Excavator rotation parameter determination method, electronic equipment and storage medium

Abstract

The invention provides an excavator rotation parameter determination method, electronic equipment and a storage medium, and the method comprises the steps: obtaining a plurality of rotation angles of an excavator model, first position information of a satellite positioning point at each rotation angle, and second position information of a rotation center in the process of executing rotation operation by the excavator model; determining a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point according to the plurality of rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance and the calibrated vertical distance; and in the process that the target excavator executes the rotation operation, according to the target horizontal distance, the target vertical distance, the actual rotation angle of the target excavator and the actual position information of the satellite positioning point on the target excavator in the world coordinate system, the rotation center coordinate of the target excavator is determined. And the obtained coordinate of the rotation center is closer to the actual coordinate and is more real.

Description

Technical Field

[0001] The present application relates to the technical field of excavators, and in particular to a method for determining rotation parameters of an excavator, an electronic device, and a storage medium. Background Art

[0002] With the continuous advancement of science and technology, excavators will gradually move towards automation and intelligence, among which excavator posture measurement is an indispensable technology for automation. In the excavator posture measurement system, since the rotation center coordinates cannot be measured directly, the rotation parameters are usually obtained by indirect measurement.

[0003] In the prior art, the actual installation error is ignored in the process of determining the rotation parameters, and the rotation parameters are determined without moving the rotation center, so the error between the determined rotation parameters and the actual rotation parameters is relatively large. Summary of the invention

[0004] The purpose of the present application is to provide a method for determining the rotation parameters of an excavator, an electronic device and a storage medium to address the deficiencies in the above-mentioned prior art, so as to improve the accuracy of determining the rotation parameters of the excavator.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for determining a rotation parameter of an excavator, the method comprising:

[0007] Construct an excavator model corresponding to the target excavator;

[0008] Obtaining a calibrated horizontal distance and a calibrated vertical distance between a rotation center on the excavator model and a satellite positioning point on the excavator model;

[0009] During the process of the excavator model performing a rotation operation, a plurality of rotation angles of the excavator model are obtained, and first position information of the satellite positioning point and second position information of the rotation center of the excavator model at each rotation angle are obtained, wherein the first position information and the second position information are both position information in a laser coordinate system;

[0010] Determine a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point according to the multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance, and the calibrated vertical distance;

[0011] During the process of the target excavator performing the rotation operation, the rotation center coordinates of the target excavator are determined according to the target horizontal distance, the target vertical distance, the actual rotation angle of the target excavator and the actual position information of the satellite positioning point on the target excavator in the world coordinate system.

[0012] Optionally, determining a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point according to the multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance, and the calibrated vertical distance includes:

[0013] Determine the sum of the difference between the theoretical rotation center coordinates and the second position information according to the multiple rotation angles, the calibrated horizontal distance, the calibrated vertical distance, the first position information corresponding to each rotation angle, and the second position information corresponding to each rotation angle, wherein the theoretical rotation center is the coordinate in the laser coordinate system;

[0014] The target horizontal distance and the target vertical distance are determined according to the sum of the difference between the theoretical rotation center coordinates and the second position information.

[0015] Optionally, determining the sum of the differences between the theoretical rotation center coordinates and the second position information according to the multiple rotation angles, the calibrated horizontal distance, the calibrated vertical distance, the first position information corresponding to each of the rotation angles, and the second position information corresponding to each of the rotation angles includes:

[0016] Determine the difference between each theoretical rotation center coordinate and each second position information according to each rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of each satellite positioning point in the laser coordinate system;

[0017] The sum of the differences between each of the theoretical rotation center coordinates and each of the second position information is calculated.

[0018] Optionally, determining the difference between each theoretical rotation center coordinate and each second position information according to each rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of each satellite positioning point in the laser coordinate system includes:

[0019] Obtain theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of the satellite positioning point in the laser coordinate system at the rotation angle;

[0020] The coordinate difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle is calculated, and the square of the coordinate difference is used as the difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle.

[0021] Optionally, obtaining the theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle, the calibrated horizontal distance, the calibrated vertical distance and the position information of the satellite positioning point in the laser coordinate system at the rotation angle includes:

[0022] Constructing a rotation angle matrix according to the rotation angle;

[0023] Constructing a distance matrix according to the calibrated horizontal distance and the calibrated vertical distance;

[0024] The theoretical rotation center coordinates corresponding to the rotation angle are obtained according to the rotation angle matrix, the distance matrix and the position information of the satellite positioning point in the laser coordinate system at the rotation angle.

[0025] Optionally, obtaining the theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle matrix, the distance matrix and the position information of the satellite positioning point in the laser coordinate system at the rotation angle includes:

[0026] The product of the rotation angle matrix and the distance matrix is ​​calculated, and the product is added to the position coordinates of the satellite positioning point in the laser coordinate system at the rotation angle to obtain the theoretical rotation center coordinates corresponding to the rotation angle.

[0027] Optionally, determining the target horizontal distance and the target vertical distance according to the sum of the difference between the theoretical rotation center coordinates and the second position information includes:

[0028] Taking the value at which the partial derivative of the sum of the differences with respect to the horizontal distance is zero as the target horizontal distance;

[0029] The value at which the partial derivative of the sum of the differences with respect to the vertical distance is zero is taken as the target vertical distance.

[0030] Optionally, the obtaining of the first position information of the satellite positioning point and the second position information of the rotation center of the excavator model at each rotation angle includes:

[0031] Acquire the first position information obtained by simulating laser measurement equipment to measure a laser reflector disposed on the surface of the satellite positioning point of the excavator model;

[0032] The second position information is obtained by measuring the laser reflection plate disposed on the rotation center surface of the excavator model by the simulated laser measurement equipment.

[0033] In a second aspect, an embodiment of the present application further provides a device for determining a rotation parameter of an excavator, the device comprising:

[0034] A construction module, used for constructing an excavator model corresponding to a target excavator;

[0035] An acquisition module, used to acquire a calibrated horizontal distance and a calibrated vertical distance between a rotation center on the excavator model and a satellite positioning point on the excavator model;

[0036] an acquisition module, used for acquiring a plurality of rotation angles of the excavator model during the process of the excavator model performing a rotation operation, and acquiring first position information of the satellite positioning point and second position information of the rotation center of the excavator model at each rotation angle, wherein the first position information and the second position information are both position information in a laser coordinate system;

[0037] a determination module, configured to determine a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point according to the multiple rotation angles, the first position information corresponding to each of the rotation angles, the second position information corresponding to each of the rotation angles, the calibrated horizontal distance, and the calibrated vertical distance;

[0038] A determination module is used to determine the rotation center coordinates of the target excavator according to the target horizontal distance, the target vertical distance, the actual rotation angle of the target excavator and the actual position information of the satellite positioning point on the target excavator in the world coordinate system during the target excavator performs a rotation operation.

[0039] Optionally, the determining module is specifically used to:

[0040] Determine the sum of the difference between the theoretical rotation center coordinates and the second position information according to the multiple rotation angles, the calibrated horizontal distance, the calibrated vertical distance, the first position information corresponding to each rotation angle, and the second position information corresponding to each rotation angle, wherein the theoretical rotation center is the coordinate in the laser coordinate system;

[0041] The target horizontal distance and the target vertical distance are determined according to the sum of the difference between the theoretical rotation center coordinates and the second position information.

[0042] Optionally, the determining module is specifically used to:

[0043] Determine the difference between each theoretical rotation center coordinate and each second position information according to each rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of each satellite positioning point in the laser coordinate system;

[0044] The sum of the differences between each of the theoretical rotation center coordinates and each of the second position information is calculated.

[0045] Optionally, the determining module is specifically used to:

[0046] Obtain theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of the satellite positioning point in the laser coordinate system at the rotation angle;

[0047] The coordinate difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle is calculated, and the square of the coordinate difference is used as the difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle.

[0048] Optionally, the determining module is specifically used to:

[0049] Constructing a rotation angle matrix according to the rotation angle;

[0050] Constructing a distance matrix according to the calibrated horizontal distance and the calibrated vertical distance;

[0051] The theoretical rotation center coordinates corresponding to the rotation angle are obtained according to the rotation angle matrix, the distance matrix and the position information of the satellite positioning point in the laser coordinate system at the rotation angle.

[0052] Optionally, the determining module is specifically used to:

[0053] The product of the rotation angle matrix and the distance matrix is ​​calculated, and the product is added to the position coordinates of the satellite positioning point in the laser coordinate system at the rotation angle to obtain the theoretical rotation center coordinates corresponding to the rotation angle.

[0054] Optionally, the determining module is specifically used to:

[0055] Taking the value at which the partial derivative of the sum of the differences with respect to the horizontal distance is zero as the target horizontal distance;

[0056] The value at which the partial derivative of the sum of the differences with respect to the vertical distance is zero is taken as the target vertical distance.

[0057] Optionally, the acquisition module is specifically used for:

[0058] Acquire the first position information obtained by simulating laser measurement equipment to measure a laser reflector disposed on the surface of the satellite positioning point of the excavator model;

[0059] The second position information is obtained by measuring the laser reflection plate disposed on the rotation center surface of the excavator model by the simulated laser measurement equipment.

[0060] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when the application is running, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to execute the steps of the method for determining the excavator rotation parameters described in the first aspect above.

[0061] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is read and executes the steps of the method for determining the rotation parameters of the excavator described in the first aspect above.

[0062] The beneficial effects of this application are:

[0063] The present application provides a method for determining the rotation parameters of an excavator, an electronic device, and a storage medium. Due to actual installation errors and the movement of the rotation center each time the excavator performs a rotation operation, the calibrated horizontal distance and the calibrated vertical distance obtained when the rotation angle of the excavator model is zero degrees will be different from the horizontal distance and the vertical distance from the rotation center of the excavator model to the satellite positioning point at other rotation angles. Therefore, the horizontal distance and the vertical distance between the rotation center on the excavator model and the satellite positioning point can be calculated using a preset method based on multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance, and the calibrated vertical distance. The obtained target horizontal distance and target vertical distance can be closer to the horizontal distance and vertical distance between the rotation center of the excavator model and the satellite positioning point at each rotation angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0065] Figure 1A schematic flow chart of a method for determining rotation parameters of an excavator provided in an embodiment of the present application;

[0066] Figure 2 A structural schematic diagram of an excavator model provided in an embodiment of the present application;

[0067] Figure 3 A schematic flow chart of a second method for determining rotation parameters of an excavator provided in an embodiment of the present application;

[0068] Figure 4 A schematic flow chart of a third method for determining rotation parameters of an excavator provided in an embodiment of the present application;

[0069] Figure 5 A schematic flow chart of a fourth method for determining rotation parameters of an excavator provided in an embodiment of the present application;

[0070] Figure 6 A schematic flow chart of a fifth method for determining rotation parameters of an excavator provided in an embodiment of the present application;

[0071] Figure 7 A schematic flow chart of a sixth method for determining rotation parameters of an excavator provided in an embodiment of the present application;

[0072] Figure 8 A schematic diagram of a device for determining a rotation parameter of an excavator provided in an embodiment of the present application;

[0073] Fig. 9 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0074] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0075] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0076] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0077] Optionally, the method for determining the rotation parameters of an excavator provided in the embodiment of the present application is applied to an electronic device, which may be a terminal device with computing and display capabilities, such as a mobile phone, a tablet computer, a laptop computer, a PDA, a desktop computer, or a server. Specifically, it may be applied to an application in a terminal device, such as an APP (application, mobile phone software) of a mobile phone, an application system on a computer, etc.

[0078] The specific implementation process of determining the excavator rotation parameters provided in the embodiment of the present application is explained in detail below.

[0079] Figure 1 The present invention provides a flow chart of a method for determining the rotation parameters of an excavator, and the execution subject of the method is the aforementioned electronic device. Figure 1 As shown, the method includes:

[0080] S101, constructing an excavator model corresponding to a target excavator.

[0081] Optionally, there are multiple different types of excavators, and for each type of excavator, an excavator model of the excavator model can be pre-built in the electronic device. A rotation angle sensor can be installed in the constructed excavator model, and the rotation angle sensor can measure the rotation angle of the excavator model, and a satellite positioning point can be pre-calibrated on the excavator model. A GNSS receiver and a laser reflector can be installed at the position of the satellite positioning point. At the same time, a laser reflector is also installed at the rotation center position of the excavator model. In addition, a simulated laser measuring device can be fixed at a certain distance from the excavator model. By simulating the laser measuring device, the laser reflector at the satellite positioning point position, and the laser reflector at the rotation center position, the coordinates of the satellite positioning point and the coordinates of the rotation center in the laser coordinate system can be measured.

[0082] S102: Obtain a calibrated horizontal distance and a calibrated vertical distance between the rotation center on the excavator model and the satellite positioning point on the excavator model.

[0083] Optionally, after the position of the satellite positioning point is calibrated on the excavator model, the calibrated horizontal distance and the calibrated vertical distance are obtained when the rotation angle of the excavator model is 0, that is, when the excavator model is placed horizontally and the upper body of the excavator model is kept parallel to the crawler, such as Figure 2 When the excavator rotation angle is 0, the satellite positioning point position is Figure 2 Point A in the figure, the rotation center position is Figure 2 By using point B in the figure, the calibrated horizontal distance La1 and the calibrated vertical distance Lb1 between the rotation center on the excavator model and the satellite positioning point on the excavator model can be obtained.

[0084] S103. When the excavator model performs a rotation operation, a plurality of rotation angles of the excavator model are obtained, and first position information of a satellite positioning point and second position information of a rotation center of the excavator model are obtained at each rotation angle.

[0085] The first position information and the second position information are both position information in a laser coordinate system, and the coordinate origin of the laser coordinate system is the position of the measurement origin of the simulated laser measurement device.

[0086] Optionally, when the excavator rotation angle is zero, one circle of the excavator model can be divided into multiple rotation angles, specifically, it can be divided into multiple rotation angles evenly, or it can be divided into multiple rotation angles according to a preset ratio. For example, 360 degrees can be divided into 20 rotation angles, or it can be divided into 25 rotation angles, 30 rotation angles, 35 rotation angles, 40 rotation angles, etc., and each rotation angle can be the same or different.

[0087] Optionally, whenever the excavator model performs a rotation operation according to each rotation angle, the first position information of the satellite positioning point of the excavator model at each rotation angle and the second position information of the rotation center can be obtained.

[0088] For example, if there are 20 rotation angles, the first position information of the satellite positioning point and the second position information of the rotation center at the 20 rotation angles can be obtained respectively, and 20 first position information and 20 second position information are obtained. For example, the first position information of the satellite positioning point at rotation angle 1 and the second position information of the rotation center, the first position information of the satellite positioning point at rotation angle 2 and the second position information of the rotation center, the first position information of the satellite positioning point at rotation angle 3 and the second position information of the rotation center, and so on.

[0089] S104, determining a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point according to multiple rotation angles, first position information corresponding to each rotation angle, second position information corresponding to each rotation angle, a calibrated horizontal distance, and a calibrated vertical distance.

[0090] Optionally, due to actual installation errors and the movement of the rotation center each time the excavator performs a rotation operation, the calibrated horizontal distance and calibrated vertical distance obtained when the excavator model's rotation angle is zero degrees will be different from the horizontal distance and vertical distance from the rotation center of the excavator model to the satellite positioning point at other rotation angles. Therefore, the horizontal distance and vertical distance between the rotation center on the excavator model and the satellite positioning point can be calculated using a preset method based on multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance and the calibrated vertical distance. The obtained target horizontal distance and target vertical distance can be closer to the horizontal distance and vertical distance between the rotation center of the excavator model and the satellite positioning point at each rotation angle.

[0091] S105. When the target excavator performs a rotation operation, the rotation center coordinates of the target excavator are determined according to the target horizontal distance, the target vertical distance, the actual rotation angle of the target excavator, and the actual position information of the satellite positioning point on the target excavator in the world coordinate system.

[0092] Optionally, a rotation angle sensor and a satellite positioning point, such as a GNSS receiver, may also be installed on the body of the target excavator, and the position of the satellite positioning point installed on the target excavator is the same as the position of the satellite positioning point on the excavator model corresponding to the target excavator. When the target excavator performs a rotation operation, the actual rotation angle of the target excavator and the actual position information of the satellite positioning point on the target excavator in the world coordinate system at the actual rotation angle can be measured by the rotation angle sensor on the body of the target excavator.

[0093] Optionally, when the target excavator performs a rotation operation in an actual application scenario, the target horizontal distance, target vertical distance, actual rotation angle of the target excavator, and actual position information of the satellite positioning point on the target excavator in the world coordinate system at the actual rotation angle can be obtained according to the excavator model corresponding to the target excavator. A preset method can be used to determine the rotation center coordinates of the target excavator at the actual rotation angle, and the determined rotation center coordinates of the target excavator are the coordinates in the world coordinate system.

[0094] In the present application, an excavator model corresponding to a target excavator is first constructed, and during the process of the excavator model performing a rotation operation, multiple rotation angles of the excavator model, first position information of a satellite positioning point on the excavator model at each rotation angle, and second position information of the rotation center are obtained. The target horizontal distance and the target vertical distance between the rotation center and the satellite positioning point are determined according to the multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance, and the calibrated vertical distance, so that the determined target horizontal distance and the target vertical distance are closer to the horizontal distance and the vertical distance between the rotation center on the excavator model and the satellite positioning point than the actual one, thereby avoiding the situation in the prior art where the installation error and the movement of the rotation center are ignored. Then, when the target excavator performs an excavation operation, the rotation center coordinates of the target excavator at the actual rotation angle can be obtained according to the measured actual rotation angle of the target excavator, the actual position information of the satellite positioning point on the target excavator at the actual rotation angle, and the target horizontal distance and the target vertical distance determined in advance according to the excavator model, so that the obtained rotation center coordinates are closer to the actual one and more realistic.

[0095] Figure 3 A flow chart of a second method for determining the rotation parameters of an excavator provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, in the above S104, determining the target horizontal distance and the target vertical distance between the rotation center and the satellite positioning point according to the multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance, and the calibrated vertical distance may include:

[0096] S201, determining the sum of the difference between the theoretical rotation center coordinates and the second position information according to multiple rotation angles, calibrated horizontal distances, calibrated vertical distances, first position information corresponding to each rotation angle, and second position information corresponding to each rotation angle.

[0097] The second position information corresponding to each rotation angle is the position information of the rotation center measured by the simulated laser measurement device at each rotation angle, and the theoretical rotation center coordinates refer to the coordinates in the laser coordinate system.

[0098] Optionally, there may be a deviation between the obtained theoretical rotation center coordinates and the second position information of the rotation center measured by the simulated laser measuring equipment. In this case, a preset method can be used based on multiple rotation angles, calibrated horizontal distances, calibrated vertical distances, the first position information corresponding to each rotation angle, and the second position information corresponding to each rotation angle to determine the sum of the differences between the theoretical rotation center coordinates and the second position information, that is, to obtain the sum of all deviations between the theoretical rotation center coordinates and the second position information.

[0099] S202: Determine a target horizontal distance and a target vertical distance according to a sum of a difference between the theoretical rotation center coordinates and the second position information.

[0100] Optionally, a preset method may be used to obtain the target horizontal distance and the target vertical distance according to the sum of the difference between the theoretical rotation center coordinates and the second position information.

[0101] In this embodiment, the target horizontal distance and the target vertical distance are obtained by calculating the sum of the differences between the theoretical rotation center coordinates and the rotation center coordinates measured by the simulated laser device, taking into account the deviation between the theoretical rotation center coordinates and the measured rotation center at each rotation angle, that is, taking into account the fact that the rotation center may move during the rotation process, so that the target horizontal distance and the target vertical distance are closer to the actual ones.

[0102] Figure 4 A flow chart of a third method for determining the rotation parameters of an excavator provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, the above S201, according to multiple rotation angles, calibrated horizontal distances, calibrated vertical distances, first position information corresponding to each rotation angle, and second position information corresponding to each rotation angle, determines the sum of the differences between the theoretical rotation center coordinates and the second position information, including:

[0103] S301, determining the difference between each theoretical rotation center coordinate and each second position information according to each rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of each satellite positioning point in the laser coordinate system.

[0104] The theoretical rotation center coordinates refer to the theoretical rotation center coordinates obtained at each rotation angle. The second position information refers to the coordinates of the rotation center measured by the simulated laser measurement device at each rotation angle. n To express, the coordinates of each theoretical rotation center are expressed as B′ n To indicate that each second position information uses B n To indicate, the position information of each satellite positioning point in the laser coordinate system is expressed by A n To represent, wherein n refers to the identifier of the rotation angle, for example, it can refer to the serial number of the rotation angle.

[0105] Optionally, a preset method can be used to obtain the theoretical rotation center coordinates B′ at each rotation angle according to each rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of each satellite positioning point in the laser coordinate system. n The rotation center coordinate B measured at each rotation angle n The difference between Err n .

[0106] For example, the difference between the theoretical rotation center coordinate B′1 of the excavator model at the rotation angle α1 and the second position information B1 at the rotation angle α1, the difference between the theoretical rotation center coordinate B′2 at the rotation angle α2 and the second position information B2 at the rotation angle α2, the difference between the theoretical rotation center coordinate B′3 at the rotation angle α3 and the second position information B3 at the rotation angle α3, and so on can be obtained.

[0107] S302, calculating the sum of the differences between each theoretical rotation center coordinate and each second position information.

[0108] Optionally, the difference between the theoretical rotation center coordinates at each rotation angle and the rotation center coordinates measured at each rotation angle can be summed to obtain the sum of the differences between each theoretical rotation center coordinate and each second position information:

[0109] Figure 5 A flow chart of a fourth method for determining the rotation parameters of an excavator provided in an embodiment of the present application is shown as follows: Figure 5 As shown, in the above S301, determining the difference between each theoretical rotation center coordinate and each second position information according to each rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of each satellite positioning point in the laser coordinate system may include:

[0110] S401, obtaining theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle, the calibrated horizontal distance, the calibrated vertical distance and the position information of the satellite positioning point in the laser coordinate system at the rotation angle.

[0111] Optionally, for a rotation angle α n , according to the rotation angle α n , calibrate the horizontal distance La1, calibrate the vertical distance Lb1 and the position information A of the satellite positioning point in the laser coordinate system at this rotation angle n Use the preset method to obtain the theoretical rotation center coordinate B' corresponding to the rotation angle n Among them, it can be known from the above that the position information A of the satellite positioning point in the laser coordinate system at each rotation angle n It can be measured by simulating laser measuring equipment.

[0112] S402, calculating the coordinate difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle, and taking the square of the coordinate difference as the difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle.

[0113] Specifically, the formula Err n =|B′n -B n | 2 The difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle is obtained. It can be known from the above that the second position information corresponding to the rotation angle can be measured by simulating laser measurement equipment.

[0114] It is worth noting that the above S301~S302 calculates the difference between the theoretical rotation center coordinates corresponding to a rotation angle and the second position information corresponding to the rotation angle, and the calculation process of the difference between the theoretical rotation center coordinates corresponding to other rotation angles and the second position information corresponding to each rotation angle is the same as steps S301~S302, which will not be repeated here.

[0115] Figure 6 A flow chart of a fifth method for determining the rotation parameters of an excavator provided in an embodiment of the present application is shown as follows: Figure 6 As shown, in the above S401, according to the rotation angle, the calibrated horizontal distance, the calibrated vertical distance and the position information of the satellite positioning point in the laser coordinate system at the rotation angle, the theoretical rotation center coordinates corresponding to the rotation angle are obtained, which may include:

[0116] S501, constructing a rotation angle matrix according to the rotation angle.

[0117] Specifically, the rotation angle matrix is

[0118] S502: construct a distance matrix according to the calibrated horizontal distance and the calibrated vertical distance.

[0119] Specifically, the distance matrix is

[0120] S503, obtaining theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle matrix, the distance matrix and the position information of the satellite positioning point in the laser coordinate system at the time of the rotation angle.

[0121] Optionally, the position information A of the satellite positioning point in the laser coordinate system at the rotation angle matrix, the distance matrix and the position information A of the satellite positioning point in the laser coordinate system at the rotation angle can be used to obtain the position information A of the satellite positioning point in the laser coordinate system. n Use the preset method to obtain the theoretical rotation center coordinates corresponding to the rotation angle.

[0122] Optionally, in the above S503, obtaining the theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle matrix, the distance matrix and the position information of the satellite positioning point in the laser coordinate system at the rotation angle may include:

[0123] Specifically, the product of the rotation angle matrix and the distance matrix can be calculated, and the calculated product can be added to the position coordinates of the satellite positioning point in the laser coordinate system at the rotation angle to obtain the theoretical rotation center coordinates corresponding to the rotation angle, which can be specifically obtained by the following formula (1).

[0124]

[0125] in, is the rotation angle matrix, is the distance matrix, α n is the rotation angle, La1 is the calibrated horizontal distance, Lb1 is the calibrated vertical distance, A n is the position coordinate of the satellite positioning point in the laser coordinate system when the rotation angle is n is the theoretical rotation center coordinate corresponding to the rotation angle.

[0126] Figure 7 A flow chart of a sixth method for determining the rotation parameters of an excavator provided in an embodiment of the present application is shown as follows: Figure 7 As shown, the above S202, determining the target horizontal distance and the target vertical distance according to the sum of the difference between the theoretical rotation center coordinates and the second position information, may include:

[0127] S601. The value where the partial derivative of the sum of the differences with respect to the horizontal distance is equal to zero is taken as the target horizontal distance.

[0128] Specifically, according to the formula Get the target horizontal distance La.

[0129] S602: The value at which the partial derivative of the sum of the differences with respect to the vertical distance is zero is taken as the target vertical distance.

[0130] Specifically, the formula Get the target vertical distance Lb.

[0131] In this embodiment, the target horizontal distance and the target vertical distance are obtained by using the least square method to obtain the sum of the differences between the theoretical rotation center coordinates at multiple rotation angles and the second position information, so that the error between the obtained target horizontal distance and the target vertical distance and the actual distance can be smaller, and closer to the horizontal distance and vertical distance from the actual rotation center on the target excavator to the satellite positioning point. By obtaining the target horizontal distance and the target vertical distance by the sum of the differences between the theoretical rotation center coordinates at multiple rotation angles and the measured rotation center coordinates, the confidence of the obtained target horizontal distance and the target vertical distance can be higher.

[0132] Optionally, in the above S105, when the target excavator performs the rotation operation, determining the rotation center coordinates of the target excavator according to the target horizontal distance, the target vertical distance, the actual rotation angle of the target excavator, and the actual position information of the satellite positioning point on the target excavator in the world coordinate system may include:

[0133] When the target excavator performs the rotation operation, the target excavator rotates an actual rotation angle α each time x When , only the actual position information A of the satellite positioning point on the target excavator in the world coordinate system can be obtained x , then the rotation center coordinates of the target excavator can be obtained according to the following formula (ii).

[0134]

[0135] Among them, B′ x is the rotation center coordinate of the target excavator at the actual rotation angle, α x is the actual rotation angle, La is the target horizontal distance, Lb is the target vertical distance, A x is the actual position information of the satellite positioning point on the target excavator in the world coordinate system, and x is the sequence identifier of the actual rotation angle.

[0136] Optionally, the above-mentioned obtaining the first position information of the satellite positioning point and the second position information of the rotation center of the excavator model at each rotation angle may include:

[0137] Optionally, the first position information obtained by simulating a laser measuring device to measure a laser reflector plate set on the surface of the satellite positioning point of the excavator model can be obtained, and the second position information obtained by simulating a laser measuring device to measure a laser reflector plate set on the surface of the rotation center of the excavator model can be obtained.

[0138] Exemplarily, at the rotation angle α1, the first position information obtained by the simulated laser measuring equipment measuring the laser reflector plate set on the surface of the satellite positioning point of the excavator model, and the second position information obtained by the simulated laser measuring equipment measuring the laser reflector plate set on the surface of the rotation center of the excavator model can be obtained.

[0139] Figure 8 A schematic diagram of a method for determining the rotation parameters of an excavator provided in an embodiment of the present application, such as Figure 8 As shown, the device comprises:

[0140] A construction module 701 is used to construct an excavator model corresponding to a target excavator;

[0141] An acquisition module 702 is used to acquire a calibrated horizontal distance and a calibrated vertical distance between a rotation center on the excavator model and a satellite positioning point on the excavator model;

[0142] An acquisition module 702 is used to acquire multiple rotation angles of the excavator model during the process of the excavator model performing a rotation operation, and acquire first position information of the satellite positioning point and second position information of the rotation center of the excavator model at each rotation angle, wherein the first position information and the second position information are both position information in a laser coordinate system;

[0143] A determination module 703 is used to determine a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point according to the multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance, and the calibrated vertical distance;

[0144] The determination module 703 is used to determine the rotation center coordinates of the target excavator according to the target horizontal distance, the target vertical distance, the actual rotation angle of the target excavator and the actual position information of the satellite positioning point on the target excavator in the world coordinate system during the target excavator performs the rotation operation.

[0145] Optionally, the determining module 703 is specifically configured to:

[0146] Determine the sum of the difference between the theoretical rotation center coordinates and the second position information according to the multiple rotation angles, the calibrated horizontal distance, the calibrated vertical distance, the first position information corresponding to each rotation angle, and the second position information corresponding to each rotation angle, wherein the theoretical rotation center is the coordinate in the laser coordinate system;

[0147] The target horizontal distance and the target vertical distance are determined according to the sum of the difference between the theoretical rotation center coordinates and the second position information.

[0148] Optionally, the determining module 703 is specifically configured to:

[0149] Determine the difference between each theoretical rotation center coordinate and each second position information according to each rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of each satellite positioning point in the laser coordinate system;

[0150] The sum of the differences between each of the theoretical rotation center coordinates and each of the second position information is calculated.

[0151] Optionally, the determining module 703 is specifically configured to:

[0152] Obtain theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of the satellite positioning point in the laser coordinate system at the rotation angle;

[0153] The coordinate difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle is calculated, and the square of the coordinate difference is used as the difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle.

[0154] Optionally, the determining module 703 is specifically configured to:

[0155] Constructing a rotation angle matrix according to the rotation angle;

[0156] Constructing a distance matrix according to the calibrated horizontal distance and the calibrated vertical distance;

[0157] The theoretical rotation center coordinates corresponding to the rotation angle are obtained according to the rotation angle matrix, the distance matrix and the position information of the satellite positioning point in the laser coordinate system at the rotation angle.

[0158] Optionally, the determining module 703 is specifically configured to:

[0159] The product of the rotation angle matrix and the distance matrix is ​​calculated, and the product is added to the position coordinates of the satellite positioning point in the laser coordinate system at the rotation angle to obtain the theoretical rotation center coordinates corresponding to the rotation angle.

[0160] Optionally, the determining module 703 is specifically configured to:

[0161] Taking the value at which the partial derivative of the sum of the differences with respect to the horizontal distance is zero as the target horizontal distance;

[0162] The value at which the partial derivative of the sum of the differences with respect to the vertical distance is zero is taken as the target vertical distance.

[0163] Optionally, the acquisition module 702 is specifically used for:

[0164] Acquire the first position information obtained by simulating laser measurement equipment to measure a laser reflector disposed on the surface of the satellite positioning point of the excavator model;

[0165] The second position information is obtained by measuring the laser reflection plate disposed on the rotation center surface of the excavator model by the simulated laser measurement equipment.

[0166] Fig. 9 FIG. 8 is a structural block diagram of an electronic device 800 provided in an embodiment of the present application. Fig. 9 As shown, the electronic device may include: a processor 801 and a memory 802 .

[0167] Optionally, a bus 803 may also be included, wherein the memory 802 is used to store machine-readable instructions executable by the processor 801. When the electronic device 800 is running, the processor 801 communicates with the memory 802 through the bus 803. When the machine-readable instructions are executed by the processor 801, the method steps in the above method embodiment are performed.

[0168] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method steps in the above-mentioned method for determining the rotation parameters of an excavator are executed.

[0169] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0170] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0171] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A method for determining the rotation parameters of an excavator, characterized in that: The method comprises: Construct an excavator model corresponding to the target excavator; Obtaining a calibrated horizontal distance and a calibrated vertical distance between a rotation center on the excavator model and a satellite positioning point on the excavator model; During the process of the excavator model performing a rotation operation, a plurality of rotation angles of the excavator model are obtained, and first position information of the satellite positioning point and second position information of the rotation center of the excavator model at each rotation angle are obtained, wherein the first position information and the second position information are both position information in a laser coordinate system; Determine a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point according to the multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance, and the calibrated vertical distance; During the process of the target excavator performing the rotation operation, the rotation center coordinates of the target excavator are determined according to the target horizontal distance, the target vertical distance, the actual rotation angle of the target excavator and the actual position information of the satellite positioning point on the target excavator in the world coordinate system.

2. The method for determining the rotation parameters of an excavator according to claim 1, characterized in that: The determining, according to the multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, the calibrated horizontal distance, and the calibrated vertical distance, a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point comprises: Determine the sum of the difference between the theoretical rotation center coordinates and the second position information according to the multiple rotation angles, the calibrated horizontal distance, the calibrated vertical distance, the first position information corresponding to each rotation angle, and the second position information corresponding to each rotation angle, wherein the theoretical rotation center is the coordinate in the laser coordinate system; The target horizontal distance and the target vertical distance are determined according to the sum of the difference between the theoretical rotation center coordinates and the second position information.

3. The method for determining the rotation parameters of an excavator according to claim 2, characterized in that: Determining the sum of the differences between the theoretical rotation center coordinates and the second position information according to the multiple rotation angles, the calibrated horizontal distance, the calibrated vertical distance, the first position information corresponding to each of the rotation angles, and the second position information corresponding to each of the rotation angles includes: Determine the difference between each theoretical rotation center coordinate and each second position information according to each rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of each satellite positioning point in the laser coordinate system; The sum of the differences between each of the theoretical rotation center coordinates and each of the second position information is calculated.

4. The method for determining the rotation parameters of an excavator according to claim 3, characterized in that: Determining the difference between each theoretical rotation center coordinate and each second position information according to each rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of each satellite positioning point in the laser coordinate system includes: Obtain theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle, the calibrated horizontal distance, the calibrated vertical distance, and the position information of the satellite positioning point in the laser coordinate system at the rotation angle; The coordinate difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle is calculated, and the square of the coordinate difference is used as the difference between the theoretical rotation center coordinates corresponding to the rotation angle and the second position information corresponding to the rotation angle.

5. The method for determining the rotation parameters of an excavator according to claim 4, characterized in that: The obtaining of the theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle, the calibrated horizontal distance, the calibrated vertical distance and the position information of the satellite positioning point in the laser coordinate system at the rotation angle includes: Constructing a rotation angle matrix according to the rotation angle; Constructing a distance matrix according to the calibrated horizontal distance and the calibrated vertical distance; The theoretical rotation center coordinates corresponding to the rotation angle are obtained according to the rotation angle matrix, the distance matrix and the position information of the satellite positioning point in the laser coordinate system at the rotation angle.

6. The method for determining the rotation parameters of an excavator according to claim 5, characterized in that: The obtaining of the theoretical rotation center coordinates corresponding to the rotation angle according to the rotation angle matrix, the distance matrix and the position information of the satellite positioning point in the laser coordinate system at the rotation angle includes: The product of the rotation angle matrix and the distance matrix is ​​calculated, and the product is added to the position coordinates of the satellite positioning point in the laser coordinate system at the rotation angle to obtain the theoretical rotation center coordinates corresponding to the rotation angle.

7. The method for determining the rotation parameters of an excavator according to claim 2, characterized in that: The step of determining the target horizontal distance and the target vertical distance according to the sum of the difference between the theoretical rotation center coordinates and the second position information includes: Taking the value at which the partial derivative of the sum of the differences with respect to the horizontal distance is zero as the target horizontal distance; The value at which the partial derivative of the sum of the differences with respect to the vertical distance is zero is taken as the target vertical distance.

8. The method for determining the rotation parameters of an excavator according to claim 1, characterized in that: The step of obtaining the first position information of the satellite positioning point and the second position information of the rotation center of the excavator model at each rotation angle includes: Acquire the first position information obtained by simulating laser measurement equipment to measure a laser reflector disposed on the surface of the satellite positioning point of the excavator model; The second position information is obtained by measuring the laser reflection plate disposed on the rotation center surface of the excavator model by the simulated laser measurement equipment.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the steps of the method for determining the rotation parameters of the excavator as described in any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining the rotation parameters of an excavator as described in any one of claims 1 to 8 are executed.

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