Positioning method, electronic equipment and positioning system for discharging opening of dumping plough

Abstract

The invention provides a dumping plough discharge port positioning method, electronic equipment and a positioning system. The method comprises the following steps: acquiring relative positions of a discharging arm of the dumping plough and point cloud data acquisition equipment arranged on the discharging arm, and mechanical structure parameters of the discharging arm; acquiring an attitude angle of the discharge arm relative to the point cloud data acquisition equipment to obtain a relative attitude angle; and according to the relative attitude angle, the relative position and the mechanical structure parameters of the discharge arm, the pose of a discharge port at the tail end of the discharge arm in a coordinate system where the point cloud data acquisition equipment is located is calculated. By the adoption of the scheme, the positioning precision of the discharging opening can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of position detection, and in particular to a method for locating a discharge port of a soil spreader, an electronic device and a positioning system. Background Art

[0002] A soil spreader is a large-scale equipment used for discharging and stacking evacuated materials. Its structure includes a discharging arm, a receiving arm and a traveling mechanism.

[0003] During the operation of the existing earth-discharging machine, the equipment can be used to collect the three-dimensional point cloud of the work site. However, there is a lack of posture analysis of the discharge port of the discharge arm in the three-dimensional point cloud. Usually, the operator observes and estimates the position of the discharge port, and the posture of the discharge port cannot be accurately obtained, resulting in inaccurate positioning of the discharge port. Summary of the invention

[0004] The present application provides a method for positioning a discharge port of a soil spreader, an electronic device and a positioning system, so as to solve the above-mentioned technical problems in the prior art.

[0005] According to a first aspect of the present application, a method for positioning a discharge port of a soil dumper is provided, the method comprising:

[0006] Acquire the relative position of the discharge arm of the earth discharger and the point cloud data acquisition device arranged on the discharge arm, as well as the mechanical structure parameters of the discharge arm;

[0007] Acquire the attitude angle of the discharge arm relative to the point cloud data acquisition device to obtain a relative attitude angle;

[0008] The position and posture of the discharge port at the end of the discharge arm in the coordinate system where the point cloud data acquisition device is located are calculated according to the relative attitude angle, the relative position and the mechanical structure parameters of the discharge arm.

[0009] In some embodiments, the step of obtaining the attitude angle of the discharge arm relative to the point cloud data acquisition device to obtain the relative attitude angle includes:

[0010] Collecting the attitude angle of the discharging arm in the reference coordinate system to obtain a first attitude angle;

[0011] Collecting the attitude angle of the point cloud data acquisition device in the reference coordinate system to obtain a second attitude angle;

[0012] According to the first attitude angle and the second attitude angle, the attitude angle of the discharge arm relative to the point cloud data acquisition device is calculated to obtain a relative attitude angle.

[0013] In some embodiments, calculating the attitude angle of the discharge arm relative to the point cloud data acquisition device to obtain a relative attitude angle according to the first attitude angle and the second attitude angle includes:

[0014] The difference between the first posture angle and the second posture angle is calculated to obtain the posture angle of the discharge arm relative to the point cloud data acquisition device as the relative posture angle.

[0015] In some embodiments, the attitude angle includes a pitch angle, and the reference coordinate system includes a geodetic coordinate system; and collecting the attitude angle of the discharge arm in the reference coordinate system to obtain the first attitude angle includes:

[0016] The pitch angle of a spatial positioning instrument installed on the discharge arm and having a horizontal axis parallel to the length extension direction of the discharge arm is collected to obtain a first pitch angle of the discharge arm in the geodetic coordinate system.

[0017] In some implementations, the acquiring the attitude angle of the point cloud data acquisition device in the reference coordinate system to obtain a second attitude angle includes:

[0018] The pitch angle of a spatial attitude sensor installed on the earth discharger and having a horizontal axis parallel to the plane where the discharge arm pitches, is collected to obtain a second pitch angle of the point cloud data acquisition device in the earth coordinate system, wherein the spatial attitude sensor is a built-in spatial attitude sensor of the point cloud data acquisition device, or the installation plane and installation direction of the spatial attitude sensor are consistent with those of the point cloud data acquisition device.

[0019] In some embodiments, the mechanical structure parameters of the discharge arm include the length of the discharge arm and the bending angle of the discharge arm; and calculating the position of the discharge port at the end of the discharge arm in the coordinate system where the point cloud data acquisition device is located according to the relative attitude angle, the relative position and the mechanical structure parameters of the discharge arm includes:

[0020] According to the relative position, the length of the discharge arm and the bending angle of the discharge arm, a kinematic model is used to calculate the position of the rotation joint of the discharge arm relative to the base of the discharge arm and the translation vector of the end of the discharge arm relative to the rotation joint of the discharge arm;

[0021] According to the posture of the discharge arm rotation joint relative to the discharge arm base, the translation vector of the discharge arm end relative to the discharge arm rotation joint and the relative attitude angle, the posture of the discharge port at the end of the discharge arm in the coordinate system where the point cloud data acquisition device is located is calculated.

[0022] In some embodiments, the posture of the discharge port at the end of the discharge arm in the coordinate system of the point cloud data acquisition device is calculated according to the posture of the discharge arm rotation joint relative to the discharge arm base, the translation vector of the discharge arm end relative to the discharge arm rotation joint, and the relative attitude angle, including:

[0023]

[0024] in,

[0025]

[0026]

[0027] In the formula, scanner represents the point cloud data acquisition device, base represents the base of the discharge arm, end represents the end of the discharge arm, rotate represents the rotation joint of the discharge arm, is the position of the discharge port at the end of the discharge arm, is the position of the discharge arm rotation joint relative to the discharge arm base, is the position of the end of the discharge arm relative to the rotation joint of the discharge arm, is the translation vector of the end of the discharge arm relative to the rotation joint of the discharge arm, is the rotation vector of the end of the discharge arm relative to the rotary joint of the discharge arm, R x (α), R y (β), R z (γ) are the relative attitude angles in three directions.

[0028] According to a second aspect of the present application, an electronic device is provided, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, any of the above-mentioned methods for positioning the discharge port of a soil dumper is implemented.

[0029] According to a third aspect of the present application, a system for positioning a discharge port of a soil displacer is provided, comprising a point cloud data acquisition device and the above-mentioned electronic device, and further comprising a spatial locator and / or a spatial attitude sensor connected to the electronic device, wherein the point cloud data acquisition device is arranged on the discharge arm of the soil displacer;

[0030] The spatial locator is installed on the discharge arm, and the horizontal axis of the spatial locator is parallel to the length extension direction of the discharge arm, and the spatial locator is used to send the positioned attitude angle to the electronic device to obtain the first attitude angle;

[0031] The spatial attitude sensor is a spatial attitude sensor built into the point cloud data acquisition device, or the spatial attitude sensor is installed on the earth discharger and is consistent with the installation plane and installation direction of the point cloud data acquisition device; the horizontal axis of the spatial attitude sensor is parallel to the plane where the pitch motion of the discharge arm is located, and the spatial attitude sensor is used to send the measured attitude angle to the electronic device to obtain the second attitude angle.

[0032] In summary, the method, electronic device and positioning system for positioning the discharge port of a soil displacer provided in the present application have at least the following beneficial effects:

[0033] The position of the discharge port at the end of the discharge arm in the coordinate system of the point cloud data acquisition device is calculated through the relative attitude angle between the discharge arm and the point cloud data acquisition device, the relative position of the discharge arm and the point cloud data acquisition device, and the mechanical structure parameters of the discharge arm. This provides a solution for automatically locating the position of the discharge port in the three-dimensional point cloud, avoiding errors caused by manual estimation and achieving high positioning accuracy for the discharge port. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below in conjunction with the accompanying drawings. It is obvious that the drawings described below are some implementation methods of the present application. For those skilled in the art, other drawings or solutions can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 This is a flow chart of a method for positioning a discharge port of a soil dumper in one embodiment of the present application;

[0036] Figure 2 The schematic diagram of the discharge arm of the earth spreader is shown in FIG.

[0037] Figure 3 This is a flow chart of a method for positioning a discharge port of a soil dumper in another embodiment of the present application;

[0038] Figure 4 This is a schematic diagram of the application of RTK measurement;

[0039] Figure 5 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the above and other features and advantages of the present application more clear, the present application is further described below in conjunction with the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are only exemplary and not restrictive.

[0041] In the following description, many specific details are set forth to provide a thorough understanding of the present application. However, it is apparent to those skilled in the art that specific details need not be adopted to practice the present application. In other cases, well-known steps or operations are not described in detail to avoid blurring the present application.

[0042] refer to Figure 1The present application provides a method for positioning a discharge port of a soil displacer. Taking the method applied to electronic equipment as an example, the method comprises the following steps:

[0043] S110: Obtaining the relative position of the discharge arm of the soil discharger and the point cloud data acquisition device arranged on the discharge arm, as well as the mechanical structure parameters of the discharge arm.

[0044] The point cloud data acquisition device is a device that collects point cloud data by scanning or photographing the target environment. For example, the point cloud data acquisition device may include any one of a laser radar, a three-dimensional scanner, a binocular camera, and an RGB-D camera, and the point cloud data is specifically three-dimensional point cloud data.

[0045] The point cloud data acquisition device is installed on the discharge arm, and can collect point cloud data of the working area of ​​the earthmoving machine in real time. Specifically, the point cloud data acquisition device can also communicate with the electronic device and send the collected point cloud data to the electronic device. Among them, the relative position of the discharge arm and the point cloud data acquisition device can be determined based on the fixed position of the discharge arm and the position of the point cloud data acquisition device, or it can be determined by the operator and then input into the electronic device, or it can be obtained by other devices and sent to the electronic device. Taking laser radar as an example, Figure 2 As shown, the laser radar can be installed at any position of the discharge arm, preferably on the discharge arm near the base (root) of the discharge arm, and the relative position relationship between the center of the laser radar and the center of the root rotation axis of the discharge arm in the three directions xyz in three-dimensional space is determined, that is, the relative position of the laser radar and the discharge arm is obtained.

[0046] The mechanical structural parameters of the discharge arm are parameters of the structural features of the discharge arm, and may include, for example, the length of the discharge arm, the bending angle of the discharge arm, etc. Specifically, the mechanical structural parameters of the discharge arm may be input into the electronic device by the operator.

[0047] S130: Acquire the attitude angle of the discharge arm relative to the point cloud data acquisition device to obtain a relative attitude angle.

[0048] The relative attitude angle is the attitude angle of the discharging arm relative to the point cloud data acquisition device in the same coordinate system. The type of attitude angle can be selected according to actual needs. For example, the motion analysis of the discharging arm in this application is mainly the up and down motion in the vertical direction of the ground, so the attitude angle includes the pitch angle. It can be understood that the attitude angle can also include other angles, such as the heading angle.

[0049] S150: Calculate the position of the discharge port at the end of the discharge arm in the coordinate system where the point cloud data acquisition device is located according to the relative attitude angle, the relative position and the mechanical structure parameters of the discharge arm.

[0050] The end of the discharge arm is the end where the discharge port is located, and the end of the discharge arm and the root of the discharge arm are the opposite ends of the discharge arm. Specifically, the kinematic model can be used to calculate the posture of the end of the discharge arm according to the relative attitude angle, relative position and mechanical structure parameters of the discharge arm, that is, the posture of the discharge port can be obtained.

[0051] The above-mentioned method for positioning the discharge port of the earth-spreading machine calculates the position of the discharge port located at the end of the discharge arm in the coordinate system of the point cloud data acquisition device through the relative attitude angle of the discharge arm and the point cloud data acquisition device, the relative position of the discharge arm and the point cloud data acquisition device, and the mechanical structure parameters of the discharge arm, and provides a solution for automatically positioning the position of the discharge port in the three-dimensional point cloud, avoiding errors caused by manual estimation and achieving high positioning accuracy of the discharge port.

[0052] In one embodiment, reference Figure 3 , S130 includes steps S131 to S135.

[0053] S131: Collecting the attitude angle of the discharging arm in the reference coordinate system to obtain a first attitude angle.

[0054] The reference coordinate system can be customized according to the requirements, for example, the reference coordinate system can be a geodetic coordinate system. Specifically, the attitude angle of the discharging arm in the reference coordinate system can be measured by a device for measuring the attitude angle and sent to the electronic device to obtain the first attitude angle.

[0055] S133: Collecting the attitude angle of the point cloud data acquisition device in the reference coordinate system to obtain a second attitude angle.

[0056] Specifically, the attitude angle of the point cloud data acquisition device in the reference coordinate system can be measured by a device for measuring the attitude angle and sent to the electronic device to obtain the second attitude angle. Alternatively, step S133 can collect the attitude angle of the point cloud data acquisition device in the coordinate system where the point cloud data acquisition device is located, determine the conversion relationship between the reference coordinate system and the coordinate system where the point cloud data acquisition device is located, and then convert the attitude angle in the coordinate system where the point cloud data acquisition device is located and the conversion relationship into the attitude angle of the point cloud data acquisition device in the reference coordinate system to obtain the second attitude angle.

[0057] S135: Calculating the attitude angle of the discharge arm relative to the point cloud data acquisition device according to the first attitude angle and the second attitude angle to obtain a relative attitude angle.

[0058] Specifically, S135 may include: calculating the difference between the first attitude angle and the second attitude angle to obtain the relative attitude angle between the discharging arm and the point cloud data acquisition device. In this embodiment, by obtaining the attitude angles of the discharging arm and the point cloud data acquisition device in the same coordinate system, the relative attitude angle can be accurately calculated based on the two attitude angles.

[0059] In one embodiment, the attitude angle includes a pitch angle, and the reference coordinate system includes a geodetic coordinate system. Specifically, step S131 collects the pitch angle of the discharging arm in the geodetic coordinate system to obtain a first pitch angle, step S133 collects the pitch angle of the point cloud data acquisition device in the geodetic coordinate system to obtain a second pitch angle, and step S135 calculates the pitch angle of the discharging arm relative to the point cloud data acquisition device according to the first pitch angle and the second pitch angle to obtain a relative pitch angle.

[0060] The motion analysis of the discharging arm is mainly the up and down motion in the direction perpendicular to the ground. Therefore, the present application obtains the motion angle of the discharging arm and the point cloud data acquisition device in the direction perpendicular to the ground by collecting the pitch angle of the discharging arm and the point cloud data acquisition device in the geodetic coordinate system. It can be understood that in other embodiments, the attitude angle can be other angles.

[0061] In one embodiment, step S131 includes: collecting the pitch angle of a spatial positioning instrument installed on the discharge arm and having a horizontal axis parallel to the length extension direction of the discharge arm, to obtain a first pitch angle of the discharge arm in the geodetic coordinate system.

[0062] The spatial locator is fixedly installed at any position on the discharge arm to ensure that its horizontal axis (such as the x-axis) is parallel to the length extension direction of the discharge arm. The spatial locator can provide its own position and posture in the geodetic coordinate system in real time, that is, position and posture, thereby obtaining the pitch angle of the discharge arm in the geodetic coordinate system. Specifically, the spatial locator directly outputs the pitch angle to the electronic device. Since the horizontal axis of the spatial locator is ensured to be parallel to the length extension direction (edge) of the discharge arm during installation, the pitch angle obtained by the spatial locator is equal to the pitch angle of the discharge arm in the geodetic coordinate system. In this way, by installing the spatial locator on the discharge arm to collect the pitch angle, the positioning accuracy is high.

[0063] Specifically, the spatial positioning device can be a mobile station for RTK measurement. Figure 4 As shown, the RTK measurement work is based on the positioning of the satellite H in the sky, and the base station T1 and the mobile station T2 are installed on the ground to achieve positioning. Specifically, the mobile station is installed on the discharge arm as a spatial locator, which can improve the accuracy of the pitch angle, thereby improving the positioning accuracy.

[0064] In one embodiment, step S133 includes: collecting the pitch angle of a spatial attitude sensor installed on the earth discharger and having a horizontal axis parallel to the plane where the discharge arm pitches, to obtain a second pitch angle of the point cloud data acquisition device in the geodetic coordinate system.

[0065] Among them, the plane where the discharge arm pitches refers to the plane perpendicular to the ground, and the discharge arm performs pitch motion in the plane perpendicular to the ground. Specifically, the spatial attitude sensor is a spatial attitude sensor built into the point cloud data acquisition device, that is, the spatial attitude sensor is a device that comes with the point cloud data acquisition device, and the point cloud data acquisition device is installed on the discharge arm, and ensures that the horizontal axis of the built-in spatial attitude sensor is parallel to the plane perpendicular to the ground, and the pitch angle output by the built-in spatial attitude sensor is equal to the pitch angle of the point cloud data acquisition device in the geodetic coordinate system. Alternatively, the spatial attitude sensor can also be an additionally installed device, which is installed on the discharge arm, and the horizontal axis of the spatial attitude sensor is parallel to the plane perpendicular to the ground, and is consistent with the installation plane and installation direction of the point cloud data acquisition device, so that the pitch angle output by the spatial attitude sensor is equal to the pitch angle of the point cloud data acquisition device in the geodetic coordinate system.

[0066] In this embodiment, the pitch angle of the spatial attitude sensor / point cloud data acquisition device in the geodetic coordinate system is obtained by using the spatial attitude sensor, and the conversion of the pitch angle of the point cloud data acquisition device to the geodetic coordinate system is completed. Specifically, the spatial attitude sensor can be an IMU (Inertial Measurement Unit), and the IMU measures three angles. According to the installation method of the IMU, it can be determined which angle output by the IMU is the pitch angle.

[0067] In one embodiment, the mechanical structural parameters of the discharge arm include the length of the discharge arm and the bending angle of the discharge arm. Specifically, step S150 includes step (a1) and step (a2).

[0068] Step (a1): Based on the relative position, the length of the discharge arm and the bending angle of the discharge arm, the kinematic model is used to calculate the position of the discharge arm rotation joint relative to the discharge arm base and the translation vector of the discharge arm end relative to the discharge arm rotation joint.

[0069] Step (a2): Based on the posture of the discharge arm rotation joint relative to the discharge arm base, the translation vector of the discharge arm end relative to the discharge arm rotation joint and the relative attitude angle, calculate the posture of the discharge port at the end of the discharge arm in the coordinate system where the point cloud data acquisition device is located.

[0070] Specifically, the kinematic model can be a DH model, which is a robot kinematic model obtained by modeling using the standard DH method. For a multi-axis robot arm, the relative position (position and attitude) between the joints can be obtained by modeling using the standard DH method. In this embodiment, the relative position, the length of the discharge arm, and the bending angle of the discharge arm are used to calculate the position of the discharge arm rotation joint relative to the discharge arm base and the translation vector of the discharge arm end relative to the discharge arm rotation joint through the kinematic model, and then the relative attitude angle is combined to derive the position of the discharge port at the end of the discharge arm in the coordinate system where the point cloud data acquisition device is located, with high positioning accuracy.

[0071] In one embodiment, step (a2) comprises:

[0072]

[0073] in,

[0074]

[0075]

[0076] In the formula, scanner represents the point cloud data acquisition device, base represents the base of the discharge arm, end represents the end of the discharge arm, rotate represents the rotation joint of the discharge arm, is the position of the discharge port at the end of the discharge arm, is the position of the discharge arm rotation joint relative to the discharge arm base, is the position of the end of the discharge arm relative to the rotation joint of the discharge arm, is the translation vector of the end of the discharge arm relative to the rotation joint of the discharge arm, is the rotation vector of the end of the discharge arm relative to the rotary joint of the discharge arm, R x (α), R y (β), R z (γ) are the relative attitude angles in three directions.

[0077] For example, laser radar is used as the point cloud data acquisition device, and the RTK mobile station is installed on the discharge arm, and the horizontal axis is parallel to the length extension direction of the discharge arm. An additional IMU is used, and the installation plane and direction of the IMU and the laser radar are consistent, and when the IMU is fixed on the earth discharger, the horizontal axis of the IMU is guaranteed to be parallel to the plane where the discharge arm pitches. The electronic equipment collects the pitch angle output by the RTK mobile station to obtain the pitch angle θ1 of the discharge arm in the geodetic coordinate system, collects the pitch angle output by the IMU to obtain the pitch angle θ2 of the laser radar in the geodetic coordinate system, and subtracts θ1 from θ2 to obtain the relative pitch angle θ3 between the discharge arm and the laser radar; the electronic equipment calculates the position and posture of the discharge port at the end of the discharge arm in the laser radar coordinate system based on the relative position of the discharge arm and the laser radar, the relative pitch angle θ3, and the mechanical structure parameters of the discharge arm.

[0078] like Figure 5 As shown, the present application provides an electronic device 500, which includes a processor 501 and a memory 502 storing computer program instructions. When the processor 501 executes the computer program instructions, each step of the above-mentioned method for locating the discharge port of the soil dumper is implemented. The electronic device 500 can be generally a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities.

[0079] The electronic device 500 mentioned above can improve the positioning accuracy of the discharge port because the processor 501 contained therein implements the steps of the above-mentioned method for positioning the discharge port of a soil discharger when executing computer program instructions. Similarly,

[0080] In one embodiment, the electronic device 500 may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the electronic device 500 may be used to provide necessary computing, processing and / or control capabilities. The memory of the electronic device 500 may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may store an operating system, a computer program, etc. The internal memory may provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the electronic device 500 may be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present application are executed.

[0081] In addition, the present application provides a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the above-mentioned method for positioning the discharge port of a soil dumper is implemented.

[0082] Those skilled in the art will appreciate that the method steps of the present application can be completed by instructing related hardware such as the electronic device 500 or a processor through a computer program, and the computer program can be stored in a non-temporary computer-readable storage medium, and the computer program causes the steps of the present application to be executed when it is executed. Depending on the circumstances, any reference to memory, storage, or other media herein may include non-volatile or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0083] In one embodiment, the present application provides a system for positioning a discharge port of a soil displacer, comprising a point cloud data acquisition device and the electronic device in the above embodiment, wherein the point cloud data acquisition device is disposed on a discharge arm of the soil displacer. Specifically, the point cloud data acquisition device can also be connected to an electronic device to send the collected point cloud data to the electronic device.

[0084] Furthermore, the above-mentioned soil dumper discharge port positioning system also includes a space positioning device and / or a space posture sensor connected to the electronic device.

[0085] Among them, the spatial locator is installed on the discharge arm, and the horizontal axis of the spatial locator is parallel to the length extension direction of the discharge arm. The spatial locator is used to send the positioned attitude angle to the electronic device, specifically, it can send the positioned pitch angle to the electronic device.

[0086] Since the horizontal axis of the spatial positioner is parallel to the length extension direction (edge) of the discharge arm during installation, the attitude angle obtained by the spatial positioner is equal to the attitude angle of the discharge arm in the earth coordinate system. In this way, by installing the spatial positioner on the discharge arm to collect the attitude angle, the positioning accuracy is high. Specifically, the spatial positioner can be a mobile station for RTK measurement.

[0087] The spatial attitude sensor is installed on the earth-dumping machine, and the horizontal axis of the spatial attitude sensor is parallel to the plane where the discharging arm pitches and moves. The spatial attitude sensor is used to send the measured attitude angle to the electronic device, and specifically, it can send the measured pitch angle to the electronic device. Specifically, the spatial attitude sensor is a spatial attitude sensor built into the point cloud data acquisition device, or the installation plane and installation direction of the spatial attitude sensor are consistent with those of the point cloud data acquisition device, so that the attitude angle output by the spatial attitude sensor is equal to the attitude angle of the point cloud data acquisition device in the geodetic coordinate system.

[0088] Specifically, the spatial attitude sensor may be an IMU (Inertial Measurement Unit). The IMU measures three angles. According to the installation method of the IMU, it can be determined which angle output by the IMU is the pitch angle.

[0089] The above-mentioned discharge port positioning system of the earth-spreader adopts the electronic equipment in the above-mentioned embodiment, and similarly, the positioning accuracy of the discharge port can be improved.

[0090] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for positioning a discharge port of a soil discharging machine, characterized in that: include: Acquire the relative position of the discharge arm of the earth discharger and the point cloud data acquisition device arranged on the discharge arm, as well as the mechanical structure parameters of the discharge arm; Acquire the attitude angle of the discharge arm relative to the point cloud data acquisition device to obtain a relative attitude angle; The position and posture of the discharge port at the end of the discharge arm in the coordinate system where the point cloud data acquisition device is located are calculated according to the relative attitude angle, the relative position and the mechanical structure parameters of the discharge arm.

2. The method according to claim 1, characterized in that The step of obtaining the attitude angle of the discharge arm relative to the point cloud data acquisition device to obtain the relative attitude angle includes: Collecting the attitude angle of the discharging arm in the reference coordinate system to obtain a first attitude angle; Collecting the attitude angle of the point cloud data acquisition device in the reference coordinate system to obtain a second attitude angle; According to the first attitude angle and the second attitude angle, the attitude angle of the discharge arm relative to the point cloud data acquisition device is calculated to obtain a relative attitude angle.

3. The method according to claim 2, characterized in that The step of calculating the attitude angle of the discharge arm relative to the point cloud data acquisition device to obtain a relative attitude angle according to the first attitude angle and the second attitude angle comprises: The difference between the first posture angle and the second posture angle is calculated to obtain the posture angle of the discharge arm relative to the point cloud data acquisition device as the relative posture angle.

4. The method according to claim 2, characterized in that: The attitude angle includes a pitch angle, and the reference coordinate system includes a geodetic coordinate system; the step of collecting the attitude angle of the discharge arm in the reference coordinate system to obtain a first attitude angle includes: The pitch angle of a spatial positioning instrument installed on the discharge arm and having a horizontal axis parallel to the length extension direction of the discharge arm is collected to obtain a first pitch angle of the discharge arm in the geodetic coordinate system.

5. The method according to claim 4, characterized in that The step of acquiring the attitude angle of the point cloud data acquisition device in the reference coordinate system to obtain a second attitude angle includes: The pitch angle of a spatial attitude sensor installed on the earth discharger and having a horizontal axis parallel to the plane where the discharge arm pitches, is collected to obtain a second pitch angle of the point cloud data acquisition device in the earth coordinate system, wherein the spatial attitude sensor is a built-in spatial attitude sensor of the point cloud data acquisition device, or the installation plane and installation direction of the spatial attitude sensor are consistent with those of the point cloud data acquisition device.

6. The method according to any one of claims 1 to 5, characterized in that: The mechanical structure parameters of the discharge arm include the length of the discharge arm and the bending angle of the discharge arm; the calculation of the position of the discharge port at the end of the discharge arm in the coordinate system where the point cloud data acquisition device is located according to the relative attitude angle, the relative position and the mechanical structure parameters of the discharge arm includes: According to the relative position, the length of the discharge arm and the bending angle of the discharge arm, a kinematic model is used to calculate the position of the rotation joint of the discharge arm relative to the base of the discharge arm and the translation vector of the end of the discharge arm relative to the rotation joint of the discharge arm; According to the posture of the discharge arm rotation joint relative to the discharge arm base, the translation vector of the discharge arm end relative to the discharge arm rotation joint and the relative attitude angle, the posture of the discharge port at the end of the discharge arm in the coordinate system where the point cloud data acquisition device is located is calculated.

7. The method according to claim 6, characterized in that include: The method of calculating the posture of the discharge port at the end of the discharge arm in the coordinate system of the point cloud data acquisition device according to the posture of the discharge arm rotation joint relative to the discharge arm base, the translation vector of the discharge arm end relative to the discharge arm rotation joint and the relative attitude angle includes: in, In the formula, scanner represents the point cloud data acquisition device, base represents the base of the discharge arm, end represents the end of the discharge arm, rotate represents the rotation joint of the discharge arm, is the position of the discharge port at the end of the discharge arm, is the position of the discharge arm rotation joint relative to the discharge arm base, is the position of the end of the discharge arm relative to the rotation joint of the discharge arm, is the translation vector of the end of the discharge arm relative to the rotation joint of the discharge arm, is the rotation vector of the end of the discharge arm relative to the rotary joint of the discharge arm, R x (α), R y (β), R z (γ) are the relative attitude angles in three directions.

8. An electronic device, characterized in that: include: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the steps of the method according to any one of claims 1 to 7 are implemented.

9. A positioning system for a discharge port of a soil discharging machine, characterized in that: It comprises a point cloud data acquisition device and the electronic device according to claim 8, and also comprises a space locator and / or a space attitude sensor connected to the electronic device, wherein the point cloud data acquisition device is arranged on the discharge arm of the earth discharger; The spatial locator is installed on the discharge arm, and the horizontal axis of the spatial locator is parallel to the length extension direction of the discharge arm, and the spatial locator is used to send the positioned attitude angle to the electronic device to obtain the first attitude angle; The spatial attitude sensor is a spatial attitude sensor built into the point cloud data acquisition device, or the spatial attitude sensor is installed on the earth discharger and is consistent with the installation plane and installation direction of the point cloud data acquisition device; the horizontal axis of the spatial attitude sensor is parallel to the plane where the pitch motion of the discharge arm is located, and the spatial attitude sensor is used to send the measured attitude angle to the electronic device to obtain the second attitude angle.

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