Excavator bucket operation trajectory determination method, device, equipment and storage medium

Abstract

The present invention discloses a method, device, equipment, and storage medium for determining the operating trajectory of an excavator bucket. The method comprises: determining a total conversion matrix from a bucket coordinate system to a vehicle coordinate system, and determining the position coordinates of the tooth tip in the vehicle coordinate system at the current moment; determining the rotation distance of the boom, the bucket arm, and the bucket, as well as the magnitudes of the first, second, and third angles at the next moment, respectively, based on a first acceleration sensor provided on the boom, a second acceleration sensor provided on the dipper arm, and a third acceleration sensor provided on the bucket; and determining the position coordinates of the tooth tip in the vehicle coordinate system at the next moment based on the total conversion matrix; and determining the operating trajectory of the bucket based on the position coordinates of the tooth tip in the vehicle coordinate system at different moments. The present invention indirectly measures the posture changes of the boom, dipper arm, and bucket through acceleration sensors, thereby calculating the operating trajectory of the bucket, thereby reducing the computational cost of calculating the operating trajectory of the excavator bucket.

Description

Technical Field

[0001] The present invention relates to the technical field of excavator control, and in particular to a method, device, equipment and storage medium for determining an excavator bucket operating trajectory. Background Art

[0002] With the development of society, demands for excavator performance and efficiency are increasing, and the use of intelligent and unmanned technologies in excavators is becoming increasingly widespread. Applying robotic technology to hydraulic excavators can effectively improve the efficiency and reliability of excavators, reduce the proportion of human control, and enhance work quality by assisting operators. Intelligent and automated control technologies free operators from the arduous and repetitive tasks of mechanical operation. By simulating and analyzing the excavator's kinematic model and performing appropriate trajectory planning, the excavator can quickly and smoothly complete excavation tasks while maintaining a certain level of accuracy, thereby improving the excavator's work quality and efficiency.

[0003] Calculating the excavator bucket's operating trajectory is a crucial step in excavator trajectory planning. Existing research on the excavator bucket's operating posture and trajectory relies on directly measuring the angles of the excavator's boom, arm, and bucket using inclination sensors. The position coordinates of the bucket's tooth tip relative to the machine's global coordinates are then calculated. Finally, the bucket's operating trajectory is derived by fitting these multiple coordinate points. However, inclination sensors are difficult to install and expensive, leading to high costs for measuring the boom, arm, and bucket angles, and consequently, high costs for calculating the bucket's operating trajectory. Summary of the Invention

[0004] The present invention provides a method, device, equipment and storage medium for determining the operating trajectory of an excavator bucket, which solves the problem of high cost in calculating the operating trajectory of an excavator bucket in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a method for determining an excavator bucket operation trajectory, the method comprising:

[0007] Establish a vehicle body coordinate system, a boom coordinate system, a bucket coordinate system, and a bucket coordinate system with the vehicle body rotation center of the target excavator, the first rotation center of the boom around the vehicle body, the second rotation center of the arm around the boom, and the third rotation center of the bucket around the arm as origins respectively;

[0008] Determine a total transformation matrix from the bucket coordinate system to the vehicle coordinate system based on the acquired first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, the second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, the third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, the position coordinates of the first rotation center in the vehicle coordinate system, the first distance from the first rotation center to the second rotation center, and the second distance from the second rotation center to the third rotation center;

[0009] Determine the position coordinates of the tooth tip of the bucket in the vehicle body coordinate system at the current moment according to the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix;

[0010] Obtaining acceleration data of the boom, the arm, and the bucket between the current moment and the next moment based on a first acceleration sensor provided on the boom, a second acceleration sensor provided on the arm, and a third acceleration sensor provided on the bucket, and determining a rotation distance of the boom, the arm, and the bucket from the current moment to the next moment based on the acceleration data;

[0011] Determining the magnitudes of the first angle, the second angle, and the third angle corresponding to the next moment according to the rotation distances of the boom, the arm, and the bucket, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center;

[0012] Determining the position coordinates of the tooth tip in the vehicle body coordinate system at the next moment based on the total transformation matrix according to the magnitudes of the first angle, the second angle, and the third angle at the next moment;

[0013] The operating trajectory of the bucket is determined according to the position coordinates of the tooth tip in the vehicle body coordinate system at different times.

[0014] In a possible implementation, determining the total transformation matrix from the bucket coordinate system to the vehicle coordinate system based on the acquired first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, the second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, the third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, the position coordinates of the first rotation center in the vehicle coordinate system, the first distance from the first rotation center to the second rotation center, and the second distance from the second rotation center to the third rotation center specifically includes:

[0015] determining a first transformation matrix from the boom coordinate system to the vehicle coordinate system based on a first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, and the position coordinates of the first rotation center in the vehicle coordinate system;

[0016] Determine a second transformation matrix from the arm coordinate system to the boom coordinate system according to a second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, and a first distance from the first rotation center to the second rotation center;

[0017] Determine a third transformation matrix from the bucket coordinate system to the arm coordinate system based on a third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, and a second distance from the second rotation center to the third rotation center;

[0018] A total transformation matrix from the bucket coordinate system to the vehicle body coordinate system is determined according to the product of the first transformation matrix, the second transformation matrix, and the third transformation matrix.

[0019] In one possible implementation, the acceleration data includes boom acceleration data, arm acceleration data, and bucket acceleration data of multiple sampling points between the current moment and the next moment; obtaining the acceleration data of the boom, arm, and bucket between the current moment and the next moment based on a first acceleration sensor provided on the boom, a second acceleration sensor provided on the arm, and a third acceleration sensor provided on the bucket, and determining the rotation distance of the boom, arm, and bucket from the current moment to the next moment based on the acceleration data specifically includes:

[0020] Acquire boom acceleration data of a plurality of sampling points between the current moment and the next moment according to a first acceleration sensor provided on the boom; acquire arm acceleration data of a plurality of sampling points between the current moment and the next moment according to a second acceleration sensor provided on the arm; acquire bucket acceleration data of a plurality of sampling points between the current moment and the next moment according to a third acceleration sensor provided on the bucket;

[0021] Fitting the boom acceleration data, the arm acceleration data, and the bucket acceleration data of the plurality of sampling points respectively to obtain corresponding boom acceleration function, arm acceleration function, and bucket acceleration function;

[0022] The boom acceleration function, the arm acceleration function, and the bucket acceleration function are respectively integrated twice to obtain corresponding rotation distances of the boom, the arm, and the bucket from the current moment to the next moment.

[0023] In one possible implementation, determining the magnitudes of the first angle, the second angle, and the third angle corresponding to the next moment based on the rotation distances of the boom, the arm, and the bucket, and the distance from the boom acceleration sensor to the first rotation center, the distance from the arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center specifically includes:

[0024] determining a first angle change from the current moment to the next moment based on a rotation distance of the boom and a distance from the boom acceleration sensor to the first rotation center; determining a second angle change from the current moment to the next moment based on a rotation distance of the bucket arm and a distance from the bucket arm acceleration sensor to the second rotation center; and determining a third angle change from the current moment to the next moment based on a rotation distance of the bucket and a distance from the bucket acceleration sensor to the third rotation center;

[0025] The sizes of the first angle, second angle and third angle at the next moment are determined according to the sizes of the first angle, second angle and third angle at the current moment, and the first angle change, the second angle change and the third angle change.

[0026] In a possible implementation, determining the first angle change from the current moment to the next moment based on the rotation distance of the boom and the distance from the boom acceleration sensor to the first rotation center is specifically as follows:

[0027] The first angle change from the current moment to the next moment is determined according to a first formula, wherein the first formula is specifically:

[0028]

[0029] Wherein, Δ is the first angle change, s represents the rotation distance of the boom, and l represents the distance from the boom acceleration sensor to the first rotation center.

[0030] In a possible implementation, determining the sizes of the first angle, the second angle, and the third angle at the next moment based on the sizes of the first angle, the second angle, and the third angle at the current moment, and the first angle change, the second angle change, and the third angle change, specifically includes:

[0031] The size of the first angle at the next moment is determined based on the difference between the first angle at the current moment and the first angle change; the size of the second angle at the next moment is determined based on the difference between the second angle at the current moment and the second angle change; the size of the third angle at the next moment is determined based on the difference between the third angle at the current moment and the third angle change.

[0032] In a possible implementation, the position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system and the total transformation matrix are determined as follows:

[0033] Determine, according to the total transformation matrix, a first transformation relationship between the position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system and the position coordinates of the tooth tip at the current moment in the vehicle body coordinate system;

[0034] The first conversion relationship is specifically:

[0035]

[0036] in, represents the position coordinates of the tooth tip p in the vehicle coordinate system at the current moment, Indicates the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment;

[0037]

[0038] Wherein, θ represents the first angle at the current moment, α represents the second angle at the current moment, and β represents the third angle at the current moment; (a0, b0, c0) represents the position coordinates of the first rotation center at the current moment in the vehicle body coordinate system, L1 represents the first distance, and L2 represents the second distance;

[0039] The position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system are brought into the first transformation relationship to calculate the position coordinates of the tooth tip at the current moment in the vehicle body coordinate system.

[0040] In a possible implementation, the position coordinates of the tooth tip in the vehicle body coordinate system at the next moment are determined based on the total transformation matrix according to the magnitudes of the first angle, the second angle, and the third angle at the next moment, specifically as follows:

[0041] Replacing the first angle, the second angle, and the third angle at the current moment in the first conversion relationship with the first angle, the second angle, and the third angle at the next moment to obtain a second conversion relationship;

[0042] The position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system are brought into the second transformation relationship to calculate the position coordinates of the tooth tip in the vehicle coordinate system at the next moment.

[0043] In a second aspect, the present invention provides a device for determining an operating trajectory of an excavator bucket, the device comprising:

[0044] a model processing module for establishing a vehicle body coordinate system, a boom coordinate system, a bucket coordinate system, and a bucket coordinate system with the vehicle body rotation center of the target excavator, the first rotation center of the boom around the vehicle body, the second rotation center of the bucket arm around the boom, and the third rotation center of the bucket around the bucket arm as origins, respectively;

[0045] a total transformation matrix determination module, configured to determine a total transformation matrix from the bucket coordinate system to the vehicle coordinate system based on a first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, a second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, a third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, position coordinates of the first rotation center in the vehicle coordinate system, a first distance from the first rotation center to the second rotation center, and a second distance from the second rotation center to the third rotation center;

[0046] A first position determination module is configured to determine the position coordinates of the tooth tip of the bucket in the vehicle coordinate system at the current moment according to the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix;

[0047] a rotation distance determination module, configured to obtain acceleration data of the boom, the arm, and the bucket between the current moment and the next moment based on a first acceleration sensor provided on the boom, a second acceleration sensor provided on the arm, and a third acceleration sensor provided on the bucket, and to determine a rotation distance of the boom, the arm, and the bucket from the current moment to the next moment based on the acceleration data;

[0048] an angle calculation module, configured to determine the magnitudes of the first angle, the second angle, and the third angle corresponding to the next moment based on the rotation distances of the boom, the arm, and the bucket, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center;

[0049] a second position determination module, configured to determine the position coordinates of the tooth tip in the vehicle body coordinate system at the next moment based on the total transformation matrix according to the first angle, the second angle, and the third angle at the next moment;

[0050] The operation trajectory determination module is used to determine the operation trajectory of the bucket according to the position coordinates of the tooth tip in the vehicle body coordinate system at different times.

[0051] In a possible implementation, the total conversion matrix determination module is specifically configured to execute:

[0052] determining a first transformation matrix from the boom coordinate system to the vehicle coordinate system based on a first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, and the position coordinates of the first rotation center in the vehicle coordinate system;

[0053] Determine a second transformation matrix from the arm coordinate system to the boom coordinate system according to a second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, and a first distance from the first rotation center to the second rotation center;

[0054] Determine a third transformation matrix from the bucket coordinate system to the arm coordinate system based on a third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, and a second distance from the second rotation center to the third rotation center;

[0055] A total transformation matrix from the bucket coordinate system to the vehicle body coordinate system is determined according to the product of the first transformation matrix, the second transformation matrix, and the third transformation matrix.

[0056] In one possible implementation, the acceleration data includes boom acceleration data, arm acceleration data, and bucket acceleration data of multiple sampling points between the current moment and the next moment; and the rotation distance determination module is specifically configured to execute:

[0057] Acquire boom acceleration data of a plurality of sampling points between the current moment and the next moment according to a first acceleration sensor provided on the boom; acquire arm acceleration data of a plurality of sampling points between the current moment and the next moment according to a second acceleration sensor provided on the arm; acquire bucket acceleration data of a plurality of sampling points between the current moment and the next moment according to a third acceleration sensor provided on the bucket;

[0058] Fitting the boom acceleration data, the arm acceleration data, and the bucket acceleration data of the plurality of sampling points respectively to obtain corresponding boom acceleration function, arm acceleration function, and bucket acceleration function;

[0059] The boom acceleration function, the arm acceleration function, and the bucket acceleration function are respectively integrated twice to obtain corresponding rotation distances of the boom, the arm, and the bucket from the current moment to the next moment.

[0060] In a possible implementation, the angle calculation module is specifically configured to execute:

[0061] determining a first angle change from the current moment to the next moment based on a rotation distance of the boom and a distance from the boom acceleration sensor to the first rotation center; determining a second angle change from the current moment to the next moment based on a rotation distance of the bucket arm and a distance from the bucket arm acceleration sensor to the second rotation center; and determining a third angle change from the current moment to the next moment based on a rotation distance of the bucket and a distance from the bucket acceleration sensor to the third rotation center;

[0062] The sizes of the first angle, second angle and third angle at the next moment are determined according to the sizes of the first angle, second angle and third angle at the current moment, and the first angle change, the second angle change and the third angle change.

[0063] In one possible implementation, when determining the first angle change from the current moment to the next moment based on the rotation distance of the boom and the distance from the boom acceleration sensor to the first rotation center, the angle calculation module is specifically configured to execute:

[0064] The first angle change from the current moment to the next moment is determined according to a first formula, wherein the first formula is specifically:

[0065]

[0066] Wherein, Δ is the first angle change, s represents the rotation distance of the boom, and l represents the distance from the boom acceleration sensor to the first rotation center.

[0067] In a possible implementation, when determining the sizes of the first angle, the second angle, and the third angle at the next moment based on the sizes of the first angle, the second angle, and the third angle at the current moment, and the first angle change, the second angle change, and the third angle change, the angle calculation module is specifically configured to execute:

[0068] The size of the first angle at the next moment is determined based on the difference between the first angle at the current moment and the first angle change; the size of the second angle at the next moment is determined based on the difference between the second angle at the current moment and the second angle change; the size of the third angle at the next moment is determined based on the difference between the third angle at the current moment and the third angle change.

[0069] In a possible implementation, the first location determination module is specifically configured to execute:

[0070] Determine, according to the total transformation matrix, a first transformation relationship between the position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system and the position coordinates of the tooth tip at the current moment in the vehicle body coordinate system;

[0071] The first conversion relationship is specifically:

[0072]

[0073] in, represents the position coordinates of the tooth tip p in the vehicle coordinate system at the current moment, Indicates the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment;

[0074]

[0075] Wherein, θ represents the first angle at the current moment, α represents the second angle at the current moment, and β represents the third angle at the current moment; (a0, b0, c0) represents the position coordinates of the first rotation center at the current moment in the vehicle body coordinate system, L1 represents the first distance, and L2 represents the second distance;

[0076] The position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system are brought into the first transformation relationship to calculate the position coordinates of the tooth tip at the current moment in the vehicle body coordinate system.

[0077] In a possible implementation, the second position determination module is specifically configured to execute:

[0078] Replacing the first angle, the second angle, and the third angle at the current moment in the first conversion relationship with the first angle, the second angle, and the third angle at the next moment to obtain a second conversion relationship;

[0079] The position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system are brought into the second transformation relationship to calculate the position coordinates of the tooth tip in the vehicle coordinate system at the next moment.

[0080] In a third aspect, the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement any one of the above-mentioned methods for determining the operating trajectory of an excavator bucket.

[0081] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the method for determining the operating trajectory of an excavator bucket as described in any one of the above items.

[0082] In practical application, the method for determining the working trajectory of an excavator bucket provided by an embodiment of the present invention first establishes a vehicle body coordinate system with the vehicle body rotation center of the target excavator as the origin, establishes a boom coordinate system with the first rotation center of the boom around the vehicle body as the origin, establishes a dipper arm coordinate system with the second rotation center of the boom around the boom as the origin, and establishes a bucket coordinate system with the third rotation center of the bucket around the dipper arm as the origin; secondly, determines the total transformation matrix between the bucket coordinate system and the vehicle body coordinate system; thirdly, determines the position coordinates of the tooth tip of the bucket in the vehicle body coordinate system at the current moment according to the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix; thereafter, obtains acceleration data of the boom, dipper arm and bucket from the current moment to the next moment according to the first acceleration sensor provided on the boom, the second acceleration sensor provided on the dipper arm and the third acceleration sensor provided on the bucket, and determines the rotation distance of the boom, dipper arm and bucket from the current moment to the next moment according to the acceleration data; and then, determines the rotation distance of the boom, dipper arm and bucket from the current moment to the next moment according to the boom, dipper arm and dipper arm The rotation distance of the bucket, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the bucket arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center determine the sizes of the first angle, the second angle and the third angle corresponding to the next moment; then, the position coordinates of the tooth tip in the vehicle coordinate system at the next moment are determined according to the sizes of the first angle, the second angle and the third angle at the next moment; finally, the operating trajectory of the bucket is determined according to the position coordinates of the tooth tip in the vehicle coordinate system at the current moment and the next moment; compared with the existing method of using inclination sensors to measure the postures of the boom, bucket arm and bucket, the present invention indirectly measures the posture changes of the boom, bucket arm and bucket through a first acceleration sensor arranged on the boom, a second acceleration sensor arranged on the bucket arm and a third acceleration sensor arranged on the bucket, thereby calculating the operating trajectory of the bucket. The present invention not only effectively reduces the computational cost of calculating the operating trajectory of the excavator bucket, but also has a simple calculation method, which is more conducive to promotion and use on excavators. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] Figure 1 A flowchart of a method for determining an excavator bucket operating trajectory provided by an embodiment of the present invention;

[0084] Figure 2 A simplified structural diagram of an excavator in an HD coordinate system in a method for determining an excavator bucket operation trajectory provided by an embodiment of the present invention;

[0085] Figure 3 A schematic diagram of boom rotation at the current moment and the next moment in a method for determining an excavator bucket operation trajectory provided by an embodiment of the present invention;

[0086] Figure 4 for Figure 3 A simplified diagram of the change of the boom rotation angle;

[0087] Figure 5 A schematic diagram of the change in acceleration data during boom rotation from the current moment to the next moment in a method for determining an excavator bucket operation trajectory provided by an embodiment of the present invention;

[0088] Figure 6 A schematic diagram of the change in speed data during boom rotation from the current moment to the next moment in a method for determining an excavator bucket operation trajectory provided by an embodiment of the present invention;

[0089] Figure 7 This is a structural block diagram of a device for determining the operating trajectory of an excavator bucket provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0090] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only 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 making creative efforts are within the scope of protection of the present invention.

[0091] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "multiple" means two or more. In addition, the use of "based on" or "according to" means openness and inclusiveness, because the process, steps, calculations or other actions "based on" or "according to" one or more of the conditions or values ​​may be based on additional conditions or values ​​beyond the stated in practice.

[0092] In order to solve the problem of high cost in calculating the operating trajectory of an excavator bucket in the prior art, embodiments of the present invention provide a method, device, equipment and storage medium for determining the operating trajectory of an excavator bucket.

[0093] like Figure 1 As shown, in a first aspect, an embodiment of the present invention provides a method for determining an excavator bucket operation trajectory, the method comprising:

[0094] Step 101: Based on the HD model, establish a vehicle coordinate system, a boom coordinate system, an arm coordinate system, and a bucket coordinate system with the target excavator's vehicle rotation center, a first rotation center of the boom around the vehicle body, a second rotation center of the arm around the boom, and a third rotation center of the bucket around the arm as origins.

[0095] The Denavit-Hartenberg (HD) model represents a very simple approach to modeling robot links and joints. The HD modeling approach involves first establishing a joint coordinate system at each joint of the robot and determining the parameters of the joint's rigid links. Then, by sequentially linking the joint changes, the transformation of the end effector relative to the reference coordinate system is calculated to obtain the coordinate transformation matrix, thereby establishing the kinematic equations for the robot arm.

[0096] like Figure 2 As shown, in this embodiment, the structural diagram of the target excavator in the DH coordinate system includes a vehicle body 11 , a boom 12 , an arm 13 and a bucket 14 .

[0097] A body coordinate system O0x0y0z0 is established with the rotation center of the body 11 of the target excavator as the origin, wherein the x-axis direction of the body coordinate system is the horizontal direction of the body 11 , and the y-axis direction is the gravity direction of the body 11 .

[0098] With the first rotation center of the boom 12 of the target excavator around the vehicle body 11 as the origin, a boom coordinate system O1x1y1z1 is established, wherein the x-axis direction of the boom coordinate system points from the first rotation center to the second rotation center, and the z-axis direction of the boom coordinate system is the axial direction of the first rotation center.

[0099] A boom coordinate system O2x2y2z2 is established with the boom 13 of the target excavator as the second rotation center around the boom 12 as the origin, wherein the x-axis direction of the boom coordinate system points from the second rotation center to the third rotation center, and the z-axis direction is the axial direction of the second rotation center.

[0100] A bucket coordinate system O3x3y3z3 is established with the third rotation center of the bucket 14 of the target excavator around the dipper arm 13 as the origin, wherein the x-axis direction of the bucket coordinate system points from the third rotation center to the hinge point where the connecting rod and the bucket 14 are connected, and the z-axis direction is the axial direction of the third rotation center.

[0101] In an embodiment of the present invention, a 20-ton excavator is taken as the target excavator, and in the structural diagram of the target excavator in the DH coordinate system, four independent coordinate systems are established with the rotation center of the vehicle body 11, the rotation center of the boom 12 around the vehicle body 11, the rotation center of the bucket arm 13 around the boom 12, and the rotation center of the bucket 14 around the bucket arm 13 as the origins, namely, the vehicle body coordinate system O0x0y0z0, the boom coordinate system O1x1y1z1, the bucket arm coordinate system O2x2y2z2, and the bucket coordinate system O3x3y3z3.

[0102] Step 102: Determine the total transformation matrix from the bucket coordinate system to the vehicle coordinate system based on the acquired first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, the second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, the third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, the position coordinates of the first rotation center in the vehicle coordinate system, the first distance from the first rotation center to the second rotation center, and the second distance from the second rotation center to the third rotation center.

[0103] Specifically, before the excavator bucket operates, the first angle θ between the x-axis of the vehicle body coordinate system and the x-axis of the boom coordinate system, the second angle α between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, and the third angle β between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system are measured.

[0104] The position coordinates of the first rotation center O1 in the vehicle coordinate system are represented by (a0, b0, c0), a first distance from the first rotation center O1 to the second rotation center O2 is represented by L1, and a second distance from the second rotation center O2 to the third rotation center O3 is represented by L2.

[0105] When the first angle θ, the second angle α, the third angle β, the position coordinates (a0, b0, c0) of the first rotation center O1 in the vehicle coordinate system, the first distance L1 and the second distance L2 are all obtained, the total transformation matrix from the bucket coordinate system to the vehicle coordinate system can be calculated according to the DH coordinate method.

[0106] Step 103 : Determine the position coordinates of the tooth tip of the bucket in the vehicle coordinate system at the current moment according to the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix.

[0107] Specifically, after the initial position coordinates of the tooth tip P of the bucket in the bucket coordinate system are known at the current moment, the initial position coordinates of the tooth tip P in the vehicle coordinate system can be calculated according to the total transformation matrix.

[0108] Step 104: Obtain acceleration data of the boom 12, the boom 13, and the bucket 14 between the current moment and the next moment based on the first acceleration sensor provided on the boom 12, the second acceleration sensor provided on the arm 13, and the third acceleration sensor provided on the bucket 14, and determine the rotation distance of the boom 12, the arm 13, and the bucket 14 from the current moment to the next moment based on the acceleration data.

[0109] Specifically, since the rotational movements of the boom 12, the arm 13 and the bucket 14 are independent, that is, the changes in the first angle θ, the second angle α and the third angle β are independent, we indirectly calculate the changes in the rotation angles of the boom 12, the arm 13 and the bucket 14 by installing the first acceleration sensor, the second acceleration sensor and the third acceleration sensor on the boom 12, the arm 13 and the bucket 14 respectively.

[0110] like Figure 3 As shown, it is assumed that the first acceleration sensor on the boom 12 is installed at the hinge point B, and its direction is perpendicular to the straight line between the first rotation center O1 and the hinge point B. After a period of time, the hinge point B rotates to the position B'. The length of the BB' segment arc can be calculated based on the acceleration data obtained by the first acceleration sensor. The radius of the rotation of the hinge point B around the first rotation center O1 is O1B, and its length can be directly measured. Therefore, ∠BO1B' is equal to the ratio of the length of the BB' segment arc to the circumference of the circle with O1 as the center and O1B as the radius.

[0111] Similarly, the calculation method of the rotation distance and rotation angle of the bucket arm 13 and the bucket 14 is the same as that of the boom 12, and will not be repeated here.

[0112] Step 105: Determine the sizes of the first angle, the second angle, and the third angle corresponding to the next moment based on the rotation distances of the boom 12, the arm 13, and the bucket 14, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center.

[0113] Specifically, after the rotation distances of the boom 12, the arm 13 and the bucket 14 are calculated in the previous step, the angle change of the boom 12 can be calculated based on the rotation distance of the boom 12 and the distance from the boom acceleration sensor to the first rotation center. The size of the first angle corresponding to the rotation of the boom can be calculated based on the difference between the size of the first angle before the boom rotates and the angle change of the boom 12.

[0114] The calculation method of the second angle and the third angle is the same as the calculation method of the first angle, and will not be repeated here.

[0115] Step 106 : Determine the position coordinates of the tooth tip in the vehicle body coordinate system at the next moment based on the total transformation matrix according to the first angle, the second angle, and the third angle at the next moment.

[0116] Specifically, in this embodiment, the first angle, the second angle, and the third angle after the rotation at the next moment are represented by θ', α', and β', respectively. When θ', α', and β' after the rotation are determined, θ', α', and β' are brought into the total transformation matrix to calculate the position coordinates of the tooth tip P after rotation in the vehicle coordinate system.

[0117] Step 107 : Determine the operating trajectory of the bucket according to the position coordinates of the tooth tip in the vehicle body coordinate system at different times.

[0118] The movement process of the bucket tooth tip can be divided into multiple time periods. The position coordinates of the tooth tip P in the vehicle coordinate system before and after the movement of the target excavator in different time periods are calculated by the above method. The position coordinates of the tooth tip P in the vehicle coordinate system obtained at different times are fitted by linear fitting or curve fitting to obtain the bucket's operating trajectory.

[0119] In practical applications, the method for determining the working trajectory of an excavator bucket provided by an embodiment of the present invention is as follows: first, based on the HD model, a vehicle body coordinate system is established with the vehicle body rotation center of the target excavator as the origin, a boom coordinate system is established with the first rotation center of the boom around the vehicle body as the origin, a dipper arm coordinate system is established with the second rotation center of the boom around the boom as the origin, and a bucket coordinate system is established with the third rotation center of the bucket around the dipper arm as the origin; secondly, the total transformation matrix of the bucket coordinate system and the vehicle body coordinate system is determined; thirdly, the position coordinate of the tooth tip of the bucket in the vehicle body coordinate system at the current moment is determined according to the position coordinate of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix; thereafter, according to the first acceleration sensor arranged on the boom, the second acceleration sensor arranged on the dipper arm, and the acceleration sensor arranged on the bucket, the position coordinate of the tooth tip in the vehicle body coordinate system at the current moment is determined; The third acceleration sensor is used to obtain the acceleration data of the boom, dipper arm and bucket between the current moment and the next moment, and the rotation distance of the boom, dipper arm and bucket from the current moment to the next moment is determined based on the acceleration data; then, the sizes of the first angle, the second angle and the third angle corresponding to the next moment are determined based on the rotation distance of the boom, dipper arm and bucket, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the dipper arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center; then, the position coordinates of the tooth tip in the vehicle coordinate system at the next moment are determined based on the sizes of the first angle, the second angle and the third angle at the next moment; finally, the operating trajectory of the bucket is determined based on the position coordinates of the tooth tip in the vehicle coordinate system at the current moment and the next moment.

[0120] Compared with the existing method of using inclination sensors to measure the posture of the boom, dipper arm and bucket, the present invention indirectly measures the posture changes of the boom, dipper arm and bucket through a first acceleration sensor arranged on the boom, a second acceleration sensor arranged on the dipper arm and a third acceleration sensor arranged on the bucket, thereby calculating the operating trajectory of the bucket. The present invention not only effectively reduces the calculation cost of calculating the operating trajectory of the excavator bucket, but also simplifies the calculation method, which is more conducive to promotion and use on excavators.

[0121] like Figure 2 As shown, further, based on the obtained first angle between the x-axis of the vehicle body coordinate system and the x-axis of the boom coordinate system, the second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, the third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, the position coordinates of the first rotation center in the vehicle body coordinate system, the first distance from the first rotation center to the second rotation center, and the second distance from the second rotation center to the third rotation center, the total transformation matrix from the bucket coordinate system to the vehicle body coordinate system is determined, specifically including:

[0122] A first transformation matrix from the boom coordinate system to the vehicle coordinate system is determined based on a first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, and position coordinates of the first rotation center in the vehicle coordinate system.

[0123] Among them, according to the DH coordinate system conversion method, the boom coordinate system O1x1y1z1 is converted to the vehicle body coordinate system O0x0y0z0, as follows:

[0124]

[0125] in, It represents the first transformation matrix from the boom coordinate system O1x1y1z1 to the vehicle coordinate system O0x0y0z0. The Trans function represents the offset, the Rot function represents the rotation, and (a0, b0, c0) represents the position coordinates of the first rotation center O1 in the vehicle coordinate system, that is, the vector coordinates of the point O1 relative to the vehicle coordinate system O0x0y0z0. θ represents the first angle between the x-axis of the vehicle coordinate system O0x0y0z0 and the x-axis of the boom coordinate system O1x1y1z1.

[0126] A second transformation matrix from the arm coordinate system to the boom coordinate system is determined according to a second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system and a first distance from the first rotation center to the second rotation center.

[0127] Among them, according to the DH coordinate system conversion method, the arm coordinate system O2x2y2z2 is converted to the boom coordinate system O1x1y1z1, as follows:

[0128]

[0129] in, It represents the second transformation matrix from the arm coordinate system O2x2y2z2 to the boom coordinate system O1x1y1z1, L1 represents the first distance from the first rotation center O1 to the second rotation center O2, and α represents the second angle between the x-axis of the boom coordinate system O1x1y1z1 and the x-axis of the arm coordinate system O2x2y2z2.

[0130] A third conversion matrix from the bucket coordinate system to the arm coordinate system is determined according to a third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system and a second distance from the second rotation center to the third rotation center.

[0131] Among them, according to the DH coordinate system conversion method, the bucket coordinate system O3x3y3z3 is converted to the bucket arm coordinate system O2x2y2z2, as follows:

[0132]

[0133] Wherein, L2 represents the second distance from the second rotation center O2 to the third rotation center O3, and β represents the third angle between the x-axis of the arm coordinate system O2x2y2z2 and the x-axis of the bucket coordinate system O3x3y3z3.

[0134] The total transformation matrix from the bucket coordinate system to the vehicle body coordinate system is determined according to the product of the first transformation matrix, the second transformation matrix, and the third transformation matrix.

[0135] Specifically, the total transformation matrix from the bucket coordinate system O3x3y3z3 to the vehicle body coordinate system O0x0y0z0 is obtained by multiplying the first transformation matrix calculated by formula (1), the second transformation matrix calculated by formula (2), and the third transformation matrix calculated by formula (3).

[0136]

[0137] like Figure 3 、 Figure 4 As shown, further, the acceleration data includes boom acceleration data, arm acceleration data, and bucket acceleration data of multiple sampling points between the current moment and the next moment.

[0138] Acquiring acceleration data of the boom, the arm, and the bucket from a current moment to a next moment based on a first acceleration sensor provided on the boom, a second acceleration sensor provided on the arm, and a third acceleration sensor provided on the bucket, and determining a rotation distance of the boom, the arm, and the bucket from a current moment to a next moment based on the acceleration data, specifically including:

[0139] According to the first acceleration sensor set on the boom, the boom acceleration data of multiple sampling points between the current moment and the next moment are obtained; according to the second acceleration sensor set on the boom, the boom acceleration data of multiple sampling points between the current moment and the next moment are obtained; according to the third acceleration sensor set on the bucket, the bucket acceleration data of multiple sampling points between the current moment and the next moment are obtained.

[0140] The boom acceleration data, the arm acceleration data, and the bucket acceleration data of multiple sampling points are fitted respectively to obtain corresponding boom acceleration function, arm acceleration function, and bucket acceleration function.

[0141] like Figure 5 As shown, the time interval between the current moment and the next moment is 10 seconds, and the boom acceleration data is sampled every 0.05 seconds. Multiple boom acceleration data are fitted by linear fitting, and the obtained boom acceleration function is a linear equation.

[0142] The method for obtaining the arm acceleration function and the bucket acceleration function is the same as the method for obtaining the boom acceleration function, which will not be repeated here.

[0143] The boom acceleration function, the arm acceleration function, and the bucket acceleration function are integrated twice to obtain the corresponding rotation distances of the boom, arm, and bucket from the current moment to the next moment.

[0144] Specifically, integrating the acceleration function yields the velocity function, and integrating the velocity function again yields the distance. In other words, integrating the boom acceleration function twice yields the distance the boom will rotate from one moment to the next.

[0145] like Figure 6 As shown, the speed change data of the boom during the boom rotation process within 0-10 seconds, and the speed change trend conforms to the speed function after the acceleration function is integrated.

[0146] like Figure 3 、 Figure 4 As shown, further, according to the rotation distance of the boom, the arm and the bucket, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center, the sizes of the first angle, the second angle and the third angle corresponding to the next moment are determined, specifically including:

[0147] A first angle change from a current moment to a next moment is determined according to a rotation distance of the boom and a distance from the boom acceleration sensor to the first rotation center.

[0148] The second angle change from the current moment to the next moment is determined based on the rotation distance of the bucket arm and the distance from the bucket arm acceleration sensor to the second rotation center.

[0149] A third angle change from a current moment to a next moment is determined according to a rotation distance of the bucket and a distance from the bucket acceleration sensor to the third rotation center.

[0150] The first angle change from the current moment to the next moment is determined according to the rotation distance of the boom and the distance from the boom acceleration sensor to the first rotation center, specifically:

[0151] The first angle change from the current moment to the next moment is determined according to the first formula. The first formula is specifically:

[0152]

[0153] Wherein, Δ is the first angle change, s represents the rotation distance of the boom, and l represents the distance from the boom acceleration sensor to the first rotation center.

[0154] The calculation process of the second angle variation and the third angle variation is the same as the calculation process of the first angle variation, and will not be repeated here.

[0155] The sizes of the first angle, second angle and third angle at the next moment are determined according to the sizes of the first angle, second angle and third angle at the current moment and the first angle change amount, second angle change amount and third angle change amount.

[0156] The steps of determining the sizes of the first angle, the second angle, and the third angle at the next moment according to the sizes of the first angle, the second angle, and the third angle at the current moment, and the first angle change, the second angle change, and the third angle change, specifically include:

[0157] The magnitude of the first angle at the next moment is determined according to the difference between the first angle at the current moment and the first angle change.

[0158] The magnitude of the second angle at the next moment is determined according to the difference between the second angle at the current moment and the second angle change.

[0159] The magnitude of the third angle at the next moment is determined according to the difference between the third angle at the current moment and the third angle change.

[0160] Furthermore, the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix are determined, specifically including:

[0161] A first conversion relationship between the position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system and the position coordinates of the tooth tip at the current moment in the vehicle body coordinate system is determined according to the total conversion matrix.

[0162] In this embodiment, the first conversion relationship is specifically:

[0163]

[0164] in, Indicates the position coordinates of the tooth tip p in the vehicle coordinate system at the current moment, Indicates the position coordinates of the bucket tooth tip in the bucket coordinate system at the current moment;

[0165]

[0166] Wherein, θ represents the first angle at the current moment, α represents the second angle at the current moment, and β represents the third angle at the current moment; (a0, b0, c0) represents the position coordinates of the first rotation center in the vehicle coordinate system at the current moment, L1 represents the first distance, and L2 represents the second distance;

[0167] The position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system are brought into the first transformation relationship to calculate the position coordinates of the tooth tip at the current moment in the vehicle coordinate system.

[0168] Furthermore, according to the magnitudes of the first angle, the second angle, and the third angle at the next moment, the position coordinates of the tooth tip in the vehicle body coordinate system at the next moment are determined based on the total transformation matrix, specifically including:

[0169] The first angle, the second angle, and the third angle at the current moment in the first conversion relationship are replaced by the first angle, the second angle, and the third angle at the next moment to obtain a second conversion relationship.

[0170] The position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment are brought into the second transformation relationship to calculate the position coordinates of the tooth tip in the vehicle coordinate system at the next moment.

[0171] In an embodiment of the present invention, the first acceleration sensor is installed at the hinge point B, and its installation direction is perpendicular to O1B. The boom cylinder contracts at a speed of 10 mm / s, and the dipper arm and bucket cylinder are stationary. At the current moment, that is, before the boom cylinder starts to move, the sizes of the first angle θ, the second angle α and the third angle β are measured. The initial velocity of the acceleration sensor is V0, and the initial acceleration is a0. After 10 seconds, the boom rotates a certain angle, that is, the boom changes from angle θ to θ', while angles α and β remain unchanged.

[0172] At this point, it is only necessary to solve θ' to obtain the position coordinates of the bucket tooth tip P after the movement (at the next moment).

[0173] Since point B and point O2 are both located on the boom, the angular changes of the straight lines containing the two points are equal, that is, ∠O2O1O'2 is equal to ∠BO1B'.

[0174] According to formula (5), the size of ∠BO1B' can be calculated. Specifically, ∠BO1B' is equal to the ratio of the length of the minor arc between BB' to the circumference of the circle where BB' is located. That is, ∠BO1B'=minor arc BB' / πBO1 2 ×360°.

[0175] Then, according to the principles of kinematics, the integral of acceleration equals velocity, and the integral of velocity equals displacement. This means the length of the minor arc BB' can be calculated by integrating the boom acceleration function twice between the current moment and the next.

[0176] In this embodiment, the length of the minor arc BB' obtained by integrating the boom acceleration function twice is 334.3785 mm. In the 3D model of the target excavator, the boom oil rod is retracted by 100 mm, and the length of the minor arc BB' is 323.4217 mm. The simulation result differs from the calculated result by only 11 mm, indicating that this calculation method is feasible.

[0177] In this embodiment, the angle variation Δ=∠BO1B'=minor arc BB' / πBO1 2 ×360°=334.3785 / Π25282×360°, and the final calculation result is Δ=7.58°.

[0178] According to the difference between the first angle θ before the boom rotates and the first angle change Δ, the magnitude of the first angle θ′ after the boom rotates can be calculated.

[0179] After that, θ in the total transformation matrix is ​​replaced by θ'. According to formula (6), the updated position coordinates (xp0', yp0', zp0') of the tooth tip P of the bucket after the boom rotates in the vehicle coordinate system O0x0y0z0 can be calculated.

[0180] like Figure 7 As shown, in a second aspect, the present invention further provides an excavator bucket operation trajectory determination device, the device comprising:

[0181] The model processing module 201 is used to establish a vehicle coordinate system, a boom coordinate system, an arm coordinate system, and a bucket coordinate system with the vehicle rotation center of the target excavator, the first rotation center of the boom around the vehicle body, the second rotation center of the arm around the boom, and the third rotation center of the bucket around the arm as origins, respectively;

[0182] a total transformation matrix determination module 202 for determining a total transformation matrix from the bucket coordinate system to the vehicle coordinate system based on the acquired first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, the second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, the third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, the position coordinates of the first rotation center in the vehicle coordinate system, the first distance from the first rotation center to the second rotation center, and the second distance from the second rotation center to the third rotation center;

[0183] A first position determination module 203 is configured to determine the position coordinates of the tooth tip of the bucket in the vehicle coordinate system at the current moment according to the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix;

[0184] a rotation distance determination module 204 for acquiring acceleration data of the boom, the arm, and the bucket from a current moment to a next moment based on a first acceleration sensor provided on the boom, a second acceleration sensor provided on the arm, and a third acceleration sensor provided on the bucket, and determining a rotation distance of the boom, the arm, and the bucket from a current moment to a next moment based on the acceleration data;

[0185] Angle calculation module 205, for determining the magnitudes of the first, second, and third angles corresponding to the next moment based on the rotation distances of the boom, arm, and bucket, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center;

[0186] A second position determination module 206 is configured to determine the position coordinates of the tooth tip in the vehicle body coordinate system at the next moment based on the total transformation matrix according to the first angle, the second angle, and the third angle at the next moment;

[0187] The operation trajectory determination module 207 is used to determine the operation trajectory of the bucket according to the position coordinates of the tooth tip in the vehicle body coordinate system at different times.

[0188] Furthermore, the total conversion matrix determination module 202 is specifically configured to execute:

[0189] Determine a first transformation matrix from the boom coordinate system to the vehicle coordinate system based on a first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, and the position coordinates of the first rotation center in the vehicle coordinate system;

[0190] Determine a second transformation matrix from the arm coordinate system to the boom coordinate system according to a second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system and a first distance from the first rotation center to the second rotation center;

[0191] Determine a third transformation matrix from the bucket coordinate system to the arm coordinate system based on a third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, and a second distance from the second rotation center to the third rotation center;

[0192] The total transformation matrix from the bucket coordinate system to the vehicle body coordinate system is determined according to the product of the first transformation matrix, the second transformation matrix, and the third transformation matrix.

[0193] Furthermore, the acceleration data includes boom acceleration data, arm acceleration data, and bucket acceleration data of multiple sampling points between the current moment and the next moment; the rotation distance determination module 204 is specifically configured to execute:

[0194] Acquire boom acceleration data of multiple sampling points between the current moment and the next moment according to a first acceleration sensor provided on the boom; acquire arm acceleration data of multiple sampling points between the current moment and the next moment according to a second acceleration sensor provided on the arm; acquire bucket acceleration data of multiple sampling points between the current moment and the next moment according to a third acceleration sensor provided on the bucket;

[0195] Fitting the boom acceleration data, the arm acceleration data, and the bucket acceleration data of multiple sampling points respectively to obtain corresponding boom acceleration function, arm acceleration function, and bucket acceleration function;

[0196] The boom acceleration function, the arm acceleration function, and the bucket acceleration function are integrated twice to obtain the corresponding rotation distances of the boom, arm, and bucket from the current moment to the next moment.

[0197] Furthermore, the angle calculation module 205 is specifically configured to execute:

[0198] Determine a first angle change from the current moment to the next moment based on the rotation distance of the boom and the distance from the boom acceleration sensor to the first rotation center; determine a second angle change from the current moment to the next moment based on the rotation distance of the bucket arm and the distance from the bucket arm acceleration sensor to the second rotation center; determine a third angle change from the current moment to the next moment based on the rotation distance of the bucket and the distance from the bucket acceleration sensor to the third rotation center;

[0199] The sizes of the first angle, second angle and third angle at the next moment are determined according to the sizes of the first angle, second angle and third angle at the current moment and the first angle change amount, second angle change amount and third angle change amount.

[0200] Furthermore, when determining the first angle change from the current moment to the next moment based on the rotation distance of the boom and the distance from the boom acceleration sensor to the first rotation center, the angle calculation module 205 is specifically configured to execute:

[0201] The first angle change from the current moment to the next moment is determined according to the first formula. The first formula is specifically:

[0202]

[0203] Wherein, Δ is the first angle change, s represents the rotation distance of the boom, and l represents the distance from the boom acceleration sensor to the first rotation center.

[0204] Furthermore, when determining the sizes of the first angle, the second angle, and the third angle at the next moment based on the sizes of the first angle, the second angle, and the third angle at the current moment, and the first angle change, the second angle change, and the third angle change, the angle calculation module 205 is specifically configured to execute:

[0205] The size of the first angle at the next moment is determined based on the difference between the first angle at the current moment and the first angle change; the size of the second angle at the next moment is determined based on the difference between the second angle at the current moment and the second angle change; the size of the third angle at the next moment is determined based on the difference between the third angle at the current moment and the third angle change.

[0206] Furthermore, the first location determination module 203 is specifically configured to execute:

[0207] Determine, based on the total transformation matrix, a first transformation relationship between the position coordinates of the bucket tooth tip at the current moment in the bucket coordinate system and the position coordinates of the tooth tip at the current moment in the vehicle body coordinate system;

[0208] The first conversion relationship is specifically:

[0209]

[0210] in, Indicates the position coordinates of the tooth tip p in the vehicle coordinate system at the current moment, Indicates the position coordinates of the bucket tooth tip in the bucket coordinate system at the current moment;

[0211]

[0212] Wherein, θ represents the first angle at the current moment, α represents the second angle at the current moment, and β represents the third angle at the current moment; (a0, b0, c0) represents the position coordinates of the first rotation center in the vehicle coordinate system at the current moment, L1 represents the first distance, and L2 represents the second distance;

[0213] The position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system are brought into the first transformation relationship to calculate the position coordinates of the tooth tip at the current moment in the vehicle coordinate system.

[0214] Furthermore, the second location determination module 206 is specifically configured to execute:

[0215] Replacing the first angle, the second angle, and the third angle at the current moment in the first conversion relationship with the first angle, the second angle, and the third angle at the next moment to obtain a second conversion relationship;

[0216] The position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment are brought into the second transformation relationship to calculate the position coordinates of the tooth tip in the vehicle coordinate system at the next moment.

[0217] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0218] In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the method for determining the operating trajectory of an excavator bucket in an embodiment of the present invention.

[0219] An embodiment of the present invention also provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the method for determining the operating trajectory of an excavator bucket in an embodiment of the present invention.

[0220] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0221] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed by the present invention shall be covered by the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A method for determining an excavator bucket operation trajectory, characterized in that: include: Establish a vehicle body coordinate system, a boom coordinate system, a bucket coordinate system, and a bucket coordinate system with the vehicle body rotation center of the target excavator, the first rotation center of the boom around the vehicle body, the second rotation center of the arm around the boom, and the third rotation center of the bucket around the arm as origins respectively; Determine a total transformation matrix from the bucket coordinate system to the vehicle coordinate system based on the acquired first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, the second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, the third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, the position coordinates of the first rotation center in the vehicle coordinate system, the first distance from the first rotation center to the second rotation center, and the second distance from the second rotation center to the third rotation center; Determine the position coordinates of the tooth tip of the bucket in the vehicle body coordinate system at the current moment according to the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix; Obtaining acceleration data of the boom, the arm, and the bucket between the current moment and the next moment based on a first acceleration sensor provided on the boom, a second acceleration sensor provided on the arm, and a third acceleration sensor provided on the bucket, and determining a rotation distance of the boom, the arm, and the bucket from the current moment to the next moment based on the acceleration data; Determining the magnitudes of the first angle, the second angle, and the third angle corresponding to the next moment according to the rotation distances of the boom, the arm, and the bucket, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center; Determining the position coordinates of the tooth tip in the vehicle body coordinate system at the next moment based on the total transformation matrix according to the magnitudes of the first angle, the second angle, and the third angle at the next moment; The operating trajectory of the bucket is determined according to the position coordinates of the tooth tip in the vehicle body coordinate system at different times.

2. The method according to claim 1, characterized in that The method further comprises determining a total transformation matrix from the bucket coordinate system to the vehicle coordinate system based on the obtained first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, the second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, the third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, the position coordinates of the first rotation center in the vehicle coordinate system, the first distance from the first rotation center to the second rotation center, and the second distance from the second rotation center to the third rotation center. determining a first transformation matrix from the boom coordinate system to the vehicle coordinate system based on a first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, and the position coordinates of the first rotation center in the vehicle coordinate system; Determine a second transformation matrix from the arm coordinate system to the boom coordinate system according to a second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, and a first distance from the first rotation center to the second rotation center; Determine a third transformation matrix from the bucket coordinate system to the arm coordinate system based on a third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, and a second distance from the second rotation center to the third rotation center; A total transformation matrix from the bucket coordinate system to the vehicle body coordinate system is determined according to the product of the first transformation matrix, the second transformation matrix, and the third transformation matrix.

3. The method according to claim 1, characterized in that The acceleration data includes boom acceleration data, arm acceleration data, and bucket acceleration data of multiple sampling points between the current moment and the next moment; obtaining the acceleration data of the boom, arm, and bucket between the current moment and the next moment based on a first acceleration sensor provided on the boom, a second acceleration sensor provided on the arm, and a third acceleration sensor provided on the bucket, and determining the rotation distance of the boom, arm, and bucket from the current moment to the next moment based on the acceleration data, specifically includes: Acquire boom acceleration data of a plurality of sampling points between the current moment and the next moment according to a first acceleration sensor provided on the boom; acquire arm acceleration data of a plurality of sampling points between the current moment and the next moment according to a second acceleration sensor provided on the arm; acquire bucket acceleration data of a plurality of sampling points between the current moment and the next moment according to a third acceleration sensor provided on the bucket; Fitting the boom acceleration data, the arm acceleration data, and the bucket acceleration data of the plurality of sampling points respectively to obtain corresponding boom acceleration function, arm acceleration function, and bucket acceleration function; The boom acceleration function, the arm acceleration function, and the bucket acceleration function are respectively integrated twice to obtain corresponding rotation distances of the boom, the arm, and the bucket from the current moment to the next moment.

4. The method according to claim 1, wherein Determining the magnitudes of the first angle, the second angle, and the third angle corresponding to the next moment according to the rotation distances of the boom, the arm, and the bucket, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center, specifically includes: determining a first angle change from the current moment to the next moment based on a rotation distance of the boom and a distance from the boom acceleration sensor to the first rotation center; determining a second angle change from the current moment to the next moment based on a rotation distance of the bucket arm and a distance from the bucket arm acceleration sensor to the second rotation center; and determining a third angle change from the current moment to the next moment based on a rotation distance of the bucket and a distance from the bucket acceleration sensor to the third rotation center; The sizes of the first angle, second angle and third angle at the next moment are determined according to the sizes of the first angle, second angle and third angle at the current moment, and the first angle change, the second angle change and the third angle change.

5. The method according to claim 4, characterized in that The determining of the first angle change from the current moment to the next moment based on the rotation distance of the boom and the distance from the boom acceleration sensor to the first rotation center is specifically: The first angle change from the current moment to the next moment is determined according to a first formula, wherein the first formula is specifically: Wherein, Δ is the first angle change, s represents the rotation distance of the boom, and l represents the distance from the boom acceleration sensor to the first rotation center.

6. The method according to claim 4, characterized in that The determining, based on the magnitudes of the first angle, the second angle, and the third angle at the current moment, and the first angle change, the second angle change, and the third angle change at the next moment, specifically includes: The size of the first angle at the next moment is determined based on the difference between the first angle at the current moment and the first angle change; the size of the second angle at the next moment is determined based on the difference between the second angle at the current moment and the second angle change; the size of the third angle at the next moment is determined based on the difference between the third angle at the current moment and the third angle change.

7. The method according to claim 1, characterized in that The determining the position coordinates of the tooth tip of the bucket in the vehicle body coordinate system at the current moment according to the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix specifically includes: Determine, according to the total transformation matrix, a first transformation relationship between the position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system and the position coordinates of the tooth tip at the current moment in the vehicle body coordinate system; The first conversion relationship is specifically: in, represents the position coordinates of the tooth tip p in the vehicle coordinate system at the current moment, Indicates the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment; Wherein, θ represents the first angle at the current moment, α represents the second angle at the current moment, and β represents the third angle at the current moment; (a0, b0, c0) represents the position coordinates of the first rotation center at the current moment in the vehicle body coordinate system, L1 represents the first distance, and L2 represents the second distance; The position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system are brought into the first transformation relationship to calculate the position coordinates of the tooth tip at the current moment in the vehicle body coordinate system.

8. The method according to claim 7, characterized in that The determining, based on the total transformation matrix and according to the magnitudes of the first angle, the second angle, and the third angle at the next moment, the position coordinates of the tooth tip in the vehicle body coordinate system at the next moment specifically includes: Replacing the first angle, the second angle, and the third angle at the current moment in the first conversion relationship with the first angle, the second angle, and the third angle at the next moment to obtain a second conversion relationship; The position coordinates of the tooth tip of the bucket at the current moment in the bucket coordinate system are brought into the second transformation relationship to calculate the position coordinates of the tooth tip in the vehicle coordinate system at the next moment.

9. An excavator bucket operation trajectory determination device, characterized in that: include: a model processing module for establishing a vehicle body coordinate system, a boom coordinate system, a bucket coordinate system, and a bucket coordinate system with the vehicle body rotation center of the target excavator, the first rotation center of the boom around the vehicle body, the second rotation center of the bucket arm around the boom, and the third rotation center of the bucket around the bucket arm as origins, respectively; a total transformation matrix determination module, configured to determine a total transformation matrix from the bucket coordinate system to the vehicle coordinate system based on a first angle between the x-axis of the vehicle coordinate system and the x-axis of the boom coordinate system, a second angle between the x-axis of the boom coordinate system and the x-axis of the arm coordinate system, a third angle between the x-axis of the arm coordinate system and the x-axis of the bucket coordinate system, position coordinates of the first rotation center in the vehicle coordinate system, a first distance from the first rotation center to the second rotation center, and a second distance from the second rotation center to the third rotation center; A first position determination module is configured to determine the position coordinates of the tooth tip of the bucket in the vehicle coordinate system at the current moment according to the position coordinates of the tooth tip of the bucket in the bucket coordinate system at the current moment and the total transformation matrix; a rotation distance determination module, configured to obtain acceleration data of the boom, the arm, and the bucket between the current moment and the next moment based on a first acceleration sensor provided on the boom, a second acceleration sensor provided on the arm, and a third acceleration sensor provided on the bucket, and to determine a rotation distance of the boom, the arm, and the bucket from the current moment to the next moment based on the acceleration data; an angle calculation module, configured to determine the magnitudes of the first angle, the second angle, and the third angle corresponding to the next moment based on the rotation distances of the boom, the arm, and the bucket, as well as the distance from the boom acceleration sensor to the first rotation center, the distance from the arm acceleration sensor to the second rotation center, and the distance from the bucket acceleration sensor to the third rotation center; a second position determination module, configured to determine the position coordinates of the tooth tip in the vehicle body coordinate system at the next moment based on the total transformation matrix according to the first angle, the second angle, and the third angle at the next moment; The operation trajectory determination module is used to determine the operation trajectory of the bucket according to the position coordinates of the tooth tip in the vehicle body coordinate system at different times.

10. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method for determining the operating trajectory of an excavator bucket as described in any one of claims 1-8.

11. A computer-readable storage medium, characterized in that The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the method for determining the operating trajectory of an excavator bucket as described in any one of claims 1-8.

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