Gps-based bucket wheel position acquisition method, electronic device and storage medium

Abstract

The application provides a GPS-based bucket wheel position acquisition method, an electronic device and a storage medium, and relates to the field of device control, and comprises the following steps: acquiring the positions of a first GPS device and a second GPS device installed on a stacker-reclaimer in a stockyard coordinate system at a current calculation time; acquiring a d3 to d6, Z1 and Z C acquiring a current calculation time of the arm frame v ; acquiring a current calculation time of the arm frame based on G1, G2, G10 and G20 r ; acquiring a current calculation time of the arm frame based on G1, θ v and θ r ; and acquiring the center position of the bucket wheel at the current calculation time. The application can accurately acquire the center position of the bucket wheel.

Description

Technical Field

[0001] This invention relates to the field of equipment control, and in particular to a GPS-based method for obtaining the position of a bucket wheel, an electronic device, and a storage medium. Background Technology

[0002] Currently, stacker-reclaimers (CRRs) are widely used in stacking and reclaiming operations at various large ore stockpiles. Upon receiving a work order, the CRR moves to the designated stack and completes the corresponding operation through the coordinated operation of the cantilever conveyor, ground conveyor, and bucket wheel at the front of the cantilever. To ensure accurate operation, a monitoring system is typically used to monitor the CRR's position and attitude in real time. The commonly used monitoring scheme involves obtaining the CRR's traveling position using mechanical drawings of the boom and encoders installed on the traveling mechanism, obtaining the slewing angle using angle encoders installed on the boom's slewing mechanism, and obtaining the pitch angle using angle encoders installed on the boom's pitch mechanism. Then, the theoretical bucket wheel center position is obtained using simple trigonometric functions. However, because the boom deforms due to its own weight and the weight of the transported material, the existing scheme does not consider boom deformation and angle encoder deviations, leading to inaccurate bucket wheel center positions and affecting the accuracy of operation control during unmanned stacker-reclaimer operations. Summary of the Invention

[0003] To address the aforementioned technical problems, the technical solution adopted by this invention is as follows:

[0004] This invention provides a GPS-based method for obtaining the position of a bucket wheel in a stacker-reclaimer. The method includes the following steps:

[0005] S100, at the current calculation time, acquire the positions G1 = (X1, Y1, Z1) and G2 = (X2, Y2, Z2) of the first GPS device and the second GPS device installed on the stacker-reclaimer in the material yard coordinate system; X1, Y1, and Z1 are the coordinate values ​​of the first GPS device on the X-axis, Y-axis, and Z-axis of the material yard coordinate system at the current calculation time, respectively; X2, Y2, and Z2 are the coordinate values ​​of the second GPS device on the X-axis, Y-axis, and Z-axis of the material yard coordinate system at the current calculation time, respectively; wherein, the first GPS device is set at the front end of the stacker-reclaimer's boom, and the second GPS device is set above the boom; wherein, the X-axis is located in the length direction of the stacker-reclaimer, the Y-axis is located in the width direction of the stacker-reclaimer, and the Z-axis is located in the height direction of the stacker-reclaimer.

[0006] S200, based on d3 to d6, Z1 and Z C Obtain the boom pitch angle θ at the current calculation moment. vWhere d3 is the distance between the first GPS device along the boom centerline and the boom pitch center, d4 is the distance between the second GPS device along the boom centerline and the boom pitch center, d5 is the vertical distance between the first GPS device and the boom pitch center, and d6 is the vertical distance between the second GPS device and the boom pitch center; Z C This represents the coordinates of the boom pitch center on the Z-axis of the material yard coordinate system.

[0007] S300, based on G1, G2, G10, and G20, obtains the boom rotation angle θ at the current calculation moment. r Where G10 and G20 are the positions of the first and second GPS devices in the material yard coordinate system when the boom is in the zero position, respectively; G10 = (X0 1 Y0 1 Z0 1 ), G20 = (X0) 2 Y0 2 Z0 2 ), X0 1 Y0 1 Z0 1 These are the coordinates of the first GPS device on the X, Y, and Z axes of the material yard coordinate system when the boom is in the zero position, respectively. 2 Y0 2 Z0 2 These are the coordinates of the second GPS device on the X, Y, and Z axes of the material yard coordinate system when the boom is in the zero position; the zero position refers to the boom's rotation angle being 0° and its pitch angle being 0°. S400, based on G1, θ v and θ r Get the center position (X, Y, Z) of the bucket wheel at the current calculation time; X, Y, and Z are the coordinates of the center of the bucket wheel on the X-axis, Y-axis, and Z-axis of the material yard coordinate system at the current calculation time, respectively.

[0008] This invention also provides a non-transitory computer-readable storage medium storing at least one instruction or at least one program segment, which is loaded and executed by a processor to implement the aforementioned method.

[0009] This invention also provides an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0010] The present invention has at least the following beneficial effects:

[0011] The GPS-based bucket wheel position acquisition method provided in this invention first determines the pitch angle of the stacker-reclaimer by the real-time positions of two GPS devices, then obtains the slewing angle of the stacker-reclaimer based on the pitch angle, and finally determines the bucket wheel position based on the position of the GPS device close to the bucket wheel, the determined pitch angle, and the slewing angle. This method can indirectly determine the bucket wheel position by using the real-time positions of two GPS devices, thereby accurately acquiring the bucket wheel position. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a simplified structural diagram of the stacker-reclaimer in an embodiment of the present invention;

[0014] Figure 2 A flowchart illustrating a GPS-based bucket wheel position acquisition method provided in an embodiment of the present invention.

[0015] Figure 3 This is a schematic diagram illustrating the relationship between the GPS device, the boom centerline, and the boom pitch center. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] This invention provides a GPS-based method for obtaining the position of a bucket wheel in a stacker-reclaimer. In this embodiment, the stacker-reclaimer can be existing equipment. Figure 1As shown, the stacker-reclaimer may include at least a traveling mechanism 1, a rotary drive mechanism 2, a boom structure 3, and a boom 4. The rotary drive mechanism 2, the boom structure 3, and the boom 4 are mounted on the traveling mechanism 1. The rear end of the boom 4 is connected to the rotary drive mechanism 2, and a bucket wheel 5 is provided at its front end. The rotary drive mechanism 2 drives the boom 4 to rotate within a first plane and a second plane. The boom structure 3 includes at least a first boom 301 and a second boom 302. The first ends of the first boom 301 and the second boom 302 are connected to each other. The second end of the first boom 301 is connected to the rear end of the boom, and the second end of the second boom 302 is connected to the front end of the boom. The first boom 301, the second boom 302, and the boom 4 form a triangular shape to improve stability. The first plane is a plane perpendicular to the horizontal plane, and the second plane is perpendicular to the first plane.

[0018] Furthermore, the GPS-based bucket wheel location acquisition method provided in this embodiment of the invention includes, as follows: Figure 1 The steps shown are as follows:

[0019] S100, at the current calculation time, acquire the positions G1 = (X1, Y1, Z1) and G2 = (X2, Y2, Z2) of the first GPS device and the second GPS device installed on the stacker-reclaimer in the material yard coordinate system; X1, Y1, and Z1 are the coordinate values ​​of the first GPS device on the X-axis, Y-axis, and Z-axis of the material yard coordinate system at the current calculation time, respectively; X2, Y2, and Z2 are the coordinate values ​​of the second GPS device on the X-axis, Y-axis, and Z-axis of the material yard coordinate system at the current calculation time, respectively; wherein, the first GPS device is set at the front end of the boom of the stacker-reclaimer, and the second GPS device is set at a position above the boom.

[0020] In this embodiment of the invention, the material yard coordinate system is a fixed coordinate system. The origin can be a set position on the current material yard display interface. The X-axis of the coordinate system is horizontal, with the positive direction to the right. The Z-axis is vertical, with the positive direction upward and the positive direction outward. Figure 1 As shown. In embodiments of the present invention, as... Figure 1 As shown, a first GPS device 6 is installed at the front end of the stacker-reclaimer's boom, and a second GPS device 7 is installed above the boom, specifically at the connection point of the first and second booms. The GPS devices can be existing products, with an accuracy of centimeters. The specific installation positions of the first and second GPS devices can be determined based on actual conditions, as long as they are placed in a location that does not obstruct the stacker-reclaimer's operation and is not blocked.

[0021] In this embodiment of the invention, the controller, which is communicatively connected to the stacker-reclaimer, acquires and processes location data sent by the GPS device according to a preset calculation cycle. The preset calculation cycle can be set based on actual needs.

[0022] S200, based on d3 to d6, Z1 and Z C Obtain the boom pitch angle θ at the current calculation moment. v Where d3 is the distance between the first GPS device along the boom centerline and the boom pitch center (i.e., the rotation center C around the Y-axis); d4 is the distance between the second GPS device along the boom centerline CL and the boom pitch center; d5 is the vertical distance between the first GPS device and the XY plane containing the boom pitch center; and d6 is the vertical distance between the second GPS device and the boom pitch center. C This represents the coordinates of the boom pitch center on the Z-axis of the material yard coordinate system.

[0023] In this embodiment of the invention, d3 to d6 can be as follows: Figure 3 As shown. d3 to d6 can be determined based on the position of the first GPS device in the material yard coordinate system, G10 = (X0), when the boom is in the zero position. 1 Y0 1 Z0 1 The position of the second GPS device in the material yard coordinate system G20 = (X0) 2 Y0 2 Z0 2 X0 was obtained. 1 Y0 1 These are the coordinates of the first GPS device on the X, Y, and Z axes of the material yard coordinate system when the boom is in the zero position, respectively. 2 Y0 2 These are the coordinates of the second GPS device on the X, Y, and Z axes of the material yard coordinate system when the boom is in the zero position.

[0024] In this embodiment of the invention, the zero-position state is when the boom's rotation angle is 0° and its pitch angle is 0°, i.e., when it is pitched to a horizontal position.

[0025] Furthermore, the distance d1 between the projection point of the first GPS device on the XY plane and the boom centerline, and the distance d2 between the second GPS device and the boom centerline can also be obtained based on G10 and G20. d1 and d2 can be obtained as follows: Figure 3 As shown.

[0026] Furthermore, in this embodiment of the invention, Z C It can be obtained through the following steps:

[0027] S10, control the boom to be in the zero position.

[0028] S20, control the boom to rotate according to a set pitch angle, and obtain the position G2 of the second GPS device in the material yard coordinate system when rotating the set pitch angle for the i-th time. i =(x i 2 y i 2 , z i 2 ), where i ranges from 1 to n, and n is the number of rotations of the boom.

[0029] Specifically, the boom can be controlled to rotate to a suitable upper limit pitch position, and then controlled to pitch sequentially from the upper limit pitch position to the lower limit pitch position at set pitch angle intervals, recording the position of the first GPS device in the material yard coordinate system at each pitch. In this embodiment of the invention, the upper and lower limit pitch positions can be determined according to the operating environment of the stacker-reclaimer. The pitch angle can be set based on actual needs; in one illustrative embodiment, the pitch angle can be set to 1°.

[0030] S30, based on G21 to G2 n Z was obtained by fitting using the least squares method. C Specifically, the position of the boom pitch center G0 = (X) is obtained by fitting using the least squares method. c Y c Z c ), and thus obtain Z c Among them, X c and Y c These are the coordinates of the boom pitch center on the X and Y axes of the material yard coordinate system when the boom is in the zero position.

[0031] Those skilled in the art will know that, based on G21 to G2 n The position G0 of the boom pitch center can be obtained by fitting using the least squares method, which is a current technology.

[0032] Furthermore, in this embodiment of the invention, it is known from geometric knowledge that: θ v =arcsin((Z1-Z) C ) / (d3 2 +d5 2 ) 1 / 2 )-arcsin(d5 / (d3 2 +d5 2 ) 1 / 2 ).

[0033] S300, based on G1, G2, G10, and G20, obtains the boom rotation angle θ at the current calculation moment. r .

[0034] The slewing angle is essentially the angle between the current boom centerline and the boom centerline when the stacker-reclaimer is in its zero-position state. Since the direction of the boom centerline cannot be obtained in real time, this invention uses the line connecting the XY coordinates of the first and second GPS devices as the calculation basis, because the angle between the direction of the line connecting the two GPS devices and the direction of the boom centerline is fixed. The angle between the two direction vectors—the current direction of the line connecting the two GPS devices and the direction of the line connecting the two GPS devices when the stacker-reclaimer is in its zero-position state—is calculated and used as the slewing angle of the stacker-reclaimer.

[0035] Considering the changes in the X and Y coordinates of the two GPS devices on the view plane due to the pitch angle, their projection values ​​in the XY plane cannot be simply used to calculate the current rotation angle. It is necessary to compensate for the deviation in the rotation length around the axis caused by the pitch, i.e., the deviation in the projected position in the XY plane.

[0036] In this embodiment of the invention, it can be known from geometric knowledge that the deviation of the projection position of the first GPS device in the XY plane due to boom pitch is L1 = d3 - (d 2 3+d 2 5-(Z1-Z 1 0) 2 ) 1 / 2 The deviation in the projected position of the second GPS device in the XY plane due to boom pitch is L2 = d4 - (d 2 4+d 2 6-(Z2-Z 2 0) 2 ) 1 / 2 .

[0037] Furthermore, the S300 may specifically include:

[0038] S301, Obtain the direction vectors (X2-X1, Y2-Y1) and zero-position direction vector (X0) of the first GPS device and the second GPS device in the XY plane. 2 -X0 1 Y0 2 -Y0 1 The angle between them is taken as the initial rotation angle θ. 0 r Set j = 1.

[0039] Those skilled in the art will understand that any method for obtaining the angle between two vectors falls within the protection scope of this invention.

[0040] S302, based on L1, L2 and θ j rThe j-th correction is performed on the direction vector (X2-X1, Y2-Y1) to obtain the corrected direction vector (X2+L2cosθ). j r -X1-L1cosθ j r ,Y2+L2cosθ j r -Y1-L1cosθ j r ), and obtain (X2+L2cosθ) j r -X1-L1cosθ j r ,Y2+L2cosθ j r -Y1-L1cosθ j r ) and zero-position direction vector (X0) 2 -X0 1 Y0 2 -Y0 1 The angle θ between them j0 r If |θ j0 r -θ (j-1)0 r If |≤θ0, execute S303; otherwise, execute S304.

[0041] Where, θ j r Let θ be the reference angle for the j-th correction. j r The initial value is θ 0 r , that is, θ 1 r =θ 0 r ;θ (j-1)0 r Let θ be the angle between the direction vector after the (j-1)th correction and the zero-position direction vector. (j-1)0 r The initial value is the initial rotation angle, i.e., θ. 00 r =θ 0 r θ0 is a set angle difference threshold, which can be an empirical value, preferably 0.01°.

[0042] S303, set θ j+1 r =θ j0 rThe angle between the current modified direction vector and the zero-position direction vector will be used as the reference angle for the next correction; set j = j + 1; execute S302;

[0043] S304, set θ r =θ j0 r .

[0044] S400, based on G1, θ v and θ r Get the center position (X, Y, Z) of the bucket wheel at the current calculation time; X, Y, and Z are the coordinates of the center of the bucket wheel on the X-axis, Y-axis, and Z-axis of the material yard coordinate system at the current calculation time, respectively.

[0045] Since the positional relationship between the boom pitch center point and the bucket wheel center point of each stacker-reclaimer is determined during production and will not change, the following parameters can be obtained by consulting the mechanical design drawings of the stacker-reclaimer:

[0046] d0: The deviation between the boom pitch center and the bucket wheel center in the direction perpendicular to the boom centerline;

[0047] L0: The distance between the boom pitch center and the bucket wheel center along the boom centerline;

[0048] h0: The height difference between the boom pitch center and the bucket wheel center.

[0049] Based on d1, d3, and d7, the deviation between the first GPS device and the bucket wheel center can be obtained, including: the distance difference between the bucket wheel center and the first GPS device perpendicular to the boom centerline, D1 = d0 - d1; the distance between the bucket wheel center and the first GPS device along the boom centerline, D2 = L0 - d3; and the height difference between the bucket wheel center and the first GPS device, D3 = h0 - d5.

[0050] Combining G1, θ v and θ r The XYZ coordinates of the bucket wheel center can be obtained through trigonometric functions. The specific calculation process is as follows:

[0051] (1) D1 will affect the X and Y coordinates of the bucket wheel center, and the resulting deviation is: deviation in the X direction ΔX1=D1×sinθ r The deviation in the Y direction is ΔY1 = D1 × cosθ r The deviation in the Z direction, ΔZ1 = 0.

[0052] (2) D2 will affect the XYZ coordinates of the bucket wheel center. The deviation length ΔL2 in the XY plane caused by D2 is ΔL2 = D2 × cosθ vTherefore, we can obtain the deviation ΔX2 = ΔL2 × cosθ in the X direction. r The deviation in the Y direction is ΔY2 = ΔL2 × sinθ r The deviation in the Z direction is ΔZ² = D² × sinθ v .

[0053] (3) D3 will affect the XYZ coordinates of the bucket wheel center. The deviation length ΔL3 in the XY plane caused by D3 is ΔL3 = D3 × sinθ v Therefore, we can obtain the deviation ΔX3 = ΔL3 × cosθ in the X direction. r The deviation in the Y direction is ΔY3 = ΔL3 × sinθ r The deviation in the Z direction is ΔZ3 = -D3 × cosθ v .

[0054] Based on (1) to (3), we can obtain:

[0055] X=X1+△X1+△X2+△X3=X1+D1×sinθ r +D2×cosθ v ×cosθ r +D3×sinθ v ×cosθ r ;

[0056] Y=Y1+△Y1+△Y2+△Y3=Y1+D1×cosθ r +D2×cosθ v ×sinθ r +D3×sinθ v ×sinθ r ;

[0057] Z=Z1+△Z2+△Z3=Z1+D1×sinθ v -D3×cosθ v .

[0058] Furthermore, the method provided in this embodiment of the invention may also include the following steps:

[0059] S500: Obtain the current travel position of the stacker-reclaimer at the current calculation time.

[0060] In this embodiment of the invention, the traveling position of the stacker-reclaimer is the coordinate value of the current boom pitch center on the X-axis. According to geometric knowledge, Xw = X1 + d1sinθ r -d3cosθ r .

[0061] In practical applications, the method provided by this invention can accurately control the actual pitch of the stacker-reclaimer by the position of the bucket wheel, rather than using a calculated pitch angle (because the boom of the large machine will have a certain deformation). During material reclaiming, after determining the position and attitude of the bucket wheel, the appropriate material reclaiming position can be calculated more accurately by using the rotation projection method, thereby achieving precise control of the start and end angles of the rotary material reclaiming.

[0062] Embodiments of the present invention also provide a non-transitory computer-readable storage medium that can be disposed in an electronic device to store at least one instruction or at least one program related to implementing a method in the method embodiments, wherein the at least one instruction or the at least one program is loaded and executed by the processor to implement the method provided in the above embodiments.

[0063] Embodiments of the present invention also provide an electronic device, including a processor and the aforementioned non-transitory computer-readable storage medium.

[0064] Embodiments of the present invention also provide a computer program product including program code, which, when the program product is run on an electronic device, causes the electronic device to perform the steps of the methods described above in various exemplary embodiments of the present invention.

[0065] While specific embodiments of the invention have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the invention. The scope of this invention is defined by the appended claims.

Claims

1. A GPS-based bucket wheel position acquisition method for acquiring a position of a bucket wheel of a stacker-reclaimer, characterized in that, The method comprises the following steps: S100, acquiring positions G1=(X1, Y1, Z1) and G2=(X2, Y2, Z2) of the first GPS device and the second GPS device installed on the stacker-reclaimer in the stockyard coordinate system at a current calculation time; X1, Y1, and Z1 are coordinate values of the first GPS device on the X-axis, the Y-axis, and the Z-axis of the stockyard coordinate system at the current calculation time; X2, Y2, and Z2 are coordinate values of the second GPS device on the X-axis, the Y-axis, and the Z-axis of the stockyard coordinate system at the current calculation time; wherein the first GPS device is arranged at the front end of the boom of the stacker-reclaimer, and the second GPS device is arranged at a position above the boom; wherein the X-axis is in the length direction of the stacker-reclaimer, the Y-axis is in the width direction of the stacker-reclaimer, and the Z-axis is in the height direction of the stacker-reclaimer; S200, based on d3 to d6, Z1 and Z C Obtain the pitch angle θ of the arm support at the current calculation time v ; wherein d3 is the distance between the first GPS device along the center line direction of the arm support and the pitch center of the arm support when the arm support is in the zero position, d4 is the distance between the second GPS device along the center line direction of the arm support and the pitch center of the arm support when the arm support is in the zero position; d5 is the vertical distance between the first GPS device and the pitch center of the arm support when the arm support is in the zero position, d6 is the vertical distance between the second GPS device and the pitch center of the arm support when the arm support is in the zero position; Z C is the coordinate value of the pitch center of the arm support on the Z axis of the stockyard coordinate system; S300, obtain the slewing angle θ of the support arm at the current calculation moment based on G1, G2, G10 and G20 r ; wherein, G10 and G20 are the positions of the first GPS device and the second GPS device in the stockyard coordinate system when the support arm is in a zero position state; G10=(X0 1 , Y0 1 , Z0 1 ), G20=(X0 2 , Y0 2 , Z0 2 ), X0 1 , Y0 1 , Z0 1 are the coordinate values of the first GPS device on the X axis, the Y axis and the Z axis in the stockyard coordinate system when the support arm is in the zero position state, X0 2 , Y0 2 , Z0 2 are the coordinate values of the second GPS device on the X axis, the Y axis and the Z axis in the stockyard coordinate system when the support arm is in the zero position state; the zero position state is a state in which the slewing angle of the support arm is 0° and the pitch angle is 0° S400, based on G1, θ v and θ r obtain the center position (X, Y, Z) of the bucket wheel at the current calculation time; X, Y, and Z are respectively the coordinate values of the X-axis, Y-axis, and Z-axis of the center of the bucket wheel in the stockyard coordinate system at the current calculation time; θ v = arcsin ((Z1 - Z C ) / (d3 2 + d5 2 ) 1 / 2 ) - arcsin (d5 / (d3 2 + d5 2 ) 1 / 2 ); S300 specifically comprises: S301, obtain the included angle between the direction vector (X2-X1, Y2-Y1) of the first GPS device and the second GPS device in the XY plane and the zero direction vector (X0 2 -X0 1 , Y0 2 -Y0 1 ) as the initial rotation angle θ 0 r ; set j=1; S302, based on L1, L2 and θ j r the jth modified direction vector (X2+L2cosθ j r -X1-L1cosθ j r , Y2+L2cosθ j r -Y1-L1cosθ j r ) and the angle θ j r -X1-L1cosθ j r , Y2+L2cosθ j r -Y1-L1cosθ j r between the jth modified direction vector (X2+L2cosθ 2 -X0 1 , Y0 2 -Y0 1 ) and the zero position direction vector (X0 j0 r ; if |θ j0 r -θ （j-1）0 r |≤θ0, execute S303; otherwise, execute S304; wherein L1 is the projection position deviation of the first GPS device in the XY plane caused by the boom luffing, L2 is the projection position deviation of the second GPS device in the XY plane caused by the boom luffing, θ j r is the reference angle at the jth modification, θ 1 r =θ 0 r ; θ （j-1）0 r is the angle between the j-1th modified direction vector and the zero position direction vector, θ 00 r =θ 0 r ; and θ0 is a set angle difference threshold. S303, set θ j+1 r = θ j0 r j = j + 1; execute S302; S304, set θ r = θ j0 r ; Where X = X1 + D1 × sinθ r +D2×cosθ v ×cosθ r +D3×sinθ v ×cosθ r Y = Y1 + D1 × cosθ r +D2×cosθ v ×sinθ r +D3×sinθ v ×sinθ r Z = Z1 + D1 × sinθ v -D3×cosθ v Where D1 is the distance difference between the center of the bucket wheel and the first GPS device in the direction perpendicular to the boom centerline, D2 is the distance between the center of the bucket wheel and the first GPS device along the boom centerline, and D3 is the height difference between the center of the bucket wheel and the first GPS device; Z C Obtained by the following steps: S10, controlling the boom to be in a zero position state; S20, control the arm frame to rotate according to the set pitch angle, and obtain the position G2 of the second GPS device in the stockyard coordinate system when the set pitch angle is rotated for the i-th time i = (x i 2 , y i 2 , z i 2 ), wherein i is 1 to n, and n is the number of rotations of the arm frame; S30, based on G21 to G2 n , Z is obtained by fitting using least squares C .

2. The method of claim 1, wherein, L1 = d3 - (d 2 3 + d 2 5) - (Z1 - Z 1 0) 2 ) 1 / 2 ; L2 = d4 - (d 2 4 + d 2 6) - (Z2 - Z 2 0) 2 ) 1 / 2 ; Z 1 0 and Z 2 0 are coordinate values of the first GPS device and the second GPS device on the Z-axis in the stockyard coordinate system when the boom is in the zero position.

3. The method of claim 1, wherein D1=d0-d1; D2=L0-d3; D3=h0-d5; Wherein, d0 is the deviation between the boom pitch center and the center of the bucket wheel in the direction perpendicular to the boom center line, L0 is the distance between the boom pitch center and the center of the bucket wheel in the direction of the boom center line, h0 is the height difference between the boom pitch center and the center of the bucket wheel; d1 is the distance between the first GPS device and the boom center line.

4. A non-transitory computer-readable storage medium, the storage medium having stored therein at least one instruction or at least one piece of program, characterized in that, The at least one instruction or the at least one program is loaded and executed by the processor to implement the method as claimed in any one of claims 1-3.

5. An electronic device, comprising: The non-transitory computer readable storage medium as claimed in claim 4 is included in the processor.

Images