Method and device for determining information of excavator bucket joint, and electronic device

Abstract

The application provides a method and device for determining excavator bucket joint information and electronic equipment. A first inclination sensor is installed on a small arm of the excavator. A second inclination sensor is installed on a specified connecting rod at a bucket joint connected with the small arm. The specified connecting rod is any one of four connecting rods at the bucket joint. A first current angle measured by the first inclination sensor and a second current angle measured by the second inclination sensor are obtained. The current bucket joint information of the excavator is determined according to the sensor measurement values and the pre-obtained bucket calibration parameters of the excavator. The bucket calibration parameters include length parameters and angle parameters. The current bucket joint information includes a current joint angle. The data collected by the inclination sensors installed on the small arm of the excavator and the first connecting rod at the bucket joint and the pre-obtained calibration parameters can accurately determine the bucket joint information and meet the demand for replacing the bucket.

Description

TECHNICAL FIELD

[0001] The present application relates to the mechanical technical field, and in particular to a method and device for determining information of a bucket joint of an excavator and an electronic device. BACKGROUND

[0002] Automatic or semi-automatic operation of an excavator requires real-time information of an angle and an angular velocity of a bucket joint through a sensor, and existing technical solutions are mainly divided into two schemes of modifying a bucket joint structure and pasting an inclination sensor. The scheme of modifying the bucket joint structure has a large modification cost, and is inconvenient for disassembly, maintenance or replacement of the sensor, and requires support of a manufacturer. The scheme of pasting the inclination sensor on a component of the excavator is welcomed by the industry due to a small hardware modification cost and easy operation.

[0003] At present, a pasting position of the inclination sensor is mainly divided into two types of being directly pasted on a surface of the bucket and being pasted on a connecting rod of the bucket joint. The scheme of pasting the inclination sensor on the bucket can easily obtain posture information of the bucket, but the inclination sensor pasted on the bucket is easily damaged due to frequent interaction and collision with a construction environment. In addition, the excavator may replace a type of the bucket due to different requirements of different operation types, and therefore the scheme of directly pasting the inclination sensor on the bucket to measure real-time data of the angle and the angular velocity does not meet the requirement of replacing the bucket.

[0004] Unlike other joint structures of the excavator, the bucket joint is a complex four-connecting-rod pushing structure, and many parameters need to be accurately obtained to establish a relationship between readings of the inclination sensor and information of the bucket joint. The scheme of directly pasting the inclination sensor on the connecting rod of the bucket joint currently does not have an accurate calibration method. SUMMARY

[0005] The present application aims to provide a method and device for determining information of a bucket joint of an excavator and an electronic device, and through data collected by an inclination sensor arranged on a small arm of the excavator and a first connecting rod of the bucket joint and pre-acquired calibration parameters, information of the bucket joint can be accurately determined, and the requirement of replacing the bucket is met.

[0006] In a first aspect, the embodiments of the present application provide a method for determining joint information of a bucket of an excavator. A first inclination sensor is installed on a forearm of the excavator. A second inclination sensor is installed on a specified link at a bucket joint connected to the forearm. The specified link is any one of four links at the bucket joint. The method comprises: obtaining a first current angle measured by the first inclination sensor and a second current angle measured by the second inclination sensor; and determining current bucket joint information of the excavator according to the first current angle, the second current angle, and pre-obtained calibration parameters of the bucket of the excavator. The calibration parameters of the bucket include length parameters and angle parameters. The length parameters include lengths of the four links at the bucket joint of the excavator. The angle parameters include a first calibration angle and a second calibration angle. The current bucket joint information includes a current joint angle.

[0007] In a preferred embodiment of the present application, the bucket is provided with a third inclination sensor. Before the step of obtaining the first current angle and the first current angular velocity measured by the first inclination sensor, and the second current angle and the second current angular velocity measured by the second inclination sensor, the method further comprises: obtaining a plurality of groups of sensor data. Each group of sensor data includes a first angle corresponding to the first inclination sensor, a second angle corresponding to the second inclination sensor, and a third angle corresponding to the third inclination sensor. The calibration parameters of the bucket of the excavator are determined by performing optimal solving on a target function according to the plurality of groups of sensor data and an optimization algorithm. The target function includes minimizing a sum of a joint angle deviation and a joint angular velocity deviation. The joint angle deviation includes a square of a difference between the first joint angle and the second joint angle. The joint angular velocity deviation includes a square of a difference between the first joint angular velocity and the second joint angular velocity. The first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the plurality of groups of sensor data. The second joint angle and the second joint angular velocity are determined based on the first angle and the third angle in the plurality of groups of sensor data.

[0008] In a preferred embodiment of the present application, the specified link is a rotatable link connecting a bucket cylinder and the forearm. The first angle corresponding to the first joint angle is calculated according to the following formula:

[0009]

[0010] wherein α(θ1, θ2) represents the first joint angle of the bucket of the excavator, DE represents the length of the specified link, EF represents the length of a rotatable link connecting the bucket cylinder and the bucket, AF represents the length of a non-rotatable link on the bucket, AD represents the length of a non-rotatable link on the forearm, k represents the first calibration angle, m represents the second calibration angle, θ1 represents the first angle measured by the first inclination sensor, and θ2 represents the second angle measured by the second inclination sensor.

[0011] The first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by derivation of the first angle and the second angle in the first angle calculation formula; the first angular velocity calculation formula represents the corresponding relationship between the joint angular velocity and the first angular velocity measured by the first inclination angle sensor and the second angular velocity measured by the second inclination angle sensor.

[0012] In the preferred embodiment of the present application, the determination process of the above first angle calculation formula is as follows:

[0013] According to the four-bar linkage model diagram, a first expression of the joint angle is obtained; the first expression is as follows:

[0014] α(θ1, θ2) = ∠CAB = 2π - ∠CAD - ∠DAE - ∠EAF - ∠FAB;

[0015] wherein 2π - ∠CAD - ∠FAB = k;

[0016] According to the cosine law, a second expression is determined; the second expression is as follows:

[0017]

[0018] wherein,

[0019] ∠EDA = θ2 - θ1 + m;

[0020] The second expression is substituted into the first expression to obtain the first angle calculation formula.

[0021] In the preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:

[0022] α(θ1, θ3) = θ3 - θ1 + n;

[0023] wherein α(θ1, θ3) represents the second joint angle determined based on the first angle and the third angle; θ3 represents the third angle measured by the third inclination angle sensor; and n represents a fixed constant parameter;

[0024] The second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by derivation of the third angle and the first angle in the second angle calculation formula, and the second angular velocity calculation formula is as follows:

[0025]

[0026] represents the second joint angular velocity determined based on the first angle and the third angle; ω3 represents the third angular velocity measured by the third inclination angle sensor; and ω1 represents the first angular velocity measured by the first inclination angle sensor.

[0027] In the preferred embodiment of the present application, the step of determining the calibration parameters of the bucket of the excavator by optimizing the target function according to the plurality of sets of sensor data and the optimization algorithm further includes: obtaining a measured value corresponding to the length parameter in the calibration parameters of the bucket; and substituting the measured value and the plurality of sets of sensor data into the target function to perform optimization to determine the optimal solution corresponding to the angle parameter.

[0028] In the preferred embodiment of the present application, the step of determining the current bucket joint information of the excavator according to the first current angle, the second current angle, and the pre-obtained calibration parameters of the bucket of the excavator further includes: substituting the first current angle, the second current angle, and the calibration parameters of the bucket into the first angle calculation formula to obtain the current joint angle of the bucket.

[0029] In the preferred embodiment of the present application, the current bucket joint information further includes a current joint angular velocity, and the method further includes: obtaining a first current angular velocity measured by the first inclination sensor and a second current angular velocity measured by the second inclination sensor; and substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the bucket.

[0030] In a second aspect, the embodiments of the present application further provide a device for determining bucket joint information of an excavator. A first inclination sensor is installed on a small arm of the excavator. A second inclination sensor is installed on a specified link at a bucket joint connected to the small arm. The specified link is any one of four links at the bucket joint. The device includes: a measured value obtaining module configured to obtain a first current angle measured by the first inclination sensor and a second current angle measured by the second inclination sensor; and an information determining module configured to determine current bucket joint information of the excavator according to the first current angle, the second current angle, and pre-obtained calibration parameters of the bucket of the excavator. The calibration parameters of the bucket include a length parameter and an angle parameter. The length parameter includes lengths of the four links at the bucket joint of the excavator respectively. The angle parameter includes a first calibration angle and a second calibration angle. The current bucket joint information includes a current joint angle.

[0031] In a third aspect, the embodiments of the present application further provide an electronic device. The electronic device includes a processor and a memory. The memory stores computer executable instructions capable of being executed by the processor. The processor executes the computer executable instructions to implement the method of the first aspect.

[0032] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium. The computer readable storage medium stores computer executable instructions. When the computer executable instructions are called and executed by a processor, the computer executable instructions cause the processor to implement the method of the first aspect.

[0033] In the method, device and electronic equipment for determining excavator bucket joint information provided by the embodiments of the present application, a first inclination sensor is installed on a forearm of the excavator; a second inclination sensor is installed on a specified connecting rod at a bucket joint connected with the forearm; the specified connecting rod is any one of four connecting rods at the bucket joint; first current angles measured by the first inclination sensor and second current angles measured by the second inclination sensor are first obtained; then, calibration parameters of the bucket of the excavator are obtained; the calibration parameters of the bucket include length parameters and angle parameters; the length parameters include lengths corresponding to the four connecting rods at the bucket joint of the excavator respectively; the angle parameters include first calibration angles and second calibration angles; finally, current bucket joint information of the excavator is determined according to the first current angles, the second current angles and the calibration parameters; the current bucket joint information includes a current joint angle. In the embodiments of the present application, the data collected by the inclination sensors installed on the forearm of the excavator and the specified connecting rod at the bucket joint and the calibration parameters obtained in advance can be used to accurately determine the bucket joint information and meet the demand of replacing the bucket. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0035] Figure 1 A flowchart of a method for determining excavator bucket joint information provided by the embodiments of the present application;

[0036] Figure 2 A flowchart of a calibration parameter determination process in a method for determining excavator bucket joint information provided by the embodiments of the present application;

[0037] Figure 3 An excavator bucket joint structure diagram and an inclination sensor installation schematic provided by the embodiments of the present application;

[0038] Figure 4 A function relationship diagram between fitted bucket joint angles and bucket and forearm inclination sensor readings provided by the embodiments of the present application;

[0039] Figure 5 A function relationship diagram between test bucket joint angular velocities and bucket and forearm inclination sensor angle and angular velocity readings provided by the embodiments of the present application;

[0040] Figure 6 A structural block diagram of a device for determining excavator bucket joint information provided by the embodiments of the present application;

[0041] Figure 7 A structural schematic diagram of an electronic device is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0042] The technical solutions of the present application will be described in detail below with reference to the embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0043] At present, there are two ways to obtain the information of the excavator bucket:

[0044] The first way is to directly paste the inclination sensor on the bucket. Since the bucket needs to frequently interact and collide with the construction environment, the inclination sensor pasted on the bucket is easily damaged. At the same time, due to the needs of different types of work, the excavator may replace the bucket type, so the scheme of directly pasting the inclination sensor on the bucket to measure the angle and angular velocity real-time data is not very robust.

[0045] The second way is to paste the inclination sensor on the bucket link. This way needs a complex angle and angular velocity conversion equation, and there is no patent to give a complete conversion equation of the bucket joint angle and angular velocity. At the same time, the existing parameter determination method either determines the equation parameters by measuring the lengths and angles of each link, which is cumbersome and inaccurate, or cooperates with the excavator manufacturer to obtain the parameters, which has a high threshold.

[0046] Based on this, the embodiments of the present application provide a determination method and device of excavator bucket joint information and an electronic device. Through the data collected by the inclination sensors arranged on the small arm of the excavator and the specified link at the bucket joint, and the pre-acquired calibration parameters, the bucket joint information can be accurately determined, and the demand of replacing the bucket can be met.

[0047] To facilitate the understanding of the present embodiment, first, a determination method of excavator bucket joint information disclosed by the embodiments of the present application is introduced in detail.

[0048] Figure 1 A flowchart of a determination method of excavator bucket joint information is provided for the embodiments of the present application. In the method, a first inclination sensor is installed on the small arm of the excavator; a second inclination sensor is installed on the specified link at the bucket joint connected with the small arm; the specified link is any one of the four links at the bucket joint; and the method specifically includes the following steps:

[0049] Step S102, obtaining a first current angle measured by the first inclination sensor and a second current angle measured by the second inclination sensor.

[0050] The inclination sensor is also called inclinometer, inclinograph, level, inclinometer, which is often used for measuring the horizontal angle change of the system, and the corresponding angular velocity of the angle change can also be collected. Therefore, by arranging the inclination sensor on the small arm of the excavator and the first connecting rod at the excavator joint, the first current angle and the second current angle can be obtained.

[0051] Step S104, determining the current excavator joint information of the excavator according to the first current angle, the second current angle and the excavator calibration parameters obtained in advance.

[0052] The calibration parameters of the excavator include length parameters and angle parameters. The length parameters include the lengths of the four connecting rods at the excavator joint respectively. The angle parameters include a first calibration angle and a second calibration angle. The current joint information includes a current joint angle.

[0053] The first calibration angle is an angle constant in the current state of the excavator and the connecting rod. The second calibration angle is an angle constant when the positions of the first inclination sensor and the second inclination sensor are fixed, which is related to the angle constant between the second inclination sensor and the connecting rod and the angle constant between the first inclination sensor and the small arm. In the case that a third inclination sensor is installed on the surface of the excavator, the calibration parameters of the excavator can be calculated and determined by a plurality of groups of data collected by the three inclination sensors. The specific calibration process is described below.

[0054] In the method for determining the excavator joint information provided by the embodiment of the present application, the inclination sensors arranged on the small arm of the excavator and the first connecting rod at the excavator joint are used to obtain the first current angle and the second current angle. Then, by using the sensor data and the calibration parameters of the excavator obtained in advance, such as the length parameters and the angle parameters, the excavator joint information can be accurately determined. In this method, the sensors are not arranged on the surface of the excavator, which can meet the demand of replacing the excavator.

[0055] The embodiment of the present application also provides another method for determining the excavator joint information, which is implemented on the basis of the above-mentioned embodiment. The embodiment focuses on the process of obtaining the calibration parameters and the process of determining the excavator joint information.

[0056] Referring to FIG. 1, Figure 2 The process of obtaining the calibration parameters of the excavator is as follows:

[0057] In order to calibrate the length parameters and the angle parameters, a third inclination sensor is installed on the surface of the excavator.

[0058] Step S202, acquiring multiple sets of sensor data; each set of sensor data includes: a first angle corresponding to the first tilt sensor, a second angle corresponding to the second tilt sensor, and a third angle corresponding to the third tilt sensor;

[0059] Step S204, performing an optimal solution to the objective function based on the multiple sets of sensor data and the optimization algorithm to determine the excavator bucket calibration parameters;

[0060] The objective function includes minimizing the sum of joint angle deviation and joint angular velocity deviation; specifically, as follows:

[0061]

[0062] in,

[0063] The joint angle deviation includes the square of the difference between the first joint angle α(θ1,θ2) and the second joint angle α(θ1,θ3); the joint angular velocity deviation includes the first joint angular velocity and the second joint angular velocity The square of the difference between the first joint angle α(θ1,θ2), the first joint angular velocity Determine based on the first angle θ1 and the second angle θ2 in multiple sets of sensor data; the second joint angle α(θ1, θ3), the second joint angular velocity The first angle θ1 and the third angle θ3 are determined based on multiple sets of sensor data.

[0064] The following details the calculation methods of the first joint angle, the second joint angle, the first joint angular velocity, and the second joint angular velocity:

[0065] like Figure 3 As shown in the diagram of the excavator four-link model, the excavator bucket joint consists of four links AD, DE, EF, and AF. The cylinder drives the DE link to rotate, thereby causing the bucket shaft point A to rotate. It is expected that the rotation angle and angular velocity of the shaft A, that is, the bucket joint information, can be measured in real time by installing an inclination sensor. In this embodiment, in order to calibrate the above-mentioned length parameters and angle parameters, in addition to installing a first inclination sensor S1 on the excavator arm to measure the angle and angular velocity of the arm relative to the ground plane, and installing a second inclination sensor S2 on the link DE, a third inclination sensor S3 is also installed on the bucket surface.

[0066] In a preferred embodiment of the present application, the first angle calculation formula corresponding to the first joint angle is as follows:

[0067]

[0068] wherein, a(θ1, θ2) represents a first joint angle of the excavator bucket determined by a first angle θ1 and a second angle θ2; DE represents a length of a specified connecting rod; EF represents a length of a rotatable connecting rod connecting the bucket cylinder and the bucket; AF represents a length of a non-rotatable connecting rod on the bucket; AD represents a length of a non-rotatable connecting rod on the arm; k represents a first calibration angle; m represents a second calibration angle; θ1 represents a first angle measured by the first tilt sensor; and θ2 represents a second angle measured by the second tilt sensor.

[0069] From the above formula, it can be seen that the angle a of the joint shaft A of the bucket is related to the lengths and angle parameters k and m of the four connecting rods AD, DE, EF and AF. The six parameter values are calibrated, and the angle a of the shaft A can be calculated in real time according to the angle measurement values (θ1, θ2) of the tilt sensors S1 and S2. The derivative of the above formula can obtain the angular velocity of the shaft A and the angular velocity measurement values (ω1, ω2) of the tilt sensors S1 and S2, that is,

[0070]

[0071] wherein, represents a first joint angular velocity. That is, the first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by deriving the first angle and the second angle in the first angle calculation formula; and the first angular velocity calculation formula represents the corresponding relationship between the joint angular velocity and the first angular velocity measured by the first tilt sensor and the second angular velocity measured by the second tilt sensor.

[0072] In the preferred embodiment of the present application, the determination process of the above first angle calculation formula is as follows:

[0073] (1) According to the four-bar linkage model diagram, a first expression of the joint angle is obtained; the first expression is as follows:

[0074] a(θ1, θ2) = ∠CAB = 2π - ∠CAD - ∠DAE - ∠EAF - ∠FAB;

[0075] wherein, 2π - ∠CAD - ∠FAB = k;

[0076] wherein, a(θ1, θ2) represents a first joint angle of the excavator bucket; k is one of the fixed parameters to be calibrated. θ1 and θ2 represent the angles between the coordinate axes of the first tilt sensor and the second tilt sensor and the ground plane, respectively. S2 and DE are not necessarily parallel, and the tilt sensor only needs to be rigidly connected to DE, that is, the reading of the tilt sensor and the angle between DE and the horizontal plane are fixed at a certain angle.

[0077] (2) According to the cosine law, a second expression is determined; the second expression is as follows:

[0078]

[0079] wherein,

[0080] EDA = θ2- θ1+ m;

[0081] wherein, m is the difference between the angle EDA and the angle between the two inclination sensors (the first inclination sensor and the second inclination sensor), which is one of the fixed parameters to be calibrated. Because the direction of the S2 second inclination sensor and the DE difference fixed angle (rigidly pasted), the direction of the S1 first inclination sensor and the DA difference fixed angle (S1 rigidly pasted on the forearm, DA is also a fixed direction on the forearm), so the angle EDA and the angle difference between S1 and S2 is a certain fixed angle m.

[0082] (3) Substitute the second expression into the first expression, and the first angle calculation formula is obtained.

[0083] In the preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:

[0084] α(θ1, θ3) = θ3- θ1+ n;

[0085] wherein, α(θ1, θ3) represents the second joint angle determined based on the first angle and the third angle; θ3 represents the third angle measured by the third inclination sensor; n represents a fixed constant parameter; because S3 is rigidly connected with the excavator bucket, the direction of S3 and the direction of AB differ by a fixed angle, and S1 is rigidly connected with the forearm, so the direction of S1 and the direction of CA differ by a fixed angle. Therefore, the angle CAB of the rotation shaft A is equal to the angle difference between S3 and S1 plus a fixed offset angle n; n can be obtained by manually adjusting through observation of the calculated excavator posture and the actual excavator posture, for example, the excavator can be placed horizontally on the ground, and n is adjusted so that the calculated excavator posture is also horizontal.

[0086] The second angle speed calculation formula corresponding to the second joint angle speed is obtained by deriving the third angle and the first angle in the second angle calculation formula, and the second angle speed calculation formula is as follows:

[0087] represents the second joint angle speed determined based on the first angle and the third angle; ω3 represents the third angle speed measured by the third inclination sensor; ω1 represents the first angle speed measured by the first inclination sensor.

[0088] In a preferred embodiment of the present application, the above-mentioned step of optimally solving the objective function based on multiple sets of sensor data and an optimization algorithm to determine the bucket calibration parameters of the excavator also includes: obtaining the measurement value corresponding to the length parameter in the bucket calibration parameters; substituting the measurement value and multiple sets of sensor data into the objective function at the same time for optimization solution to determine the optimal solution corresponding to the angle parameter.

[0089] In specific implementation, since there may be multiple minimum values ​​of the above objective function, the values ​​of parameters AD, DE, EF, and AF can be measured first, and the stochastic gradient descent method can be used to optimize and solve based on the initial values ​​of parameters AD, DE, EF, and AF.

[0090] In a preferred embodiment of the present application, the step of determining the current bucket joint information of the excavator based on the first current angle, the second current angle, and pre-acquired bucket calibration parameters of the excavator includes:

[0091] Substitute the first current angle, the second current angle, and the bucket calibration parameters into the first angle calculation formula to obtain the current joint angle of the bucket.

[0092] In a preferred embodiment, the above-mentioned current bucket joint information also includes: current joint angular velocity; the method also includes: obtaining a first current angular velocity measured by a first inclination sensor and a second current angular velocity measured by a second inclination sensor; substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the bucket.

[0093] like Figure 4 As shown in the figure, the joint angle values ​​calculated based on the calibrated length and angle parameters of the four connecting rods AD, DE, EF, and AF are compared with the joint angle values ​​measured by the bucket sensor S3. It can be seen that the angle function curve with six parameters and the measured joint angle scatter points are highly consistent. Figure 5 The figure also compares the joint angular velocity values ​​solved based on the calibrated length and angle parameters of the four connecting rods AD, DE, EF, and AF with the joint angular velocity values ​​measured by the bucket sensor S3. The difference between the two is very small, which illustrates the accuracy of the solution of the above calibration method and the correctness of the derivation of the kinematic relationship.

[0094] The method for determining excavator bucket joint information provided in the embodiments of the present application derives an equation for converting the angle and angular velocity of the excavator bucket and provides an accurate and convenient calibration method. This calibration method does not require complex manual operations or the errors caused by manual measurement, and can accurately solve the parameters of the bucket's four-link kinematic equations, which helps improve the accuracy of the excavator's automated operation. Furthermore, because the inclination sensor is attached to the bucket link rather than to the bucket surface, the bucket angle and angular velocity measurement method facilitates the replacement of bucket components during automated operation.

[0095] Based on the above method embodiment, the embodiment of the present application also provides a device for determining the joint information of an excavator bucket, wherein a first inclination sensor is installed on the forearm of the excavator; a second inclination sensor is installed on a designated link at the bucket joint connected to the forearm; the designated link is any one of the four links at the bucket joint; see Figure 6 As shown, the device includes: a measurement value acquisition module 62, which is used to obtain a first current angle measured by a first inclination sensor and a second current angle measured by a second inclination sensor; an information determination module 64, which is used to determine the current bucket joint information of the excavator based on the first current angle, the second current angle and the pre-acquired excavator bucket calibration parameters; wherein the bucket calibration parameters include: length parameters and angle parameters; the length parameters include the lengths corresponding to the four connecting rods at the excavator bucket joint; the angle parameters include: a first calibration angle and a second calibration angle; the current bucket joint information includes: the current joint angle.

[0096] In a preferred embodiment of the present application, a third inclination sensor is installed on the surface of the bucket; the device also includes: a calibration module for acquiring multiple sets of sensor data; each set of sensor data includes: a first angle corresponding to the first inclination sensor, a second angle corresponding to the second inclination sensor, and a third angle corresponding to the third inclination sensor; the objective function is optimally solved based on the multiple sets of sensor data and the optimization algorithm to determine the calibration parameters of the excavator bucket; wherein the objective function includes: minimizing the sum of the joint angle deviation and the joint angular velocity deviation; the joint angle deviation includes the square of the difference between the first joint angle and the second joint angle; the joint angular velocity deviation includes the square of the difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the multiple sets of sensor data; the second joint angle and the second joint angular velocity are determined based on the first angle and the third angle in the multiple sets of sensor data.

[0097] In a preferred embodiment of the present application, the designated connecting rod is a rotatable connecting rod connecting the bucket cylinder and the arm; the first angle calculation formula corresponding to the first joint angle is as follows:

[0098]

[0099] wherein, a(θ1, θ2) represents the first joint angle of the excavator bucket; DE represents the length of the specified connecting rod; EF represents the length of the rotatable connecting rod connecting the bucket cylinder and the bucket; AF represents the length of the non-rotatable connecting rod on the bucket; AD represents the length of the non-rotatable connecting rod on the arm; k represents the first calibration angle; m represents the second calibration angle; θ1 represents the first angle measured by the first inclination sensor; θ2 represents the second angle measured by the second inclination sensor;

[0100] The first angle calculation formula corresponding to the first joint angle is obtained by derivation of the first angle and the second angle in the first angle calculation formula; the first angle calculation formula represents the corresponding relationship between the joint angle and the first angle measured by the first inclination sensor and the second angle measured by the second inclination sensor.

[0101] In the preferred embodiment of the present application, the determination process of the above-mentioned first angle calculation formula is as follows:

[0102] According to the four-bar linkage model diagram, the first expression of the joint angle is obtained; the first expression is as follows:

[0103] a(θ1, θ2) = ∠CAB = 2π - ∠CAD - ∠DAE - ∠EAF - ∠FAB;

[0104] wherein, 2π - ∠CAD - ∠FAB = k;

[0105] According to the cosine theorem, the second expression is determined; the second expression is as follows:

[0106]

[0107] wherein,

[0108] ∠EDA = θ2 - θ1 + m;

[0109] The second expression is substituted into the first expression to obtain the first angle calculation formula.

[0110] In the preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:

[0111] a(θ1, θ3) = θ3 - θ1 + n;

[0112] wherein, a(θ1, θ3) represents the second joint angle determined based on the first angle and the third angle; θ3 represents the third angle measured by the third inclination sensor; n represents a fixed constant parameter;

[0113] The second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by taking the derivative of the third angle and the first angle in the second angle calculation formula. The second angular velocity calculation formula is as follows:

[0114] represents the second joint angular velocity determined based on the first angle and the third angle; ω3 represents the third joint angular velocity measured by the third inclination sensor; ω1 represents the first angular velocity measured by the first inclination sensor.

[0115] In a preferred embodiment of the present application, the above-mentioned calibration module is also used to: obtain the measurement value corresponding to the length parameter in the bucket calibration parameters; substitute the measurement value and multiple sets of sensor data into the objective function at the same time for optimization solution to determine the optimal solution corresponding to the angle parameter.

[0116] In a preferred embodiment of the present application, the information determination module 64 is used to substitute the first current angle, the second current angle and the bucket calibration parameters into the first angle calculation formula to obtain the current joint angle of the bucket.

[0117] In a preferred embodiment of the present application, the above-mentioned information determination module 64 is used to obtain the first current angular velocity measured by the first inclination sensor and the second current angular velocity measured by the second inclination sensor; the first current angular velocity and the second current angular velocity are substituted into the first angular velocity calculation formula to obtain the current joint angular velocity of the bucket.

[0118] The device provided in the embodiment of the present application has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the embodiment of the device, reference can be made to the corresponding content in the aforementioned method embodiment.

[0119] The present application also provides an electronic device, such as Figure 7 FIG. 1 is a schematic diagram of the structure of the electronic device, wherein the electronic device includes a processor 71 and a memory 70. The memory 70 stores computer-executable instructions that can be executed by the processor 71. The processor 71 executes the computer-executable instructions to implement the following steps:

[0120] Obtain a first current angle measured by a first inclination sensor and a second current angle measured by a second inclination sensor; determine the current bucket joint information of the excavator based on the first current angle, the second current angle and pre-acquired excavator bucket calibration parameters; wherein the bucket calibration parameters include: length parameters and angle parameters; the length parameters include the lengths corresponding to the four connecting rods at the excavator bucket joint; the angle parameters include: a first calibration angle and a second calibration angle; the current bucket joint information includes: the current joint angle.

[0121] In the preferable embodiment of the present application, the third inclination sensor is mounted on the bucket surface; before the step of obtaining the first current angle and the first current angular velocity measured by the first inclination sensor and the second current angle and the second current angular velocity measured by the second inclination sensor, the method further comprises: obtaining a plurality of groups of sensor data; each group of sensor data comprises: a first angle corresponding to the first inclination sensor, a second angle corresponding to the second inclination sensor, and a third angle corresponding to the third inclination sensor; determining the calibration parameters of the bucket of the excavator by performing optimal solving on the target function according to the plurality of groups of sensor data and an optimization algorithm; wherein the target function comprises: minimizing the sum of the joint angle deviation and the joint angular velocity deviation; the joint angle deviation comprises the square of the difference between the first joint angle and the second joint angle; the joint angular velocity deviation comprises the square of the difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the plurality of groups of sensor data; the second joint angle and the second joint angular velocity are determined based on the first angle and the third angle in the plurality of groups of sensor data.

[0122] In the preferable embodiment of the present application, the specified connecting rod is a rotatable connecting rod connecting the bucket oil cylinder and the arm; the first angle calculation formula corresponding to the first joint angle is as follows:

[0123]

[0124] wherein, α(θ1, θ2) represents the first joint angle of the bucket of the excavator; DE represents the length of the specified connecting rod; EF represents the length of the rotatable connecting rod connecting the bucket oil cylinder and the bucket; AF represents the length of the non-rotatable connecting rod on the bucket; AD represents the length of the non-rotatable connecting rod on the arm; k represents the first calibration angle; m represents the second calibration angle; θ1 represents the first angle measured by the first inclination sensor; θ2 represents the second angle measured by the second inclination sensor;

[0125] The first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by derivation on the first angle and the second angle in the first angle calculation formula; the first angular velocity calculation formula represents the corresponding relationship between the joint angular velocity and the first angular velocity measured by the first inclination sensor and the second angular velocity measured by the second inclination sensor.

[0126] In the preferable embodiment of the present application, the determination process of the first angle calculation formula is as follows:

[0127] According to the four-bar linkage model diagram, the first expression of the joint angle is obtained; the first expression is as follows:

[0128] α(θ1, θ2) = ∠CAB = 2π - ∠CAD - ∠DAE - ∠EAF - ∠FAB;

[0129] Wherein, 2π-∠CAD-∠FAB=k;

[0130] According to the cosine theorem, a second expression is determined; the second expression is as follows:

[0131]

[0132] Wherein,

[0133] ∠EDA=θ2-θ1+m;

[0134] The second expression is substituted into the first expression to obtain a first angle calculation formula.

[0135] In a preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:

[0136] α(θ1,θ3)=θ3-θ1+n;

[0137] Wherein, α(θ1,θ3) represents the second joint angle determined based on the first angle and the third angle; θ3 represents the third angle measured by the third tilt angle sensor; n represents a fixed constant parameter;

[0138] The second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by deriving the third angle and the first angle in the second angle calculation formula, and the second angular velocity calculation formula is as follows:

[0139]

[0140] α(θ1,θ3) represents the second joint angular velocity determined based on the first angle and the third angle; ω3 represents the third angular velocity measured by the third tilt angle sensor; ω1 represents the first angular velocity measured by the first tilt angle sensor.

[0141] In a preferred embodiment of the present application, the step of determining the calibration parameter of the bucket of the excavator by optimally solving the target function according to the plurality of groups of sensor data and the optimization algorithm further comprises: obtaining a measured value corresponding to a length parameter in the calibration parameter of the bucket; and substituting the measured value and the plurality of groups of sensor data into the target function to perform optimal solving to determine an optimal solution corresponding to an angle parameter.

[0142] In a preferred embodiment of the present application, the step of determining the current bucket joint information of the excavator according to the first current angle, the second current angle, and the calibration parameter of the bucket of the excavator pre-acquired comprises: substituting the first current angle, the second current angle, and the calibration parameter of the bucket into the first angle calculation formula to obtain the current joint angle of the bucket.

[0143] In the preferred embodiment of the present application, the current bucket joint information further includes a current joint angular velocity; the method further includes: obtaining a first current angular velocity measured by the first tilt sensor and a second current angular velocity measured by the second tilt sensor; and substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the bucket.

[0144] The electronic device provided by the embodiment of the present application can accurately obtain the current bucket joint information of the bucket of the excavator according to the angle and angular velocity conversion equation of the bucket of the excavator and the accurate and convenient calibration method. In the calibration process, no complex manual operation is required, and no error caused by manual measurement is introduced, so that the parameters of the four-link kinematic equation of the bucket can be accurately solved, which is beneficial to improving the automatic operation precision of the excavator. Meanwhile, since the tilt sensor is attached to the bucket link and does not need to be attached to the surface of the bucket, the bucket angle and angular velocity measurement method is convenient for replacing the bucket component in the automatic operation.

[0145] In Figure 7 In the illustrated embodiment, the electronic device further includes a bus 72 and a communication interface 73, wherein the processor 71, the communication interface 73 and the memory 70 are connected through the bus 72.

[0146] The memory 70 can include a high-speed random access memory (RAM) and can also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element can be realized through at least one communication interface 73 (which can be wired or wireless), and the Internet, a wide area network, a local area network, a metropolitan area network, etc. can be used. The bus 72 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus 72 can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 7 In the figure, only one bidirectional arrow is used to represent the bus, but it does not mean that there is only one bus or only one type of bus.

[0147] The processor 71 can be an integrated circuit chip with processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor 71 or the instruction in the form of software. The processor 71 described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware decoding processor to complete, or a combination of hardware and software modules in the decoding processor to complete. The software module can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable memory, a register, etc. The storage medium in the art. The storage medium is located in the memory, and the processor 71 reads the information in the memory, and combines the hardware to complete the steps of the method of the above embodiment.

[0148] The embodiment of the present application further provides a computer readable storage medium, the computer readable storage medium stores computer executable instructions, when the computer executable instructions are called and executed by a processor, the computer executable instructions cause the processor to implement the following method steps:

[0149] obtaining a first current angle measured by a first inclination sensor and a second current angle measured by a second inclination sensor; determining current bucket joint information of the excavator according to the first current angle, the second current angle and excavator bucket calibration parameters obtained in advance; wherein the excavator bucket calibration parameters include length parameters and angle parameters; the length parameters include lengths corresponding to four connecting rods at the excavator bucket joint respectively; the angle parameters include a first calibration angle and a second calibration angle; and the current bucket joint information includes a current joint angle.

[0150] In the preferable embodiment of the present application, the third inclination sensor is mounted on the bucket surface; before the step of obtaining the first current angle and the first current angular velocity measured by the first inclination sensor and the second current angle and the second current angular velocity measured by the second inclination sensor, the method further comprises: obtaining a plurality of groups of sensor data; each group of sensor data comprises: a first angle corresponding to the first inclination sensor, a second angle corresponding to the second inclination sensor, and a third angle corresponding to the third inclination sensor; determining the calibration parameters of the bucket of the excavator by performing optimal solving on the target function according to the plurality of groups of sensor data and an optimization algorithm; wherein the target function comprises: minimizing the sum of the joint angle deviation and the joint angular velocity deviation; the joint angle deviation comprises the square of the difference between the first joint angle and the second joint angle; the joint angular velocity deviation comprises the square of the difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the plurality of groups of sensor data; the second joint angle and the second joint angular velocity are determined based on the first angle and the third angle in the plurality of groups of sensor data.

[0151] In the preferable embodiment of the present application, the specified connecting rod is a rotatable connecting rod connecting the bucket oil cylinder and the arm; the first angle calculation formula corresponding to the first joint angle is as follows:

[0152]

[0153] wherein, α(θ1, θ2) represents the first joint angle of the bucket of the excavator; DE represents the length of the specified connecting rod; EF represents the length of the rotatable connecting rod connecting the bucket oil cylinder and the bucket; AF represents the length of the non-rotatable connecting rod on the bucket; AD represents the length of the non-rotatable connecting rod on the arm; k represents the first calibration angle; m represents the second calibration angle; θ1 represents the first angle measured by the first inclination sensor; θ2 represents the second angle measured by the second inclination sensor;

[0154] The first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by derivation on the first angle and the second angle in the first angle calculation formula; the first angular velocity calculation formula represents the corresponding relationship between the joint angular velocity and the first angular velocity measured by the first inclination sensor and the second angular velocity measured by the second inclination sensor.

[0155] In the preferable embodiment of the present application, the determination process of the first angle calculation formula is as follows:

[0156] According to the four-bar linkage model diagram, the first expression of the joint angle is obtained; the first expression is as follows:

[0157] α(θ1, θ2) = ∠CAB = 2π - ∠CAD - ∠DAE - ∠EAF - ∠FAB;

[0158] Wherein, 2π-∠CAD-∠FAB=k;

[0159] According to the cosine theorem, a second expression is determined; the second expression is as follows:

[0160]

[0161] Wherein,

[0162] ∠EDA=θ2-θ1+m;

[0163] The second expression is substituted into the first expression to obtain a first angle calculation formula.

[0164] In a preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:

[0165] α(θ1,θ3)=θ3-θ1+n;

[0166] Wherein, α(θ1,θ3) represents the second joint angle determined based on the first angle and the third angle; θ3 represents the third angle measured by the third tilt angle sensor; n represents a fixed constant parameter;

[0167] The second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by deriving the third angle and the first angle in the second angle calculation formula, and the second angular velocity calculation formula is as follows:

[0168]

[0169] α(θ1,θ3) represents the second joint angular velocity determined based on the first angle and the third angle; ω3 represents the third angular velocity measured by the third tilt angle sensor; ω1 represents the first angular velocity measured by the first tilt angle sensor.

[0170] In a preferred embodiment of the present application, the step of determining the calibration parameter of the bucket of the excavator by optimally solving the target function according to the plurality of groups of sensor data and the optimization algorithm further comprises: obtaining a measured value corresponding to a length parameter in the calibration parameter of the bucket; and simultaneously substituting the measured value and the plurality of groups of sensor data into the target function to optimally solve the target function to determine an optimal solution corresponding to the angle parameter.

[0171] In a preferred embodiment of the present application, the step of determining the current bucket joint information of the excavator according to the first current angle, the second current angle, and the calibration parameter of the bucket of the excavator pre-acquired comprises: substituting the first current angle, the second current angle, and the calibration parameter of the bucket into the first angle calculation formula to obtain the current joint angle of the bucket.

[0172] In the preferred embodiment of the present application, the current bucket joint information further includes a current joint angular velocity; the method further includes: obtaining a first current angular velocity measured by the first tilt sensor and a second current angular velocity measured by the second tilt sensor; and substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the bucket.

[0173] The computer program product of the method, the device and the electronic device provided in the embodiments of the present application includes a computer readable storage medium storing program codes, and the program codes include instructions for executing the method described in the foregoing method embodiments. For details, refer to the method embodiments, which will not be described here.

[0174] Unless specifically stated, the relative arrangement of the components and steps, numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application.

[0175] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0176] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0177] Finally, it should be noted that the above-described embodiments are merely specific embodiments of the present application, which are used to illustrate the technical solutions of the present application, but not to limit the same. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any skilled person in the art can still modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features, within the technical scope disclosed by the present application. The modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for determining excavator bucket joint information, characterized in that: The excavator has a forearm equipped with a first inclination sensor; a designated link at a bucket joint connected to the forearm is equipped with a second inclination sensor; the designated link is any one of the four links at the bucket joint; the method includes: Acquire a first current angle measured by the first inclination sensor and a second current angle measured by the second inclination sensor; determining current bucket joint information of the excavator according to the first current angle, the second current angle, and pre-acquired bucket calibration parameters of the excavator; The bucket calibration parameters include: length parameters and angle parameters; the length parameters include the lengths of the four connecting rods at the excavator bucket joint; the angle parameters include: a first calibration angle and a second calibration angle; the current bucket joint information includes: the current joint angle; A third inclination sensor is installed on the surface of the bucket; before the step of obtaining the first current angle measured by the first inclination sensor and the second current angle measured by the second inclination sensor, it also includes: obtaining multiple sets of sensor data; each set of the sensor data includes: the first angle corresponding to the first inclination sensor, the second angle corresponding to the second inclination sensor, and the third angle corresponding to the third inclination sensor; the objective function is optimally solved according to the multiple sets of sensor data and the optimization algorithm to determine the bucket calibration parameters of the excavator; wherein the objective function includes: minimizing the sum of the joint angle deviation and the joint angular velocity deviation; the joint angle deviation includes the square of the difference between the first joint angle and the second joint angle; the joint angular velocity deviation includes the square of the difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the multiple sets of sensor data; the second joint angle and the second joint angular velocity are determined based on the first angle and the third angle in the multiple sets of sensor data.

2. The method according to claim 1, characterized in that The designated connecting rod is a rotatable connecting rod connecting the bucket cylinder and the arm; the first angle calculation formula corresponding to the first joint angle is as follows: ； in, Indicates the first joint angle of the excavator bucket; DE indicates the length of the specified connecting rod; EF indicates the length of the rotatable connecting rod connecting the bucket cylinder and the bucket; AF indicates the length of the non-rotatable connecting rod on the bucket; AD indicates the length of the non-rotatable connecting rod on the forearm; represents the first calibration angle; m represents the second calibration angle; represents a first angle measured by the first inclination sensor; represents a second angle measured by the second inclination sensor; The first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by deriving the first angle and the second angle in the first angle calculation formula; the first angular velocity calculation formula represents the correspondence between the joint angular velocity and the first angular velocity measured by the first inclination sensor and the second angular velocity measured by the second inclination sensor.

3. The method according to claim 2, characterized in that The determination process of the first angle calculation formula is as follows: According to the four-bar linkage model diagram, the first expression of the joint angle is obtained; the first expression is as follows: ； in, = ; According to the law of cosines, the second expression is determined as follows: ； ； in, ; ； Substitute the second expression into the first expression to obtain the first angle calculation formula.

4. The method according to claim 2, characterized in that The second angle calculation formula corresponding to the second joint angle is as follows: ； in, represents a second joint angle determined based on the first angle and the third angle; represents a third angle measured by the third inclination sensor; represents a fixed constant parameter; The second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by deriving the third angle and the first angle in the second angle calculation formula. The second angular velocity calculation formula is as follows: ； represents the second joint angular velocity determined based on the first angle and the third angle; represents the third triangular velocity measured by the third inclination sensor; Indicates the first angular velocity measured by the first inclination sensor.

5. The method according to claim 2, characterized in that The step of optimally solving the objective function according to the multiple sets of sensor data and the optimization algorithm to determine the calibration parameters of the excavator bucket further includes: Get the measured value corresponding to the length parameter in the bucket calibration parameters; The measured values ​​and the multiple sets of sensor data are simultaneously substituted into the objective function for optimization and solution, to determine the optimal solution corresponding to the angle parameter.

6. The method according to claim 2, characterized in that The step of determining current bucket joint information of the excavator according to the first current angle, the second current angle, and pre-acquired bucket calibration parameters of the excavator includes: The first current angle, the second current angle, and the bucket calibration parameter are substituted into the first angle calculation formula to obtain the current joint angle of the bucket.

7. The method according to claim 6, characterized in that The current bucket joint information also includes: current joint angular velocity; the method also includes: Acquire a first current angular velocity measured by the first inclination sensor and a second current angular velocity measured by the second inclination sensor; Substitute the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the bucket.

8. A device for determining joint information of an excavator bucket, characterized in that: The excavator has a first inclination sensor installed on its forearm; a second inclination sensor installed on a designated link at a bucket joint connected to the forearm; the designated link is any one of the four links at the bucket joint; the device comprises: a measurement value acquisition module, configured to acquire a first current angle measured by the first inclination sensor and a second current angle measured by the second inclination sensor; An information determination module is configured to determine current bucket joint information of the excavator based on the first current angle, the second current angle, and pre-acquired bucket calibration parameters of the excavator; wherein the bucket calibration parameters include: a length parameter and an angle parameter; the length parameter includes the lengths corresponding to the four connecting rods at the excavator bucket joint; the angle parameter includes: a first calibration angle and a second calibration angle; and the current bucket joint information includes: a current joint angle; A third inclination sensor is installed on the surface of the bucket; the device also includes: a parameter determination module, which is used to obtain multiple sets of sensor data before obtaining the first current angle measured by the first inclination sensor and the second current angle measured by the second inclination sensor; each set of the sensor data includes: a first angle corresponding to the first inclination sensor, a second angle corresponding to the second inclination sensor, and a third angle corresponding to the third inclination sensor; the objective function is optimally solved according to the multiple sets of sensor data and the optimization algorithm to determine the bucket calibration parameters of the excavator; wherein the objective function includes: minimizing the sum of the joint angle deviation and the joint angular velocity deviation; the joint angle deviation includes the square of the difference between the first joint angle and the second joint angle; the joint angular velocity deviation includes the square of the difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the multiple sets of sensor data; the second joint angle and the second joint angular velocity are determined based on the first angle and the third angle in the multiple sets of sensor data.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method according to any one of claims 1 to 7.

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