position information of the target boom section based on the target positioning signal, and obtain the target physical parameters between the target boom section and the boom end; A third determination module, configured to determine the position of the boom end based on the target position information and the target physical parameter; The target physical parameters include: the length of the last boom section, the length of the boom section from the target boom section to the last boom section, and the angle between every two adjacent boom sections from the target boom section to the last boom section.

8. A working machine, characterized in that: include: Car body; The boom system end position determining device as described in claim 7, wherein the boom system end position determining device is installed on the vehicle body.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for determining the position of the end of a boom system as claimed in any one of claims 1 to 6 are implemented.

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