Excavator attitude measurement method, device, equipment and medium

Abstract

The invention relates to an excavator attitude measurement method, device and equipment and a medium, and belongs to the field of attitude measurement. The method comprises the steps of determining an excavator working face and calculating the bumping degree of the excavator working face; establishing an excavator coordinate system according to the bumping degree of the working face of the excavator; establishing a working face coordinate system; according to the method, the attitude of the excavator is measured, attitude angles are obtained through an improved vector method, the attitude angles comprise a yaw angle, a pitch angle and a roll angle, the attitude of the excavator is measured quickly and simply, the working efficiency is remarkably improved, and errors in the attitude measurement process can be reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of posture measurement, and in particular relates to a method, device, equipment and medium for measuring the posture of an excavator. Background Art

[0002] Nowadays, with the continuous advancement of tool automation and intelligent development, intelligent equipment such as automatic excavators have begun to be widely used. Compared with traditional manually controlled equipment, intelligent equipment has higher control accuracy. However, the intelligent development of excavators started relatively late, and the relevant technology is not yet mature. The accuracy of attitude measurement of various intelligent devices still has certain deficiencies. The existing attitude measurement methods mainly include methods based on laser targets, visual measurement, multi-point measurement, and dead reckoning. The laser target-based method can generally only obtain part of the posture parameters. If all the posture parameters are to be obtained, the measurement system will be more complex and less mature. The method based on visual measurement is more complex to solve and is easily affected by environmental interference and fails. The method based on multi-point measurement generally needs to calculate the coordinates of multiple points on the fuselage first, and then calculate the posture of the fuselage based on this. Therefore, the attitude angle measurement error is large and the real-time measurement is poor. The method based on dead reckoning has cumulative errors, and the price of inertial navigation is relatively expensive. At the same time, various attitude measurement methods require different processing or calculation methods for different types of road surfaces, and the measurement process is more complicated, time-consuming and labor-intensive. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a method, device, equipment and medium for measuring the posture of an excavator.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] A method for measuring the posture of an excavator, the implementation of which comprises the following steps:

[0006] Determine the excavator working surface and calculate the bumpiness of the excavator working surface, wherein the excavator working surface is the ground surface of the excavator working area;

[0007] Establishing an excavator coordinate system according to the bumpiness of the excavator working surface;

[0008] Establish the work surface coordinate system;

[0009] The excavator attitude measurement is performed and the attitude angle is obtained by using an improved vector method, wherein the attitude angle includes a yaw angle, a pitch angle, and a roll angle.

[0010] Preferably, the determining the excavator working surface and calculating the bumpiness of the excavator working surface comprises:

[0011] Obtaining the travel distance of the excavator on the working surface of the excavator within one minute and the average travel distance per minute of the excavator within 10 minutes;

[0012] Obtaining an average bump height of the excavator on the working surface of the excavator within one minute, wherein the average bump height is an average value of each bump height change of the excavator;

[0013] Calculate the bumpiness of the excavator working surface, the calculation formula is: Among them, t is the bumpiness of the excavator working surface, l is the travel distance, is the average travel distance, is the average value of the bump height.

[0014] Preferably, establishing an excavator coordinate system according to the bumpiness of the excavator working surface includes:

[0015] A bumpiness threshold is preset according to the construction conditions. When the bumpiness of the excavator working surface is less than the bumpiness threshold, a level meter is used to determine the horizontal state of the excavator relative to the excavator working surface. In the horizontal state, the excavator center of gravity is taken as the origin, the horizontal axis direction of the excavator body is the excavator horizontal axis, the centerline direction of the excavator body is the excavator vertical axis, and the direction perpendicular to the excavator horizontal axis and the excavator vertical axis is the excavator vertical axis to establish the excavator coordinate system;

[0016] When the bumpiness of the excavator working surface is greater than or equal to the bumpiness threshold, mark the median height point of the excavator's center of gravity for each bump, fit the median height point of the excavator's center of gravity to obtain a fitting plane, take the excavator's center of gravity as the origin, and the plane passing through the origin and parallel to the fitting plane is the XOY plane. Project the horizontal axis of the excavator body on the XOY plane to obtain the excavator's horizontal axis, project the center line of the excavator body on the XOY plane to obtain the excavator's longitudinal axis, and establish the excavator coordinate system with the vertical axis of the excavator perpendicular to the XOY plane.

[0017] Preferably, the establishing of the working surface coordinate system comprises:

[0018] The working surface coordinate system is established by taking the projection of the center of gravity of the excavator on the working surface of the excavator as the origin, taking the projection of the initial forward direction of the excavator on the working surface of the excavator as the horizontal axis of the working surface, taking the projection of the vertical initial forward direction of the excavator on the working surface of the excavator as the vertical axis of the working surface, and taking the direction perpendicular to the horizontal axis of the working surface and the vertical axis of the working surface as the vertical axis of the working surface.

[0019] Preferably, the excavator posture measurement and the posture angle acquisition by the improved vector method include:

[0020] A bucket test point and a tail test point are preset, wherein the bucket test point is located at the bucket of the excavator, and the tail test point is located at the tail of the excavator;

[0021] Obtaining bucket working surface coordinates and tail working surface coordinates of the bucket point to be measured and the tail point to be measured in the working surface coordinate system;

[0022] Obtain bucket excavator coordinates and tail excavator coordinates of the bucket point to be measured and the tail point to be measured in the excavator coordinate system;

[0023] A vector is constructed based on the direction of the line connecting the bucket point to be measured and the tail point to be measured, and a working surface vector expression and an excavator vector expression of the vector in the working surface coordinate system and the excavator coordinate system are obtained. The working surface vector expression is: Among them, v 1a is the working surface vector expression, (X wa ,Y wa ,Z wa ) is the tail working surface coordinate, (X ta ,Y ta ,Z ta ) is the bucket working surface coordinate; the excavator vector expression is Among them, v 1b is the vector expression of the excavator, (X wb ,Y wb ,Z wb ) is the coordinate of the tail excavator, (X tb ,Y tb ,Z tb ) is the bucket excavator coordinate;

[0024] Get a unit vector, the unit vector is consistent with the direction of the vertical axis of the working surface, get the working surface unit vector expression and the excavator unit vector expression of the unit vector in the working surface coordinate system and the excavator coordinate system, the working surface unit vector expression is Among them, v 2a is the unit vector expression of the working surface; the unit vector expression of the excavator is Among them, v 2b is the excavator unit vector expression, θ X is the angle between the horizontal axis of the excavator and the horizontal plane, θ Y is the angle between the longitudinal axis of the excavator and the horizontal plane;

[0025] A reference vector is constructed based on the vector and the unit vector, and a working surface reference vector expression and an excavator reference vector expression of the reference vector in the working surface coordinate system and the excavator coordinate system are obtained. The working surface reference vector expression is v 3a =v 1a ×v 2a , where v 3a is the working surface reference vector expression, v 1a is the working surface vector expression, v 2a is the unit vector expression of the working surface; the reference vector expression of the excavator is v 3b =v 1b ×v2b , where v 3b is the reference vector expression of the excavator, v 1b is the vector expression of the excavator, v 2b is the excavator unit vector expression;

[0026] Constructing a posture conversion matrix according to the vector, the unit vector, and the reference vector;

[0027] The attitude angle is calculated according to the attitude transformation matrix.

[0028] Preferably, the expression of the posture conversion matrix is: in, is the posture transformation matrix, v 1a is the working surface vector expression, v 2a is the unit vector expression of the working surface, v 3a is the working surface reference vector expression, v 1b is the vector expression of the excavator, v 2b is the excavator unit vector expression, v 3b is the reference vector expression for the excavator;

[0029] Preferably, the posture angle calculation formula is: Among them, α is the yaw angle, β is the pitch angle, and γ is the roll angle. is the first row and second column of the attitude transformation matrix, is the second row and second column of the attitude transformation matrix, It is the third row and second column of the posture transformation matrix.

[0030] An excavator attitude measurement device, used to execute the excavator attitude measurement method described above, characterized in that it comprises a bumpiness calculation module, a coordinate system construction module, and an attitude measurement module;

[0031] The bumpiness calculation module is used to determine the excavator working surface and calculate the bumpiness of the excavator working surface, wherein the excavator working surface is the ground surface of the excavator working area;

[0032] The coordinate system construction module is used to establish an excavator coordinate system and a working surface coordinate system according to the bumpiness of the excavator working surface;

[0033] The attitude measurement module is used to measure the attitude of the excavator and obtain the attitude angle through the improved vector method, and the attitude angle includes the yaw angle, the pitch angle and the roll angle.

[0034] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned excavator posture measurement method when executing the program.

[0035] A storage medium containing computer executable instructions, wherein the computer executable instructions are used to execute the excavator posture measurement method described above when executed by a computer processor.

[0036] The beneficial effects of the present invention are:

[0037] (1) The excavator attitude is measured by calculating the bumpiness of the excavator working surface and establishing the excavator coordinate system and the working surface coordinate system to obtain three attitude angles. The process is simple and can quickly and easily measure the excavator attitude, significantly improving work efficiency;

[0038] (2) The bumpiness of the excavator working surface is calculated by the travel distance, average travel distance and average bump height. The calculation is simple and saves the initial preparation work of attitude measurement, so that attitude measurement can be started as soon as possible later.

[0039] (3) The excavator coordinate system is established through different degrees of bumpiness of the excavator working surface. For roads with smaller bumpiness, the bumpiness is ignored. For roads with larger bumpiness, the fitting method is used to eliminate the interference of the bumpiness process on the excavator attitude measurement. The fitting plane can also cover both horizontal and non-horizontal roads, such as uphill and downhill. There is no need to detect the slope angle or classify the horizontal and non-horizontal roads for discussion, which significantly reduces the workload and improves work efficiency. The attitude measurement process is not easily affected by environmental interference.

[0040] (4) The attitude angle is obtained by improving the vector method, which has small error, low cost and strong real-time performance;

[0041] (5) By presetting the bucket and tail test points to construct a vector, only the coordinates of two test points need to be obtained, without setting up multiple test points, which significantly improves work efficiency;

[0042] (6) The attitude angle is calculated based on the attitude transformation matrix, which significantly simplifies the calculation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0044] Figure 1 The present invention is a flowchart of the steps of a method for measuring the posture of an excavator. DETAILED DESCRIPTION

[0045] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0046] The working principle and use process of the present invention:

[0047] See also Figure 1, a method for measuring the posture of an excavator, comprising:

[0048] S1: Determine the excavator working surface and calculate the bumpiness of the excavator working surface, where the excavator working surface is the ground surface of the excavator working area;

[0049] S2: establishing an excavator coordinate system according to the bumpiness of the excavator working surface;

[0050] S3: Establish the working surface coordinate system;

[0051] S4: Performing excavator attitude measurement and obtaining attitude angles by improved vector method, wherein the attitude angles include yaw angle, pitch angle, and roll angle.

[0052] In this embodiment, determining the excavator working surface and calculating the bumpiness of the excavator working surface can be implemented by the following steps:

[0053] S101: Obtaining a travel distance of the excavator on the working surface of the excavator within one minute and an average travel distance per minute of the excavator within 10 minutes;

[0054] S102: obtaining an average bump height of the excavator on the working surface of the excavator within one minute, wherein the average bump height is an average value of each bump height change of the excavator;

[0055] S103: The bumpiness of the excavator working surface is calculated by the travel distance, the average travel distance and the average bump height. The calculation is simple and saves the preparatory work of the posture measurement, so that the posture measurement can be started as soon as possible later. The calculation formula is: Among them, t is the bumpiness of the excavator working surface, l is the travel distance, is the average travel distance, is the average value of the bump height.

[0056] In this embodiment, the excavator coordinate system is established according to the bumpiness of the excavator working surface. For a road surface with a smaller bumpiness, the bumpiness is ignored. For a road surface with a larger bumpiness, a fitting method is adopted to eliminate the interference of the bumpiness process on the excavator posture measurement. The fitting plane can simultaneously cover both horizontal and non-horizontal roads, such as uphill and downhill, without detecting the slope angle or classifying the horizontal and non-horizontal roads for discussion, which significantly reduces the workload and improves the work efficiency. The posture measurement process is not easily affected by the environment. It can be implemented by the following steps:

[0057] S201: Preset a bumpiness threshold according to the construction conditions. When the bumpiness of the excavator working surface is less than the bumpiness threshold, determine the horizontal state of the excavator relative to the excavator working surface by using a level meter. In the horizontal state, the excavator coordinate system is established with the center of gravity of the excavator as the origin, the horizontal axis direction of the excavator body as the excavator horizontal axis, the centerline direction of the excavator body as the excavator vertical axis, and the direction perpendicular to the excavator horizontal axis and the excavator vertical axis as the excavator vertical axis;

[0058] S202: When the bumpiness of the excavator working surface is greater than or equal to the bumpiness threshold, mark the median height point of the excavator's center of gravity for each bump, fit the median height point of the excavator's center of gravity for the bump to obtain a fitting plane, take the excavator's center of gravity as the origin, and the plane passing through the origin and parallel to the fitting plane is the XOY plane. Project the horizontal axis of the excavator body on the XOY plane to obtain the excavator's horizontal axis. Project the center line of the excavator body on the XOY plane to obtain the excavator's vertical axis. The excavator coordinate system is established with the vertical axis of the excavator perpendicular to the XOY plane.

[0059] In this embodiment, the work surface coordinate system is established, which can be implemented by the following steps:

[0060] The working surface coordinate system is established by taking the projection of the center of gravity of the excavator on the working surface of the excavator as the origin, taking the projection of the initial forward direction of the excavator on the working surface of the excavator as the horizontal axis of the working surface, taking the projection of the vertical initial forward direction of the excavator on the working surface of the excavator as the vertical axis of the working surface, and taking the direction perpendicular to the horizontal axis of the working surface and the vertical axis of the working surface as the vertical axis of the working surface.

[0061] In this embodiment, the excavator attitude measurement is performed and the attitude angle is obtained by the improved vector method, which has small error, low cost and strong real-time performance. The attitude angle includes yaw angle, pitch angle and roll angle, which can be implemented by the following steps:

[0062] S401: Preset a bucket test point and a tail test point. Only two test points need to be set up instead of multiple test points, which significantly improves work efficiency. The bucket test point is located at the bucket of the excavator, and the tail test point is located at the tail of the excavator.

[0063] S402: Obtaining bucket working surface coordinates and tail working surface coordinates of the bucket point to be measured and the tail point to be measured in the working surface coordinate system;

[0064] S403: Obtaining bucket excavator coordinates and tail excavator coordinates of the bucket test point and the tail test point in the excavator coordinate system;

[0065] S404: constructing a vector based on the direction of the line connecting the bucket point to be measured and the tail point to be measured, obtaining the working surface vector expression and the excavator vector expression of the vector in the working surface coordinate system and the excavator coordinate system, the working surface vector expression is: Among them, v 1a is the working surface vector expression, (X wa ,Y wa ,Z wa ) is the tail working surface coordinate, (X ta ,Y ta ,Z ta ) is the bucket working surface coordinate; the excavator vector expression is Among them, v 1b is the vector expression of the excavator, (X wb ,Y wb ,Z wb ) is the coordinate of the tail excavator, (X tb ,Y tb ,Z tb ) is the bucket excavator coordinate;

[0066] S405: Obtain a unit vector, the unit vector is consistent with the direction of the vertical axis of the working surface, obtain the working surface unit vector expression and the excavator unit vector expression of the unit vector in the working surface coordinate system and the excavator coordinate system, the working surface unit vector expression is Among them, v 2a is the unit vector expression of the working surface; the unit vector expression of the excavator is Among them, v 2b is the excavator unit vector expression, θ X is the angle between the horizontal axis of the excavator and the horizontal plane, θ Y is the angle between the longitudinal axis of the excavator and the horizontal plane;

[0067] S406: construct a reference vector based on the vector and the unit vector, and obtain a working surface reference vector expression and an excavator reference vector expression of the reference vector in the working surface coordinate system and the excavator coordinate system, wherein the working surface reference vector expression is v 3a =v 1a ×v 2a , where v 3a is the working surface reference vector expression, v 1a is the working surface vector expression, v 2a is the unit vector expression of the working surface; the reference vector expression of the excavator is v 3b =v 1b ×v 2b , where v 3b is the reference vector expression of the excavator, v 1b is the vector expression of the excavator, v 2b is the excavator unit vector expression;

[0068] S407: Construct a posture conversion matrix according to the vector, the unit vector, and the reference vector. The expression of the posture conversion matrix is: in, is the posture transformation matrix, v 1a is the working surface vector expression, v 2a is the unit vector expression of the working surface, v 3a is the working surface reference vector expression, v 1b is the vector expression of the excavator, v 2b is the excavator unit vector expression, v 3b is the reference vector expression for the excavator;

[0069] S408: Calculate the attitude angle according to the attitude conversion matrix, which significantly simplifies the calculation process. The calculation formula is: Among them, α is the yaw angle, β is the pitch angle, and γ is the roll angle. is the first row and second column of the attitude transformation matrix, is the second row and second column of the attitude transformation matrix, It is the third row and second column of the posture transformation matrix.

[0070] An excavator posture measurement device includes a bumpiness calculation module, a coordinate system construction module, and a posture measurement module;

[0071] The bumpiness calculation module is used to determine the excavator working surface and calculate the bumpiness of the excavator working surface, wherein the excavator working surface is the ground surface of the excavator working area;

[0072] The coordinate system construction module is used to establish an excavator coordinate system and a working surface coordinate system according to the bumpiness of the excavator working surface;

[0073] The attitude measurement module is used to measure the attitude of the excavator and obtain the attitude angle through the improved vector method, and the attitude angle includes the yaw angle, the pitch angle and the roll angle.

[0074] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device.

[0075] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0076] The program code included on the computer readable medium can be transmitted with any appropriate medium, including but not limited to wireless, electric wire, optical cable, RF, etc., or any suitable combination of the above. The computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or their combinations, and the programming language includes object-oriented programming languages-such as Java, Smalltalk, C++, and also includes conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed completely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on the remote computer, or completely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0077] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A method for measuring the posture of an excavator, characterized in that: The implementation of the excavator posture measurement method comprises the following steps: Determine the excavator working surface and calculate the bumpiness of the excavator working surface, wherein the excavator working surface is the ground surface of the excavator working area; Establishing an excavator coordinate system according to the bumpiness of the excavator working surface; Establish the work surface coordinate system; The excavator attitude measurement is performed and the attitude angle is obtained by using an improved vector method, wherein the attitude angle includes a yaw angle, a pitch angle, and a roll angle.

2. The excavator posture measurement method according to claim 1, characterized in that: Determining the excavator working surface and calculating the bumpiness of the excavator working surface comprises: Obtaining the travel distance of the excavator on the working surface of the excavator within one minute and the average travel distance per minute of the excavator within 10 minutes; Obtaining an average bump height of the excavator on the working surface of the excavator within one minute, wherein the average bump height is an average value of each bump height change of the excavator; Calculate the bumpiness of the excavator working surface, the calculation formula is: Among them, t is the bumpiness of the excavator working surface, l is the travel distance, is the average travel distance, is the average value of the bump height.

3. The excavator posture measurement method according to claim 1, characterized in that: Establishing the excavator coordinate system according to the bumpiness of the excavator working surface includes: A bumpiness threshold is preset according to the construction conditions. When the bumpiness of the excavator working surface is less than the bumpiness threshold, a level meter is used to determine the horizontal state of the excavator relative to the excavator working surface. In the horizontal state, the excavator center of gravity is taken as the origin, the horizontal axis direction of the excavator body is the excavator horizontal axis, the centerline direction of the excavator body is the excavator vertical axis, and the direction perpendicular to the excavator horizontal axis and the excavator vertical axis is the excavator vertical axis to establish the excavator coordinate system; When the bumpiness of the excavator working surface is greater than or equal to the bumpiness threshold, mark the median height point of the excavator's center of gravity for each bump, fit the median height point of the excavator's center of gravity to obtain a fitting plane, take the excavator's center of gravity as the origin, and the plane passing through the origin and parallel to the fitting plane is the XOY plane. Project the horizontal axis of the excavator body on the XOY plane to obtain the excavator's horizontal axis, project the center line of the excavator body on the XOY plane to obtain the excavator's longitudinal axis, and establish the excavator coordinate system with the vertical axis of the excavator perpendicular to the XOY plane.

4. The excavator posture measurement method according to claim 1, characterized in that: The establishing of the working surface coordinate system comprises: The working surface coordinate system is established by taking the projection of the center of gravity of the excavator on the working surface of the excavator as the origin, taking the projection of the initial forward direction of the excavator on the working surface of the excavator as the horizontal axis of the working surface, taking the projection of the vertical initial forward direction of the excavator on the working surface of the excavator as the vertical axis of the working surface, and taking the direction perpendicular to the horizontal axis of the working surface and the vertical axis of the working surface as the vertical axis of the working surface.

5. The excavator posture measurement method according to claim 1, characterized in that: The method of measuring the excavator posture and obtaining the posture angle by using the improved vector method comprises: A bucket test point and a tail test point are preset, wherein the bucket test point is located at the bucket of the excavator, and the tail test point is located at the tail of the excavator; Obtaining bucket working surface coordinates and tail working surface coordinates of the bucket point to be measured and the tail point to be measured in the working surface coordinate system; Obtain bucket excavator coordinates and tail excavator coordinates of the bucket point to be measured and the tail point to be measured in the excavator coordinate system; A vector is constructed based on the direction of the line connecting the bucket point to be measured and the tail point to be measured, and a working surface vector expression and an excavator vector expression of the vector in the working surface coordinate system and the excavator coordinate system are obtained. The working surface vector expression is: Among them, v 1a is the working surface vector expression, (X wa ,Y wa ,Z wa ) is the tail working surface coordinate, (X ta ,Y ta ,Z ta ) is the bucket working surface coordinate; the excavator vector expression is Among them, v 1b is the vector expression of the excavator, (X wb ,Y wb ,Z wb ) is the coordinate of the tail excavator, (X tb ,Y tb ,Z tb ) is the bucket excavator coordinate; Get a unit vector, the unit vector is consistent with the direction of the vertical axis of the working surface, get the working surface unit vector expression and the excavator unit vector expression of the unit vector in the working surface coordinate system and the excavator coordinate system, the working surface unit vector expression is Among them, v 2a is the unit vector expression of the working surface; the unit vector expression of the excavator is Among them, v 2b is the excavator unit vector expression, θ X is the angle between the horizontal axis of the excavator and the horizontal plane, θ Y is the angle between the longitudinal axis of the excavator and the horizontal plane; A reference vector is constructed based on the vector and the unit vector, and a working surface reference vector expression and an excavator reference vector expression of the reference vector in the working surface coordinate system and the excavator coordinate system are obtained. The working surface reference vector expression is v 3a =v 1a ×v 2a , where v 3a is the reference vector expression of the working surface, v 1a is the working surface vector expression, v 2a is the unit vector expression of the working surface; the reference vector expression of the excavator is v 3b =v 1b ×v 2b , where v 3b is the reference vector expression of the excavator, v 1b is the vector expression of the excavator, v 2b is the excavator unit vector expression; Constructing a posture conversion matrix according to the vector, the unit vector, and the reference vector; The attitude angle is calculated according to the attitude transformation matrix.

6. The excavator posture measurement method according to claim 5, characterized in that: The expression of the posture transformation matrix is: in, is the posture transformation matrix, v 1a is the working surface vector expression, v 2a is the unit vector expression of the working surface, v 3a is the working surface reference vector expression, v 1b is the vector expression of the excavator, v 2b is the excavator unit vector expression, v 3b Reference vector expression for excavator.

7. The excavator posture measurement method according to claim 5, characterized in that: The attitude angle calculation formula is: Among them, α is the yaw angle, β is the pitch angle, and γ is the roll angle. is the first row and second column of the attitude transformation matrix, is the second row and second column of the attitude transformation matrix, It is the third row and second column of the posture transformation matrix.

8. An excavator attitude measurement device using the excavator attitude measurement method according to claim 1, characterized in that: It includes a bumpiness calculation module, a coordinate system construction module, and an attitude measurement module; The bumpiness calculation module is used to determine the excavator working surface and calculate the bumpiness of the excavator working surface, wherein the excavator working surface is the ground surface of the excavator working area; The coordinate system construction module is used to establish an excavator coordinate system and a working surface coordinate system according to the bumpiness of the excavator working surface; The attitude measurement module is used to measure the attitude of the excavator and obtain the attitude angle through the improved vector method, and the attitude angle includes the yaw angle, the pitch angle and the roll angle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the excavator posture measurement method as described in any one of claims 1-7 is implemented.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the excavator posture measurement method as described in any one of claims 1 to 7 when executed by a computer processor.

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