Space measurement processing method of excavator and electronic equipment

Abstract

The invention provides a space measurement processing method of an excavator and electronic equipment. The method comprises the steps that target excavation coordinates of a bucket tooth tip are determined according to initial state information of the excavator at an initial positioning point, attribute information of the excavator and excavation information input by a user; acquiring actual state information of the excavator after the excavator performs excavation operation at the initial positioning point, and determining actual excavation coordinates of the bucket tooth tip according to the actual state information and the attribute information; according to the target excavation coordinates and the actual excavation coordinates, excavation deviation information is determined, the excavator is controlled to continue to execute excavation operation according to the excavation deviation information, and new actual state information of the excavator after the excavation operation is executed is iteratively obtained; and according to the new actual state information and the attribute information, determining a new actual excavation coordinate of the bucket tooth tip until the new actual excavation coordinate is consistent with the target excavation coordinate. Accurate construction is achieved, and working efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of excavators, and in particular to a spatial measurement processing method and electronic equipment for excavators. Background Art

[0002] In some construction scenarios, excavators need to measure, place points, and spread ash first, and continuous measurement and correction are required during this process.

[0003] In the prior art, when an excavator is continuously performing measurement and correction, it needs to rely on high-precision positioning, which is costly and highly dependent on positioning network signals. It cannot operate in scenarios where the network signal is weak. Therefore, the existing excavator is complex to operate and has low correction accuracy during measurement and correction. Summary of the invention

[0004] The purpose of this application is to provide a spatial measurement processing method and electronic equipment for an excavator to improve the working efficiency of the excavator in view of the deficiencies in the above-mentioned prior art.

[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 spatial measurement processing method for an excavator, the method comprising:

[0007] Acquire initial state information of the excavator at an initial positioning point, attribute information of the excavator, and excavation information input by a user, and determine a target excavation coordinate of a bucket tooth tip according to the initial state information, the attribute information, and the excavation information input by the user, wherein the initial state information includes: an initial angle value of a boom, an initial angle value of a forearm, an initial angle value of a bucket, an initial pitch angle of a vehicle body, an initial roll angle of a vehicle body, an initial rotation angle of a vehicle body, and an initial length vector from a boom pin to a rotation center, the attribute information includes a boom length, a forearm length, and a bucket length of the excavator, and the excavation information is used to indicate a size of an object to be excavated at the initial positioning point;

[0008] Acquire actual state information of the excavator after the excavator performs an excavation operation at the initial positioning point, and determine actual excavation coordinates of the bucket tooth tip according to the actual state information and the attribute information;

[0009] Based on the target excavation coordinates and the actual excavation coordinates, excavation deviation information is determined, and the excavator is controlled to continue the excavation operation based on the excavation deviation information, and new actual state information of the excavator after performing the excavation operation is iteratively obtained, and new actual excavation coordinates of the bucket tooth tip are determined based on the new actual state information and the attribute information until the new actual excavation coordinates are consistent with the target excavation coordinates.

[0010] Optionally, determining the target excavation coordinates of the bucket tooth tip according to the initial state information, the attribute information, and the excavation information input by the user includes:

[0011] Determine the initial coordinates of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the center of rotation;

[0012] The target mining coordinates are determined according to the initial coordinates and mining information input by the user.

[0013] Optionally, determining the initial coordinates of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body, the boom length, the forearm length, the bucket length, and the initial length vector from the boom pin to the rotation center includes:

[0014] Determine the initial coordinates of the bucket tooth tip in the vehicle body coordinate system according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the rotation center;

[0015] The initial coordinates of the bucket tooth tip in the horizontal coordinate system are determined according to the initial coordinates of the bucket tooth tip in the vehicle body coordinate system, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body and the initial rotation angle of the vehicle body.

[0016] Optionally, determining the initial coordinates of the bucket tooth tip in the vehicle body coordinate system according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the boom length, the forearm length, the bucket length, and the vector from the boom pin to the rotation center includes:

[0017] Determine the initial x coordinate of the bucket tooth tip according to the first constant and the x component of the initial length vector from the boom pin to the rotation center;

[0018] Determine the initial y coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the y component of the initial length vector from the boom pin to the rotation center;

[0019] Determine the initial z coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the z component of the initial length vector from the boom pin to the center of rotation;

[0020] The initial x-coordinate, the initial y-coordinate, and the initial z-coordinate are used as the initial coordinates of the bucket tooth tip.

[0021] Optionally, determining the initial coordinates of the bucket tooth tip in the horizontal coordinate system according to the initial coordinates of the bucket tooth tip in the vehicle body coordinate system, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, and the initial rotation angle of the vehicle body includes:

[0022] Determining an initial transformation matrix according to an initial roll angle of the vehicle body, an initial pitch angle of the vehicle body, and an initial rotation angle of the vehicle body;

[0023] The initial coordinates of the bucket tooth tip in the vehicle body coordinate system after derivation are multiplied by the initial transformation matrix to obtain a product matrix, and the initial coordinates of the bucket tooth tip in the horizontal coordinate system are obtained by derivation of the product matrix.

[0024] Optionally, determining an initial transformation matrix according to an initial roll angle of the vehicle body, an initial pitch angle of the vehicle body, and an initial rotation angle of the vehicle body includes:

[0025] Determining an initial roll matrix according to an initial roll angle of the vehicle body;

[0026] Determining an initial pitch matrix according to an initial pitch angle of the vehicle body;

[0027] Determining an initial rotation matrix according to an initial rotation angle of the vehicle body;

[0028] The initial roll matrix, the initial pitch matrix and the initial rotation matrix are multiplied to obtain the initial transformation matrix.

[0029] Optionally, determining the excavation deviation information according to the target excavation coordinates and the actual excavation coordinates includes:

[0030] Calculate the difference between the vertical coordinate in the target excavation coordinate and the vertical coordinate in the actual excavation coordinate to obtain a height deviation value;

[0031] Determine a distance deviation value according to the abscissa and ordinate in the target excavation coordinates and the abscissa and ordinate in the actual excavation coordinates;

[0032] An angle deviation value is determined according to the vertical coordinate and the vertical coordinate in the target excavation coordinate and the vertical coordinate and the vertical coordinate in the actual excavation coordinate.

[0033] Optionally, determining the distance deviation value according to the abscissa and ordinate in the target excavation coordinates and the abscissa and ordinate in the actual excavation coordinates includes:

[0034] Calculate the square of the difference between the abscissa in the actual excavation coordinate and the abscissa in the target excavation coordinate to obtain a first parameter;

[0035] Calculate the square of the difference between the ordinate in the actual excavation coordinate and the ordinate in the target excavation coordinate to obtain a second parameter;

[0036] The root mean square of the sum of the first parameter and the second parameter is calculated to obtain the distance deviation value.

[0037] Optionally, determining the angle deviation value according to the vertical coordinate and the vertical coordinate in the target excavation coordinate and the vertical coordinate and the vertical coordinate in the actual excavation coordinate includes:

[0038] Calculate the difference between the vertical coordinate in the actual excavation coordinate and the vertical coordinate in the target excavation coordinate to obtain a third parameter;

[0039] Calculating the difference between the ordinate in the actual excavation coordinate and the ordinate in the target excavation coordinate to obtain a fourth parameter;

[0040] The inverse tangent of the third parameter divided by the fourth parameter is calculated to obtain the angle deviation value.

[0041] In a second aspect, an embodiment of the present application further provides a spatial measurement processing device for an excavator, the device comprising:

[0042] a determination module, for obtaining initial state information of the excavator at an initial positioning point, attribute information of the excavator, and excavation information input by a user, and determining a target excavation coordinate of a bucket tooth tip according to the initial state information, the attribute information, and the excavation information input by the user, wherein the initial state information includes: an initial angle value of a boom, an initial angle value of a forearm, an initial angle value of a bucket, an initial pitch angle of a vehicle body, an initial roll angle of a vehicle body, an initial rotation angle of a vehicle body, and an initial length vector from a boom pin to a rotation center, the attribute information includes a boom length, a forearm length, and a bucket length of the excavator, and the excavation information is used to indicate a size of an object to be excavated at the initial positioning point;

[0043] a determination module, configured to obtain actual state information of the excavator after the excavator performs an excavation operation at the initial positioning point, and determine actual excavation coordinates of the bucket tooth tip according to the actual state information and the attribute information;

[0044] A determination module is used to determine excavation deviation information based on the target excavation coordinates and the actual excavation coordinates, and control the excavator to continue the excavation operation based on the excavation deviation information, iteratively obtain new actual state information of the excavator after performing the excavation operation, and determine new actual excavation coordinates of the bucket tooth tip based on the new actual state information and the attribute information until the new actual excavation coordinates are consistent with the target excavation coordinates.

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

[0046] Determine the initial coordinates of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the center of rotation;

[0047] The target mining coordinates are determined according to the initial coordinates and mining information input by the user.

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

[0049] Determine the initial coordinates of the bucket tooth tip in the vehicle body coordinate system according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the rotation center;

[0050] The initial coordinates of the bucket tooth tip in the horizontal coordinate system are determined according to the initial coordinates of the bucket tooth tip in the vehicle body coordinate system, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body and the initial rotation angle of the vehicle body.

[0051] Optionally, the determining module is specifically used to:

[0052] Determine the initial x coordinate of the bucket tooth tip according to the first constant and the x component of the initial length vector from the boom pin to the rotation center;

[0053] Determine the initial y coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the y component of the initial length vector from the boom pin to the rotation center;

[0054] Determine the initial z coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the z component of the initial length vector from the boom pin to the center of rotation;

[0055] The initial x-coordinate, the initial y-coordinate, and the initial z-coordinate are used as the initial coordinates of the bucket tooth tip.

[0056] Optionally, the determining module is specifically used to:

[0057] Determining an initial transformation matrix according to an initial roll angle of the vehicle body, an initial pitch angle of the vehicle body, and an initial rotation angle of the vehicle body;

[0058] The initial coordinates of the bucket tooth tip in the vehicle body coordinate system after derivation are multiplied by the initial transformation matrix to obtain a product matrix, and the initial coordinates of the bucket tooth tip in the horizontal coordinate system are obtained by derivation of the product matrix.

[0059] Optionally, the determining module is specifically used to:

[0060] Determining an initial roll matrix according to an initial roll angle of the vehicle body;

[0061] Determining an initial pitch matrix according to an initial pitch angle of the vehicle body;

[0062] Determining an initial rotation matrix according to an initial rotation angle of the vehicle body;

[0063] The initial roll matrix, the initial pitch matrix and the initial rotation matrix are multiplied to obtain the initial transformation matrix.

[0064] Optionally, the determining module is specifically used to:

[0065] Calculate the difference between the vertical coordinate in the target excavation coordinate and the vertical coordinate in the actual excavation coordinate to obtain a height deviation value;

[0066] Determine a distance deviation value according to the abscissa and ordinate in the target excavation coordinates and the abscissa and ordinate in the actual excavation coordinates;

[0067] An angle deviation value is determined according to the vertical coordinate and the vertical coordinate in the target excavation coordinate and the vertical coordinate and the vertical coordinate in the actual excavation coordinate.

[0068] Optionally, the determining module is specifically used to:

[0069] Calculate the square of the difference between the abscissa in the actual excavation coordinate and the abscissa in the target excavation coordinate to obtain a first parameter;

[0070] Calculate the square of the difference between the ordinate in the actual excavation coordinate and the ordinate in the target excavation coordinate to obtain a second parameter;

[0071] The root mean square of the sum of the first parameter and the second parameter is calculated to obtain the distance deviation value.

[0072] Optionally, the determining module is specifically used to:

[0073] Calculate the difference between the vertical coordinate in the actual excavation coordinate and the vertical coordinate in the target excavation coordinate to obtain a third parameter;

[0074] Calculating the difference between the ordinate in the actual excavation coordinate and the ordinate in the target excavation coordinate to obtain a fourth parameter;

[0075] The inverse tangent of the third parameter divided by the fourth parameter is calculated to obtain the angle deviation value.

[0076] 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, and when an 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 spatial measurement processing method of the excavator described in the first aspect above.

[0077] 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 spatial measurement processing method of the excavator described in the first aspect above.

[0078] The beneficial effects of this application are:

[0079] The present application provides a spatial measurement processing method and electronic device for an excavator, which determines the actual excavation coordinates of the bucket tooth tip according to the actual state information and attribute information of the excavator after the excavator performs an excavation operation at the initial positioning point, and determines the excavation deviation information according to the actual excavation coordinates and the target excavation coordinates, thereby controlling the excavator to continue the excavation operation according to the determined excavation deviation information. After each excavation operation is performed, the excavation deviation information is determined according to the actual excavation coordinates and the target excavation coordinates, thereby controlling the excavation operation of the excavator according to the excavation deviation information, and stops excavation when the actual excavation coordinates of the excavator are consistent with the target excavation coordinates. The user can continuously adjust the excavation operation according to the excavation deviation information between the actual excavation coordinates and the target excavation coordinates during the excavation process, thereby achieving precise construction, and at the same time simplifying the user operation, reducing the user's difficulty of use, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] 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.

[0081] Figure 1 A schematic flow chart of a spatial measurement processing method for an excavator provided in an embodiment of the present application;

[0082] Figure 2 A flowchart of a method for determining target mining coordinates provided in an embodiment of the present application;

[0083] Figure 3 A flowchart of another method for determining target mining coordinates provided in an embodiment of the present application;

[0084] Figure 4 A flowchart of a method for determining initial coordinates provided in an embodiment of the present application;

[0085] Figure 5 A flowchart of another method for determining initial coordinates provided in an embodiment of the present application;

[0086] Figure 6 A flowchart of a method for determining an initial transformation matrix provided in an embodiment of the present application;

[0087] Figure 7 A flowchart of a method for determining mining deviation information provided by an embodiment of the present application;

[0088] Figure 8 A schematic diagram of a device for a spatial measurement processing method for an excavator provided in an embodiment of the present application;

[0089] Fig. 9 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0090] 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.

[0091] 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.

[0092] 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.

[0093] Optionally, the spatial measurement processing method of the excavator provided in the embodiment of the present application is applied to an electronic device, which can be arranged on the excavator, specifically, it can be installed at the driving position where the driver is located, and the driver can input the excavation information on the electronic device. At the same time, the body, the big arm, the small arm, and the bucket of the excavator can be respectively installed with inclination sensors, which can be used to measure the pitch angle and roll angle of the body of the excavator, the angle value of the big arm, the angle value of the small arm, and the angle value of the bucket. A rotation angle sensor can also be installed on the body to measure the rotation angle of the excavator. The electronic device can communicate with each sensor, obtain the data measured by each sensor, and use the method provided in the embodiment of the present application to calculate the spatial position, and determine the excavation deviation information, so that the driver can control the excavation operation of the excavator according to the determined excavation deviation information, so that the excavator can dig to the target excavation coordinates.

[0094] The electronic device may be, for example, a mobile phone, tablet computer, laptop computer, PDA, desktop computer, or other terminal device with computing and display capabilities. Specifically, it may be applied to an application in a terminal device, such as an APP (application) in a mobile phone, an application system on a computer, etc.

[0095] The specific implementation process of the spatial measurement processing of the excavator provided in the embodiment of the present application is explained in detail below.

[0096] Figure 1 The present invention provides a flow chart of a method for processing spatial measurement of an excavator, the execution subject of which is the aforementioned electronic device. Figure 1 As shown, the method includes:

[0097] S101, obtaining initial state information of the excavator at an initial positioning point, attribute information of the excavator, and excavation information input by a user, and determining a target excavation coordinate of a bucket tooth tip according to the initial state information, the attribute information, and the excavation information input by the user.

[0098] The initial state information may include: the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body, and the initial length vector from the boom pin to the center of rotation. The attribute information may include the boom length, forearm length, and bucket length of the excavator. The excavation information input by the user refers to the size of the target to be excavated at the initial positioning point, that is, the size of the target to be excavated by the excavator. For example, if the target to be excavated is a 3-meter-deep pit, the excavation information input by the user is 3 meters deep.

[0099] Optionally, the user can determine the initial positioning point according to the excavation scenario and actual needs. The initial positioning point can be a ground surface area of ​​an excavation area, such as the ground surface of a circular pit. After the initial positioning point is determined, the excavator can perform excavation operations at the initial positioning point until the target to be excavated is reached. For example, if the target to be excavated is a 5-meter-deep pit, the excavator needs to dig a 5-meter-deep pit at the initial positioning point. The excavation scenario can be specifically divided into basic measurement scenarios, brush measurement scenarios, strip excavation scenarios, and deep pit excavation scenarios. After the initial positioning point is determined, the user can move the excavator and the excavator's bucket tooth tip to the initial positioning point. At this time, the initial state information of the excavator at the initial positioning point is obtained.

[0100] S102, obtaining actual state information of the excavator after the excavator performs an excavation operation at the initial positioning point, and determining actual excavation coordinates of the bucket tooth tip according to the actual state information and attribute information.

[0101] Optionally, after the user inputs the excavation information in the electronic device, the user can control the excavator to perform excavation operations at the initial positioning point. After performing an excavation operation, the actual status information of the excavator can be obtained, that is, the actual angle value of the boom, the actual angle value of the arm, the actual angle value of the bucket, the actual pitch angle of the vehicle body, the actual roll angle of the vehicle body and the actual rotation angle of the vehicle body after the excavator digs once.

[0102] Optionally, the actual excavation coordinates of the excavator after performing the excavation operation may be determined using a preset method according to the actual state information and attribute information of the excavator obtained after performing the excavation operation.

[0103] S103. Determine excavation deviation information based on the target excavation coordinates and the actual excavation coordinates, and control the excavator to continue the excavation operation based on the excavation deviation information, iteratively obtain new actual state information of the excavator after performing the excavation operation, and determine new actual excavation coordinates of the bucket tooth tip based on the new actual state information and attribute information until the new actual excavation coordinates are consistent with the target excavation coordinates.

[0104] Optionally, based on the actual excavation coordinates of the bucket tooth tip after the excavator performs an excavation operation at the initial positioning point and the excavation deviation information determined by the target excavation coordinates, the user can control the excavator to continue to perform an excavation operation, and obtain the new actual state information after the excavation operation is re-executed, and determine the new actual excavation coordinates of the bucket tooth tip based on the new actual state information and the attribute information of the excavator, and determine the new excavation deviation information based on the new actual excavation coordinates and the target excavation coordinates, until the new actual excavation coordinates are suppressed with the target excavation coordinates, that is, when the new excavation deviation information is zero, it means that the excavator has dug the target to be excavated. Among them, when the user controls the excavator to continue to perform the excavation operation according to the excavation deviation information, specifically, the rotation angle of the excavator's boom, arm, bucket, and body can be adjusted according to the excavation deviation information, and then the excavation operation is re-performed according to the adjusted excavator. Among them, the actual excavation coordinates of the bucket tooth tip are the coordinates in the horizontal coordinate system.

[0105] Exemplarily, A: If the target excavation coordinates of the bucket tooth tip are (x, y, z), the actual excavation coordinates of the bucket tooth tip determined after performing an excavation operation at the initial positioning point are (x1, y1, z1). The excavation deviation information determined based on the target excavation coordinates (x, y, z) and the actual excavation coordinates (x1, y1, z1) is excavation deviation information 1. B: The user continues to control the excavator to perform an excavation operation based on the excavation deviation information, and determines that the new actual excavation coordinates after the bucket performs the excavation operation are (x2, y2, z2). C: Determine new excavation deviation information 2 based on the new actual excavation coordinates (x2, y2, z2) and the target excavation coordinates (x, y, z). If the new excavation deviation information 2 is zero, excavation is stopped, that is, the new actual excavation coordinates of the excavator are consistent with the target excavation coordinates; if the new excavation deviation information is not zero, the excavator is continued to be controlled to perform the excavation operation based on the new deviation information, and returns to execute step B until the new excavation deviation information is zero, that is, the new actual excavation coordinates are consistent with the target excavation, and the excavation operation is stopped.

[0106] In this embodiment, the actual excavation coordinates of the bucket tooth tip are determined according to the actual state information and attribute information of the excavator after the excavator performs the excavation operation at the initial positioning point, and the excavation deviation information is determined according to the actual excavation coordinates and the target excavation coordinates, so as to control the excavator to continue the excavation operation according to the determined excavation deviation information. After each excavation operation is performed, the excavation deviation information is determined according to the actual excavation coordinates and the target excavation coordinates, so as to control the excavation operation of the excavator according to the excavation deviation information, and stop the excavation when the actual excavation coordinates of the excavator are consistent with the target excavation coordinates. It allows the user to continuously adjust the excavation operation according to the excavation deviation information between the actual excavation coordinates and the target excavation coordinates during the excavation process, thereby achieving precise construction, and at the same time, it can simplify the user operation, reduce the user's difficulty of use, and improve work efficiency.

[0107] Figure 2 A flowchart of a method for determining target mining coordinates provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the above S101 determines the target excavation coordinates of the bucket tooth tip according to the initial state information, the attribute information and the excavation information input by the user, which may include:

[0108] S201. Determine the initial coordinates of the bucket tooth tip based on the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the center of rotation.

[0109] Among them, the angle value of the boom can be represented by BoomAng, for example, the angle value of the forearm can be represented by ArmAng, the angle value of the bucket can be represented by BktAng, for example, the pitch angle of the vehicle body can be represented by Pitch, the roll angle of the vehicle body can be represented by Roll, the rotation angle of the vehicle body can be represented by Heading, for example, the length of the boom can be represented by L1, the length of the forearm can be represented by L2, the length of the bucket can be represented by L3, and the length vector from the boom pin to the center of rotation can be represented by LA, for example.

[0110] S202: Determine target mining coordinates according to the initial coordinates and mining information input by the user.

[0111] If the initial coordinates are (x0, y0, z0), and the excavation information input by the user is, for example, a 5-meter-deep pit, then the target excavation coordinates are (x0, y0, z0-5).

[0112] Figure 3 A flowchart of another method for determining target mining coordinates provided in an embodiment of the present application, such as Figure 3 As shown, the above S201, according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body, the boom length, the forearm length, the bucket length and the initial length vector from the boom pin to the rotation center, determines the initial coordinates of the bucket tooth tip, which may include:

[0113] S301, determine the initial coordinates of the bucket tooth tip in the vehicle body coordinate system according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the boom length, the forearm length, the bucket length and the initial length vector from the boom pin to the rotation center.

[0114] Specifically, the initial coordinates M_O of the bucket tooth tip in the body coordinate system can be determined using a preset method based on the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the rotation center. The body coordinate system refers to a coordinate system established with the excavator body.

[0115] S302, determining the initial coordinates of the bucket tooth tip in the horizontal coordinate system according to the initial coordinates of the bucket tooth tip in the vehicle body coordinate system, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, and the initial rotation angle of the vehicle body.

[0116] Specifically, the initial coordinates M_O of the bucket tooth tip in the vehicle body coordinate system may be converted into the initial coordinates M_W of the bucket tooth tip in the horizontal coordinate system. The horizontal coordinate system refers to the world coordinate system.

[0117] Figure 4 A flowchart of a method for determining initial coordinates provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, in the above S301, according to the initial angle value of the boom, the initial angle value of the arm, the initial angle value of the bucket, the boom length, the arm length, the bucket length, and the initial length vector from the boom pin to the rotation center, the initial coordinates of the bucket tooth tip in the vehicle body coordinate system are determined, which may include:

[0118] S401, determining an initial x coordinate of the bucket tooth tip according to a first constant and an x ​​component in an initial length vector from the boom pin to the rotation center.

[0119] The first constant may be 0. Specifically, it may be obtained by the following formula (1).

[0120] M_O(i, 1) = 0 + LA(i, 1) Formula (1)

[0121] Among them, M_O(i, 1) is the initial x coordinate, LA(i, 1) is the x component of the length vector from the boom pin to the center of rotation in the i-th calculation, i is the number of calculations, and the calculation of the initial coordinates can be considered as the first calculation, that is, the calculation of the excavator before the excavation operation is performed. When i is 1, it can represent the calculation of the initial coordinates. If the excavator performs i+1 after each excavation operation, then i=2 represents the calculation after performing one excavation operation, i=3 represents the calculation after performing two excavation operations, and i=4 represents the calculation after performing three excavation operations.

[0122] Optionally, the x component LA(1, 1) in the initial length vector from the boom pin to the rotation center can be substituted into formula (1) to obtain the initial x coordinate M_O(1, 1).

[0123] The initial x-coordinate M_O(1, 1) can be obtained according to formula (1).

[0124] S402, determine the initial y coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the arm, the initial angle value of the bucket, the length of the boom, the length of the arm, the length of the bucket, and the y component of the initial length vector from the boom pin to the center of rotation.

[0125] Specifically, it can be obtained according to the following formula (2).

[0126] M_O(i,2)=L1*Cos(BoomAng(i))-L2*cos(BoomAng(i)+

[0127] ArmAng(i))+L3*cos(BoomAng(i)+ArmAng(i)+BktAng(i))+

[0128] LA(i,2) formula (2)

[0129] Among them, M_O(i, 2) is the initial y coordinate, BoomAng is the angle value of the boom, ArmAng is the angle value of the forearm, BktAng is the angle value of the bucket, L1 is the length of the boom, L2 is the length of the forearm, L3 is the length of the bucket, and LA(i, 2) is the y component of the length vector from the boom pin to the center of rotation during the i-th calculation.

[0130] Optionally, the initial angle value of the boom BoomAng(1), the initial angle value of the arm ArmAng(1), the initial angle value of the bucket BktAng(1), the boom length L1, the arm length L2, the bucket length and the y component LA(1, 2) of the initial length vector from the boom pin to the center of rotation can be substituted into the above formula (ii) to obtain the initial y coordinate M_O(1, 2) of the bucket tooth tip in the vehicle body coordinate system.

[0131] S403, determine the initial z coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the arm, the initial angle value of the bucket, the boom length, the arm length, the bucket length and the z component of the initial length vector from the boom pin to the rotation center.

[0132] Specifically, it can be obtained by the following formula (III).

[0133] M_O(i,3)=L1*sin(BoomAng(i))-L2*sin(cos(BoomAng(i)+

[0134] ArmAng(i))+L3*sin(BoomAng(i)+ArmAng(i)+BktAng(i))+

[0135] LA(i,3) formula (III)

[0136] Among them, M_O(i, 3) is the initial z coordinate, BoomAng is the angle value of the boom, ArmAng is the angle value of the forearm, BktAng is the angle value of the bucket, L1 is the length of the boom, L2 is the length of the forearm, L3 is the length of the bucket, and LA(i, 3) is the z component of the length vector from the boom pin to the center of rotation during the i-th calculation.

[0137] Optionally, the initial angle value of the boom BoomAng(1), the initial angle value of the arm ArmAng(1), the initial angle value of the bucket BktAng(1), the boom length L1, the arm length L2, the bucket length L3 and the z component LA(1, 3) of the initial length vector from the boom pin to the center of rotation can be substituted into the above formula (three) to obtain the initial z coordinate M_O(1, 3) of the bucket tooth tip in the vehicle body coordinate system.

[0138] S404: Taking the initial x coordinate, the initial y coordinate and the initial z coordinate as the initial coordinates of the bucket tooth tip.

[0139] Then, the initial coordinates M_O(1,:) of the bucket tooth tip in the vehicle body coordinate system are (M_O(1,1), M_O(1,2), M_O(1,3)).

[0140] Figure 5 A flowchart of another method for determining initial coordinates provided in an embodiment of the present application, such as Figure 5 As shown, the above S302, determining the initial coordinates of the bucket tooth tip in the horizontal coordinate system according to the initial coordinates of the bucket tooth tip in the vehicle body coordinate system, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, and the initial rotation angle of the vehicle body, may include:

[0141] S501 : determining an initial transformation matrix according to an initial roll angle of the vehicle body, an initial pitch angle of the vehicle body, and an initial rotation angle of the vehicle body.

[0142] Optionally, an initial transformation matrix Mat(1) for converting the vehicle body coordinate system to the horizontal coordinate system may be determined using a preset method according to the initial roll angle of the vehicle body, the initial pitch angle of the vehicle body, and the initial rotation angle of the vehicle body.

[0143] S502, multiplying the initial coordinates of the bucket tooth tip in the vehicle body coordinate system after derivation by the initial transformation matrix to obtain a product matrix, and derivating the product matrix to obtain the initial coordinates of the bucket tooth tip in the horizontal coordinate system.

[0144] Specifically, the initial coordinates of the bucket tooth tip in the horizontal coordinate system can be obtained by the following formula (IV).

[0145] M_W(i,:)=(Mat(i)*M_O(i,:)')′Formula (IV)

[0146] Among them, M_W(i,:) is the coordinate of the bucket tooth tip in the horizontal coordinate system during the i-th calculation, is the coordinate in the vehicle body coordinate system during the i-th calculation, and Mat(i) is the transformation matrix during the i-th calculation.

[0147] Optionally, the initial coordinates M_O(1,:) of the bucket tooth tip in the vehicle body coordinate system and the initial rotation matrix Mat(1) can be substituted into the above formula (IV) to obtain the initial coordinates M_W(1,:) of the bucket tooth tip in the horizontal coordinate system.

[0148] Figure 6 A flowchart of a method for determining an initial transformation matrix provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, in the above S501, determining the initial transformation matrix according to the initial roll angle of the vehicle body, the initial pitch angle of the vehicle body, and the initial rotation angle of the vehicle body may include:

[0149] S601: Determine an initial roll matrix according to an initial roll angle of the vehicle body.

[0150] Specifically, it can be obtained by the following formula (5).

[0151] MatR(i)=[cos(Roll(i)) 0 sin(Roll(i)); 0 1 0; -sin(Roll(i)) 0 cos(Roll(i))] Formula (5)

[0152] Where Roll(i) is the roll angle of the vehicle body during the i-th calculation. The initial roll angle Roll(1) can be substituted into formula (5) to obtain the initial roll matrix MatR(1).

[0153] S602: Determine an initial pitch matrix according to an initial pitch angle of the vehicle body.

[0154] Specifically, it can be obtained by the following formula (six).

[0155] MatP(i)=[1 0 0; 0cos(Pitch(i))-sin(Pitch(i)); 0sin(Pitch(i))cos(Pitch(i))] Formula (6)

[0156] Wherein, Pitch(i) is the pitch angle of the vehicle body during the i-th calculation. The initial pitch angle Pitch(1) can be substituted into formula (VI) to obtain the initial pitch matrix MatP(1).

[0157] S603: Determine an initial rotation matrix according to the initial rotation angle of the vehicle body.

[0158] Specifically, it can be obtained by the following formula (VII).

[0159] MatH(i)=[sin(Heading(i)) -cos(Heading(i)) 0; cos(Heading(i)) sin(Heading(i)) 0; 0 0 1] Formula (7)

[0160] Where Heading(i) is the rotation angle of the vehicle body during the i-th calculation. The initial rotation angle Heading(1) can be substituted into formula (VII) to obtain the initial rotation matrix MatH(1).

[0161] S604: Multiply the initial roll matrix, the initial pitch matrix and the initial rotation matrix to obtain an initial transformation matrix.

[0162] Specifically, it can be obtained by the following formula (8).

[0163] Mat(i)=MatR(i)*MatP(i)*MatH(i) formula (8)

[0164] The initial roll matrix MatR(1), the initial pitch matrix MatP(1) and the initial rotation matrix MatH(1) can be substituted into the above formula (eight) to obtain the initial transformation matrix Mat(1).

[0165] Optionally, after the excavator performs an excavation operation each time, the actual state information of the excavator after the excavation operation is obtained, and the actual excavation coordinates of the bucket tooth tip are determined based on the actual state information and attribute information. Then, the actual excavation coordinates of the bucket tooth tip determined after each excavation operation is performed are consistent with the process of determining the initial coordinates in the horizontal coordinate system mentioned above. Specifically, the actual excavation coordinates of the bucket tooth tip after the excavator performs an excavation operation each time can be obtained by the above formulas (1) to (8). After each excavation operation is performed, i+1 in formulas (1) to (8) is used.

[0166] Figure 7 A flowchart of a method for determining mining deviation information provided by an embodiment of the present application, such as Figure 7 As shown, in the above S103, determining the excavation deviation information according to the target excavation coordinates and the actual excavation coordinates may include:

[0167] S701. Calculate the difference between the vertical coordinate in the target excavation coordinate and the vertical coordinate in the actual excavation coordinate to obtain a height deviation value.

[0168] From the above, we can know that the target mining coordinates are (x, y, z) and the actual mining coordinates are (x1, y1, z1).

[0169] Specifically, the height deviation value = z1-z, wherein z1 is the vertical coordinate in the actual excavation coordinates, and z is the vertical coordinate in the target excavation coordinates.

[0170] S702: Determine a distance deviation value according to the abscissa and ordinate in the target excavation coordinates and the abscissa and ordinate in the actual excavation coordinates.

[0171] Specifically, the distance deviation value may be determined using a preset method according to the abscissa x and the ordinate y in the target excavation coordinates and the abscissa x1 and the ordinate y1 in the actual excavation coordinates.

[0172] S703: Determine an angle deviation value according to the vertical coordinate and the vertical coordinate in the target excavation coordinates and the vertical coordinate and the vertical coordinate in the actual excavation coordinates.

[0173] Optionally, the angle deviation value may be determined using a preset method according to the vertical coordinate z and the vertical coordinate y in the target excavation coordinates and the vertical coordinate z1 and the vertical coordinate y1 in the actual excavation coordinates.

[0174] Optionally, determining the distance deviation value according to the abscissa and ordinate in the target excavation coordinates and the abscissa and ordinate in the actual excavation coordinates in S702 may include:

[0175] Optionally, the square of the difference between the abscissa in the actual mining coordinate and the abscissa in the target mining coordinate may be calculated to obtain the first parameter, and the first parameter is (x1-x) 2 . Calculate the square of the difference between the ordinate in the actual mining coordinate and the ordinate in the target mining coordinate to obtain the third parameter, then the third parameter is (y1-y) 2 . Calculate the root mean square of the first parameter and the second parameter to get the distance deviation value. The distance deviation value is

[0176] Optionally, the above S703, determining the angle deviation value according to the vertical coordinate and the vertical coordinate in the target excavation coordinate and the vertical coordinate and the vertical coordinate in the actual excavation coordinate, may include:

[0177] Optionally, the difference between the vertical coordinate in the actual excavation coordinate and the vertical coordinate in the target excavation coordinate can be calculated to obtain the third parameter, and the third parameter is z1-z. The difference between the vertical coordinate in the actual excavation coordinate and the vertical coordinate in the target excavation coordinate can be calculated to obtain the fourth parameter y1-y. The inverse tangent of the value of the third parameter divided by the fourth parameter is calculated to obtain the angle deviation value, and the angle deviation value is

[0178] It is worth noting that, for other excavation operations, the process of calculating the excavation deviation information between the new actual excavation coordinates and the target excavation coordinates is the same as the process of S701 to S703, except that x1, y1, and z1 are replaced by the abscissa, ordinate, and vertical coordinates of the new actual excavation coordinates. Then, the actual excavation coordinates of the bucket tooth tip determined by the excavator after the first excavation operation are (x1, y1, z1), the actual excavation coordinates of the bucket tooth tip determined after the second excavation operation are (x2, y2, z2), the actual excavation coordinates of the bucket tooth tip determined after the third excavation operation are (x3, y3, z3), and so on.

[0179] Figure 8 A schematic diagram of a device for a spatial measurement processing method for an excavator provided in an embodiment of the present application, such as Figure 8 As shown, the device comprises:

[0180] The determination module 801 is used to obtain the initial state information of the excavator at the initial positioning point, the attribute information of the excavator and the excavation information input by the user, and determine the target excavation coordinates of the bucket tooth tip according to the initial state information, the attribute information and the excavation information input by the user, wherein the initial state information includes: the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body and the initial length vector from the boom pin to the rotation center, the attribute information includes the boom length, the forearm length and the bucket length of the excavator, and the excavation information is used to indicate the size of the target to be excavated at the initial positioning point;

[0181] The determination module 801 is used to obtain the actual state information of the excavator after the excavator performs the excavation operation at the initial positioning point, and determine the actual excavation coordinates of the bucket tooth tip according to the actual state information and the attribute information;

[0182] Determination module 801 is used to determine excavation deviation information based on the target excavation coordinates and the actual excavation coordinates, and control the excavator to continue to perform the excavation operation based on the excavation deviation information, iteratively obtain new actual state information of the excavator after performing the excavation operation, and determine the new actual excavation coordinates of the bucket tooth tip based on the new actual state information and the attribute information until the new actual excavation coordinates are consistent with the target excavation coordinates.

[0183] Optionally, the determining module 801 is specifically configured to:

[0184] Determine the initial coordinates of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the center of rotation;

[0185] The target mining coordinates are determined according to the initial coordinates and mining information input by the user.

[0186] Optionally, the determining module 801 is specifically configured to:

[0187] Determine the initial coordinates of the bucket tooth tip in the vehicle body coordinate system according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the rotation center;

[0188] The initial coordinates of the bucket tooth tip in the horizontal coordinate system are determined according to the initial coordinates of the bucket tooth tip in the vehicle body coordinate system, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body and the initial rotation angle of the vehicle body.

[0189] Optionally, the determining module 801 is specifically configured to:

[0190] Determine the initial x coordinate of the bucket tooth tip according to the first constant and the x component of the initial length vector from the boom pin to the rotation center;

[0191] Determine the initial y coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the y component of the initial length vector from the boom pin to the rotation center;

[0192] Determine the initial z coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the z component of the initial length vector from the boom pin to the center of rotation;

[0193] The initial x-coordinate, the initial y-coordinate, and the initial z-coordinate are used as the initial coordinates of the bucket tooth tip.

[0194] Optionally, the determining module 801 is specifically configured to:

[0195] Determining an initial transformation matrix according to an initial roll angle of the vehicle body, an initial pitch angle of the vehicle body, and an initial rotation angle of the vehicle body;

[0196] The initial coordinates of the bucket tooth tip in the vehicle body coordinate system after derivation are multiplied by the initial transformation matrix to obtain a product matrix, and the initial coordinates of the bucket tooth tip in the horizontal coordinate system are obtained by derivation of the product matrix.

[0197] Optionally, the determining module 801 is specifically configured to:

[0198] Determining an initial roll matrix according to an initial roll angle of the vehicle body;

[0199] Determining an initial pitch matrix according to an initial pitch angle of the vehicle body;

[0200] Determining an initial rotation matrix according to an initial rotation angle of the vehicle body;

[0201] The initial roll matrix, the initial pitch matrix and the initial rotation matrix are multiplied to obtain the initial transformation matrix.

[0202] Optionally, the determining module 801 is specifically configured to:

[0203] Calculate the difference between the vertical coordinate in the target excavation coordinate and the vertical coordinate in the actual excavation coordinate to obtain a height deviation value;

[0204] Determine a distance deviation value according to the abscissa and ordinate in the target excavation coordinates and the abscissa and ordinate in the actual excavation coordinates;

[0205] An angle deviation value is determined according to the vertical coordinate and the vertical coordinate in the target excavation coordinate and the vertical coordinate and the vertical coordinate in the actual excavation coordinate.

[0206] Optionally, the determining module 801 is specifically configured to:

[0207] Calculate the square of the difference between the abscissa in the actual excavation coordinate and the abscissa in the target excavation coordinate to obtain a first parameter;

[0208] Calculate the square of the difference between the ordinate in the actual excavation coordinate and the ordinate in the target excavation coordinate to obtain a second parameter;

[0209] The root mean square of the sum of the first parameter and the second parameter is calculated to obtain the distance deviation value.

[0210] Optionally, the determining module 801 is specifically configured to:

[0211] Calculate the difference between the vertical coordinate in the actual excavation coordinate and the vertical coordinate in the target excavation coordinate to obtain a third parameter;

[0212] Calculating the difference between the ordinate in the actual excavation coordinate and the ordinate in the target excavation coordinate to obtain a fourth parameter;

[0213] The inverse tangent of the third parameter divided by the fourth parameter is calculated to obtain the angle deviation value.

[0214] Fig. 9 FIG. 9 is a structural block diagram of an electronic device 900 provided in an embodiment of the present application. Fig. 9 As shown, the electronic device may include: a processor 901 and a memory 902 .

[0215] Optionally, a bus 903 may also be included, wherein the memory 902 is used to store machine-readable instructions executable by the processor 901. When the electronic device 900 is running, the processor 901 communicates with the memory 902 through the bus 903. When the machine-readable instructions are executed by the processor 901, the method steps in the above method embodiment are performed.

[0216] An embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method steps in the embodiment of the spatial measurement processing method for an excavator are executed.

[0217] 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.

[0218] 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.

[0219] 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 spatial measurement processing method for an excavator, characterized in that: The method comprises: Acquire initial state information of the excavator at an initial positioning point, attribute information of the excavator, and excavation information input by a user, and determine a target excavation coordinate of a bucket tooth tip according to the initial state information, the attribute information, and the excavation information input by the user, wherein the initial state information includes: an initial angle value of a boom, an initial angle value of a forearm, an initial angle value of a bucket, an initial pitch angle of a vehicle body, an initial roll angle of a vehicle body, an initial rotation angle of a vehicle body, and an initial length vector from a boom pin to a rotation center, the attribute information includes a boom length, a forearm length, and a bucket length of the excavator, and the excavation information is used to indicate a size of an object to be excavated at the initial positioning point; Acquire actual state information of the excavator after the excavator performs an excavation operation at the initial positioning point, and determine actual excavation coordinates of the bucket tooth tip according to the actual state information and the attribute information; Based on the target excavation coordinates and the actual excavation coordinates, excavation deviation information is determined, and the excavator is controlled to continue the excavation operation based on the excavation deviation information, and new actual state information of the excavator after performing the excavation operation is iteratively obtained, and new actual excavation coordinates of the bucket tooth tip are determined based on the new actual state information and the attribute information until the new actual excavation coordinates are consistent with the target excavation coordinates.

2. The spatial measurement processing method for an excavator according to claim 1, characterized in that: The step of determining the target excavation coordinates of the bucket tooth tip according to the initial state information, the attribute information, and the excavation information input by the user includes: Determine the initial coordinates of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the center of rotation; The target mining coordinates are determined according to the initial coordinates and mining information input by the user.

3. The spatial measurement processing method for an excavator according to claim 2, characterized in that: Determining the initial coordinates of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, the initial rotation angle of the vehicle body, the boom length, the forearm length, the bucket length, and the initial length vector from the boom pin to the rotation center, includes: Determine the initial coordinates of the bucket tooth tip in the vehicle body coordinate system according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the initial length vector from the boom pin to the rotation center; The initial coordinates of the bucket tooth tip in the horizontal coordinate system are determined according to the initial coordinates of the bucket tooth tip in the vehicle body coordinate system, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body and the initial rotation angle of the vehicle body.

4. The spatial measurement processing method for an excavator according to claim 3, characterized in that: Determining the initial coordinates of the bucket tooth tip in the vehicle body coordinate system according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the boom length, the forearm length, the bucket length, and the vector from the boom pin to the rotation center includes: Determine the initial x coordinate of the bucket tooth tip according to the first constant and the x component of the initial length vector from the boom pin to the rotation center; Determine the initial y coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the y component of the initial length vector from the boom pin to the rotation center; Determine the initial z coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the forearm, the initial angle value of the bucket, the length of the boom, the length of the forearm, the length of the bucket, and the z component of the initial length vector from the boom pin to the center of rotation; The initial x-coordinate, the initial y-coordinate, and the initial z-coordinate are used as the initial coordinates of the bucket tooth tip.

5. The method for spatial measurement of an excavator according to claim 3, characterized in that: Determining the initial coordinates of the bucket tooth tip in the horizontal coordinate system according to the initial coordinates of the bucket tooth tip in the vehicle body coordinate system, the initial pitch angle of the vehicle body, the initial roll angle of the vehicle body, and the initial rotation angle of the vehicle body includes: Determining an initial transformation matrix according to an initial roll angle of the vehicle body, an initial pitch angle of the vehicle body, and an initial rotation angle of the vehicle body; The initial coordinates of the bucket tooth tip in the vehicle body coordinate system after derivation are multiplied by the initial transformation matrix to obtain a product matrix, and the initial coordinates of the bucket tooth tip in the horizontal coordinate system are obtained by derivation of the product matrix.

6. The spatial measurement processing method for an excavator according to claim 5, characterized in that: The determining of the initial transformation matrix according to the initial roll angle of the vehicle body, the initial pitch angle of the vehicle body and the initial rotation angle of the vehicle body comprises: Determining an initial roll matrix according to an initial roll angle of the vehicle body; Determining an initial pitch matrix according to an initial pitch angle of the vehicle body; Determining an initial rotation matrix according to an initial rotation angle of the vehicle body; The initial roll matrix, the initial pitch matrix and the initial rotation matrix are multiplied to obtain the initial transformation matrix.

7. The spatial measurement processing method for an excavator according to claim 1, characterized in that: The determining of the excavation deviation information according to the target excavation coordinates and the actual excavation coordinates includes: Calculate the difference between the vertical coordinate in the target excavation coordinate and the vertical coordinate in the actual excavation coordinate to obtain a height deviation value; Determine a distance deviation value according to the abscissa and ordinate in the target excavation coordinates and the abscissa and ordinate in the actual excavation coordinates; An angle deviation value is determined according to the vertical coordinate and the vertical coordinate in the target excavation coordinate and the vertical coordinate and the vertical coordinate in the actual excavation coordinate.

8. The spatial measurement processing method for an excavator according to claim 7, characterized in that: The determining of the distance deviation value according to the abscissa and ordinate in the target excavation coordinates and the abscissa and ordinate in the actual excavation coordinates includes: Calculate the square of the difference between the abscissa in the actual excavation coordinate and the abscissa in the target excavation coordinate to obtain a first parameter; Calculate the square of the difference between the ordinate in the actual excavation coordinate and the ordinate in the target excavation coordinate to obtain a second parameter; The root mean square of the sum of the first parameter and the second parameter is calculated to obtain the distance deviation value.

9. The spatial measurement processing method for an excavator according to claim 7, characterized in that: Determining the angle deviation value according to the vertical coordinate and the vertical coordinate in the target excavation coordinate and the vertical coordinate and the vertical coordinate in the actual excavation coordinate includes: Calculate the difference between the vertical coordinate in the actual excavation coordinate and the vertical coordinate in the target excavation coordinate to obtain a third parameter; Calculating the difference between the ordinate in the actual excavation coordinate and the ordinate in the target excavation coordinate to obtain a fourth parameter; The inverse tangent of the third parameter divided by the fourth parameter is calculated to obtain the angle deviation value.

10. 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 spatial measurement processing method for an excavator as described in any one of claims 1 to 9 are implemented.

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