Method for determining excavator rotation parameters, electronic equipment and storage medium

Abstract

The present application provides a method, electronic device, and storage medium for determining excavator rotation parameters. The method includes: obtaining multiple rotation angles of the excavator model and first position information of a satellite positioning point and second position information of a rotation center at each rotation angle during a rotation operation of the excavator model; determining a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point based on the multiple rotation angles, the first position information corresponding to each rotation angle, the second position information corresponding to each rotation angle, a calibrated horizontal distance, and a calibrated vertical distance; and determining the rotation center coordinates of the target excavator based on 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 a world coordinate system during a rotation operation of the target excavator. This ensures that the obtained rotation center coordinates are closer to the actual value and more realistic.

Description

Technical Field

[0001] The present application relates to the technical field of excavators, and in particular to a method for determining excavator rotation parameters, 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 them, 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, actual installation errors are ignored during the process of determining the rotation parameters, and the rotation parameters are determined without moving the rotation center. As a result, the errors between the rotation parameters determined in this way and the actual rotation parameters are relatively large. Summary of the Invention

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

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are 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 rotation operation of the excavator model, 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 are obtained at each rotation angle, 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 based on 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 rotation operation of the target excavator, the rotation center coordinates of the target excavator are determined based on 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 based on 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, based on 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, the sum of the differences between the theoretical rotation center coordinates and the second position information, 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 differences between the theoretical rotation center coordinates and the second position information based on 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 includes:

[0016] Determining the difference between each theoretical rotation center coordinate and each second position information based on 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 the theoretical rotation center coordinates and the second position information is calculated.

[0018] Optionally, determining the difference between each theoretical rotation center coordinate and each second position information based on 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] 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;

[0020] Calculate the coordinate difference between the theoretical rotation center coordinate corresponding to the rotation angle and the second position information corresponding to the rotation angle, and use the square of the coordinate difference as the difference between the theoretical rotation center coordinate 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] The value at which the partial derivative of the sum of the differences with respect to the horizontal distance is zero is taken as the target horizontal distance;

[0029] The value where 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 measuring a laser reflector provided on a surface of a satellite positioning point of the excavator model using simulated laser measurement equipment;

[0032] The second position information is obtained by measuring a laser reflector provided on a rotation center surface of the excavator model using the simulated laser measuring device.

[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, configured 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, configured to acquire, during the process of the excavator model performing a rotation operation, a plurality of rotation angles of the excavator model, 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;

[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 based on 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, configured to determine, during the process of the target excavator performing a rotation operation, the coordinates of the rotation center of the target excavator based on 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.

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

[0040] Determine, based on 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, the sum of the differences between the theoretical rotation center coordinates and the second position information, 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 configured to:

[0043] Determining the difference between each theoretical rotation center coordinate and each second position information based on 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 the theoretical rotation center coordinates and the second position information is calculated.

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

[0046] 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;

[0047] Calculate the coordinate difference between the theoretical rotation center coordinate corresponding to the rotation angle and the second position information corresponding to the rotation angle, and use the square of the coordinate difference as the difference between the theoretical rotation center coordinate corresponding to the rotation angle and the second position information corresponding to the rotation angle.

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

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

[0056] The value where 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 configured to:

[0058] Acquire the first position information obtained by measuring a laser reflector provided on a surface of a satellite positioning point of the excavator model using simulated laser measurement equipment;

[0059] The second position information is obtained by measuring a laser reflector provided on a rotation center surface of the excavator model using the simulated laser measuring device.

[0060] In a third aspect, an embodiment of the present application further provides an electronic device comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor. When the application is running, the processor communicates with the storage medium via 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 having a computer program stored thereon, and the computer program is read and executes the steps of the method for determining the excavator rotation parameters 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 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, 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, a preset method can be used to calculate the horizontal distance and vertical distance between the rotation center on the excavator model and the satellite positioning point. 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 following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without creative work.

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

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

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

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

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

[0071] Figure 7 A schematic flow chart of a sixth method for determining excavator rotation parameters 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] Figure 9 This is a structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions 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 illustration 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 to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, 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 of the embodiments. The components of the embodiments of the present application generally 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 claimed application, but merely represents 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 are within 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 excavator rotation parameters provided in the embodiments of the present application is applied to an electronic device, such as a mobile phone, tablet computer, laptop computer, PDA, desktop computer, or other terminal device with computing and display capabilities, or a server. Specifically, the method can be applied to an application in a terminal device, such as a mobile phone APP (application, mobile software), an application system on a computer, and the like.

[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, the execution subject of which is the aforementioned electronic device. Figure 1 As shown, the method includes:

[0080] S101: Construct 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 that type can be pre-built in the electronic device. A rotation angle sensor can be installed in the constructed excavator model, which can measure the rotation angle of the excavator model, and the position of 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 track, such as Figure 2 When the excavator's rotation angle is 0, the satellite positioning point is Figure 2 Point A in the figure, the center of rotation is Figure 2 By locating 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, obtain multiple rotation angles of the excavator model, and obtain first position information of a satellite positioning point and second position information of a rotation center of the excavator model 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 measuring device.

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

[0087] Optionally, each time the excavator model performs a rotation operation according to each rotation angle, first position information of the satellite positioning point and second position information of the rotation center of the excavator model at each rotation angle may 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 can be obtained at each of the 20 rotation angles, thus obtaining 20 pieces of first position information and 20 pieces of second position information. For example, the first position information of the satellite positioning point and the second position information of the rotation center at rotation angle 1, the first position information of the satellite positioning point and the second position information of the rotation center at rotation angle 2, the first position information of the satellite positioning point and the second position information of the rotation center at rotation angle 3, and so on.

[0089] S104: Determine a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point based on 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.

[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, 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.

[0092] Optionally, the target excavator can also be equipped with a rotation angle sensor and a satellite positioning point, such as a GNSS receiver, mounted on the target excavator. The location of the satellite positioning point mounted on the target excavator is the same as the location of the satellite positioning point on the excavator model corresponding to the target excavator. When the target excavator performs a rotation operation, the rotation angle sensor on the target excavator can measure the actual rotation angle of the target excavator and the actual position of the satellite positioning point on the target excavator in the world coordinate system at the actual rotation angle.

[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 based on 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. During the excavator model's 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. A target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point are determined based on 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. This ensures that the determined target horizontal distance and target vertical distance are closer to the actual horizontal distance and vertical distance between the rotation center on the excavator model and the satellite positioning point, thereby avoiding the prior art's neglect of installation errors and the movement of the rotation center. Subsequently, when the target excavator performs an excavation operation, the rotation center coordinates of the target excavator at the actual rotation angle can be obtained based on 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 target vertical distance determined in advance based on the excavator model. This ensures that the obtained rotation center coordinates are closer to the actual coordinates 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 as follows: Figure 3 As shown, the above S104, based on 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, determines the target horizontal distance and the target vertical distance between the rotation center and the satellite positioning point, which may include:

[0096] S201. Determine the sum of the differences between the theoretical rotation center coordinates and the second position information based on multiple rotation angles, a calibrated horizontal distance, a calibrated vertical distance, 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 obtained by simulating laser measuring equipment. Then, 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 the sum of the 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 based on 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 summing the differences between the theoretical rotation center coordinates and the rotation center coordinates measured by the simulated laser device. The deviation between the theoretical rotation center coordinates and the measured rotation center at each rotation angle is taken into account, that is, the movement of the rotation center during the rotation process is taken into account, so that the target horizontal distance and the target vertical distance are more consistent with 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 as follows: Figure 4 As shown, the above S201, based on 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, determines the sum of the differences between the theoretical rotation center coordinates and the second position information, including:

[0103] S301. 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.

[0104] Among them, each theoretical rotation center coordinate refers to the theoretical rotation center coordinate obtained at each rotation angle. Each second position information refers to the coordinate of the rotation center measured by the simulated laser measuring device at each rotation angle. If each rotation angle uses α n To express, the coordinates of each theoretical rotation center are expressed using B′ n To indicate that each second position information uses B n To express, the position information of each satellite positioning point in the laser coordinate system is expressed using 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, the theoretical rotation center coordinates B′ at each rotation angle can be obtained using a preset method based on 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: Calculate 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 excavator rotation parameters provided in an embodiment of the present application is shown as follows: Figure 5 As shown, the above S301, based on 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, determines the difference between each theoretical rotation center coordinate and each second position information, which may include:

[0110] S401. 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 time of 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 the 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: Calculate the coordinate difference between the theoretical rotation center coordinate corresponding to the rotation angle and the second position information corresponding to the rotation angle, and use the square of the coordinate difference as the difference between the theoretical rotation center coordinate 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. As mentioned above, 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. 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 time of the rotation angle, the theoretical rotation center coordinates corresponding to the rotation angle are obtained, which may include:

[0116] S501: Construct 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: Obtain 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 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 calculate the position 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 S503 above, 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 time of 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 0, n is the theoretical rotation center coordinate corresponding to the rotation angle.

[0126] Figure 7 A flow chart of the 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 zero is taken as the target horizontal distance.

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

[0129] S602: The value where 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 target vertical distance are obtained by applying the least squares method to the sum of the differences between the theoretical rotation center coordinates and the second position information at multiple rotation angles. This can reduce the error between the obtained target horizontal distance and target vertical distance and the actual distance, making the obtained target horizontal distance and target vertical distance closer to the horizontal distance and vertical distance from the actual rotation center of the target excavator to the satellite positioning point. By obtaining the target horizontal distance and target vertical distance from the sum of the differences between the theoretical rotation center coordinates and the measured rotation center coordinates at multiple rotation angles, the confidence level of the obtained target horizontal distance and target vertical distance can be increased.

[0132] Optionally, in 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 (2).

[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 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 may include:

[0137] Optionally, the first position information obtained by the simulated laser measuring device measuring the 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 the simulated laser measuring device measuring the laser reflector plate set on the surface of the rotation center of the excavator model can be obtained.

[0138] For example, 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 device for determining the rotation parameters of an excavator provided in an embodiment of the present application, such as Figure 8 As shown, the device includes:

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

[0141] An acquisition module 702 is configured 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 for acquiring, during the process of the excavator model performing a rotation operation, a plurality of rotation angles of the excavator model, 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;

[0143] a determination module 703, configured to determine a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point based on 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, based on 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, the sum of the differences between the theoretical rotation center coordinates and the second position information, 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] Determining the difference between each theoretical rotation center coordinate and each second position information based on 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 the theoretical rotation center coordinates and the second position information is calculated.

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

[0152] 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;

[0153] Calculate the coordinate difference between the theoretical rotation center coordinate corresponding to the rotation angle and the second position information corresponding to the rotation angle, and use the square of the coordinate difference as the difference between the theoretical rotation center coordinate 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] The value at which the partial derivative of the sum of the differences with respect to the horizontal distance is zero is taken as the target horizontal distance;

[0162] The value where 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 configured to:

[0164] Acquire the first position information obtained by measuring a laser reflector provided on a surface of a satellite positioning point of the excavator model using simulated laser measurement equipment;

[0165] The second position information is obtained by measuring a laser reflector provided on a rotation center surface of the excavator model using the simulated laser measuring device.

[0166] Figure 9 This is a structural block diagram of an electronic device 800 provided in an embodiment of the present application. Figure 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 embodiment of the 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 brevity 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, the functional units in the various embodiments 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, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0171] The above is only a specific implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this 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 rotation operation of the excavator model, 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 are obtained at each rotation angle, 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 based on 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 rotation operation of the target excavator, 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; The determining, based on 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, of a target horizontal distance and a target vertical distance between the rotation center and the satellite positioning point includes: Determine, based on 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, the sum of the differences between the theoretical rotation center coordinates and the second position information, 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.

2. The method for determining the excavator rotation parameters according to claim 1, characterized in that: Determining the sum of differences between the theoretical rotation center coordinates and the second position information based on 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 includes: Determining the difference between each theoretical rotation center coordinate and each second position information based on 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 the theoretical rotation center coordinates and the second position information is calculated.

3. The method for determining the excavator rotation parameters according to claim 2, characterized in that: Determining the difference between each theoretical rotation center coordinate and each second position information based on 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: 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; Calculate the coordinate difference between the theoretical rotation center coordinate corresponding to the rotation angle and the second position information corresponding to the rotation angle, and use the square of the coordinate difference as the difference between the theoretical rotation center coordinate corresponding to the rotation angle and the second position information corresponding to the rotation angle.

4. The method for determining the excavator rotation parameters according to claim 3, characterized in that: The method of 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: 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.

5. The method for determining the excavator rotation parameters 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 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.

6. The method for determining the excavator rotation parameters according to claim 1, characterized in that: The 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: The value at which the partial derivative of the sum of the differences with respect to the horizontal distance is zero is taken as the target horizontal distance; The value where the partial derivative of the sum of the differences with respect to the vertical distance is zero is taken as the target vertical distance.

7. The method for determining the excavator rotation parameters according to claim 1, characterized in that: 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: Acquire the first position information obtained by measuring a laser reflector provided on a surface of a satellite positioning point of the excavator model using simulated laser measurement equipment; The second position information is obtained by measuring a laser reflector provided on a rotation center surface of the excavator model using the simulated laser measuring device.

8. An electronic device, characterized in that: The method 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 according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the method for determining the rotation parameters of an excavator according to any one of claims 1 to 7.

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