Space measurement processing method for excavator and electronic device

Abstract

The application provides a spatial measurement processing method of an excavator and an electronic device. The method comprises the following steps: determining a target digging coordinate of a bucket tooth tip according to initial state information of the excavator at an initial positioning point, attribute information of the excavator, and user input digging information; obtaining actual state information of the excavator after the excavator performs a digging operation at the initial positioning point, and determining an actual digging coordinate of the bucket tooth tip according to the actual state information and the attribute information; determining digging deviation information according to the target digging coordinate and the actual digging coordinate, and controlling the excavator to continue performing the digging operation according to the digging deviation information; iteratively obtaining new actual state information of the excavator after the excavator performs the digging operation, and determining a new actual digging coordinate of the bucket tooth tip according to the new actual state information and the attribute information, until the new actual digging coordinate is consistent with the target digging coordinate. Precise construction is realized, and work efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of excavators, in particular to a spatial measurement processing method of an excavator and an electronic device. BACKGROUND

[0002] In some construction scenarios, an excavator needs to measure, place points, and spread dust first, and needs to continuously correct the measurement in the process.

[0003] In the prior art, when the excavator continuously corrects the measurement, it needs to rely on high-precision positioning, which is costly and highly dependent on positioning network signals. In scenarios where the network signal is weak, the excavator cannot work. Therefore, the existing excavator has complex operation and low correction accuracy when correcting the measurement. SUMMARY

[0004] The present application aims to overcome the deficiencies in the prior art and provide a spatial measurement processing method of an excavator and an electronic device to improve the working efficiency of the excavator.

[0005] To achieve the above-mentioned purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0006] In a first aspect, the embodiments of the present application provide a spatial measurement processing method of an excavator, which comprises:

[0007] Obtaining initial state information of the excavator at an initial positioning point, attribute information of the excavator, and excavating information input by a user, and determining a target excavating coordinate of a bucket tooth tip according to the initial state information, the attribute information, and the excavating information input by the user, wherein the initial state information comprises an initial angle value of a large arm, an initial angle value of a small arm, an initial angle value of a bucket, an initial pitch angle of a vehicle body, an initial roll angle of the vehicle body, an initial rotation angle of the vehicle body, and an initial length vector of a large arm pin shaft to a center of rotation, the attribute information comprises a length of the large arm, a length of the small arm, and a length of the bucket, and the excavating information is used to indicate the size of a target to be excavated at the initial positioning point;

[0008] Obtaining actual state information of the excavator after the excavator performs an excavating operation at the initial positioning point, and determining an actual excavating coordinate of the bucket tooth tip according to the actual state information and the attribute information;

[0009] According to the target digging coordinate and the actual digging coordinate, digging deviation information is determined, and the excavator is controlled to continue to perform the digging operation according to the digging deviation information, new actual state information of the excavator after performing the digging operation is iteratively obtained, and a new actual digging coordinate of the bucket tooth tip is determined according to the new actual state information and the attribute information until the new actual digging coordinate is consistent with the target digging coordinate.

[0010] Optionally, the target digging coordinate of the bucket tooth tip is determined according to the initial state information, the attribute information and the digging information input by the user, and the target digging coordinate comprises:

[0011] According to the initial angle value of the boom, the initial angle value of the stick, 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 stick length, the bucket length and the initial length vector of the boom pin shaft to the center of rotation, the initial coordinate of the bucket tooth tip is determined.

[0012] According to the initial coordinate and the digging information input by the user, the target digging coordinate is determined.

[0013] Optionally, the initial coordinate of the bucket tooth tip is determined according to the initial angle value of the boom, the initial angle value of the stick, 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 stick length, the bucket length and the initial length vector of the boom pin shaft to the center of rotation, and the target digging coordinate comprises:

[0014] According to the initial angle value of the boom, the initial angle value of the stick, the initial angle value of the bucket, the boom length, the stick length, the bucket length and the initial length vector of the boom pin shaft to the center of rotation, the initial coordinate of the bucket tooth tip in the vehicle body coordinate system is determined.

[0015] According to the initial coordinate 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, the initial coordinate of the bucket tooth tip in the horizontal coordinate system is determined.

[0016] Optionally, the initial coordinate of the bucket tooth tip in the vehicle body coordinate system is determined according to the initial angle value of the boom, the initial angle value of the stick, the initial angle value of the bucket, the boom length, the stick length, the bucket length and the initial length vector of the boom pin shaft to the center of rotation, and the target digging coordinate comprises:

[0017] According to the first constant and the x component in the initial length vector of the boom pin shaft to the center of rotation, the initial x coordinate of the bucket tooth tip is determined.

[0018] determine an initial y coordinate of the bucket tooth tip according to the initial angle value of the main arm, the initial angle value of the small arm, the initial angle value of the bucket, the main arm length, the small arm length, the bucket length, and a y component in an initial length vector of the main arm pin to the center of rotation;

[0019] determine an initial z coordinate of the bucket tooth tip according to the initial angle value of the main arm, the initial angle value of the small arm, the initial angle value of the bucket, the main arm length, the small arm length, the bucket length, and a z component in an initial length vector of the main arm pin to the center of rotation;

[0020] take the initial x coordinate, the initial y coordinate, and the initial z coordinate as the initial coordinates of the bucket tooth tip.

[0021] Optionally, the 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 comprises:

[0022] determine an 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;

[0023] multiply 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 derive the initial coordinates of the bucket tooth tip in the horizontal coordinate system from the product matrix.

[0024] Optionally, the 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 comprises:

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

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

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

[0028] multiply the initial roll matrix, the initial pitch matrix, and the initial rotation matrix to obtain the initial transformation matrix.

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

[0030] calculate a difference between a vertical coordinate in the target digging coordinates and a vertical coordinate in the actual digging coordinates to obtain a height deviation value;

[0031] determine a distance deviation value according to the horizontal coordinate and the vertical coordinate in the target digging coordinate and the horizontal coordinate and the vertical coordinate in the actual digging coordinate;

[0032] determine an angle deviation value according to the vertical coordinate and the vertical coordinate in the target digging coordinate and the vertical coordinate and the vertical coordinate in the actual digging coordinate.

[0033] Optionally, the determining the distance deviation value according to the horizontal coordinate and the vertical coordinate in the target digging coordinate and the horizontal coordinate and the vertical coordinate in the actual digging coordinate comprises:

[0034] calculate a square of a difference between the horizontal coordinate in the actual digging coordinate and the horizontal coordinate in the target digging coordinate to obtain a first parameter;

[0035] calculate a square of a difference between the vertical coordinate in the actual digging coordinate and the vertical coordinate in the target digging coordinate to obtain a second parameter;

[0036] calculate a root mean square of a sum of the first parameter and the second parameter to obtain the distance deviation value.

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

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

[0039] calculate a difference between the vertical coordinate in the actual digging coordinate and the vertical coordinate in the target digging coordinate to obtain a third parameter;

[0040] calculate an inverse tangent of a value of the third parameter divided by the fourth parameter to obtain the angle deviation value.

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

[0042] a determining module configured to acquire initial state information of the excavator at an initial positioning point, attribute information of the excavator and digging information input by a user, and determine a target digging coordinate of a bucket tooth tip according to the initial state information, the attribute information and the digging information input by the user, the initial state information comprising an initial angle value of a large arm, an initial angle value of a small arm, an initial angle value of a bucket, an initial pitch angle of a vehicle body, an initial roll angle of the vehicle body, an initial rotation angle of the vehicle body and an initial length vector of a large arm pin shaft to a center of rotation, the attribute information comprising a length of the large arm, a length of the small arm and a length of the bucket of the excavator, and the digging information being used to indicate a size of a target to be dug at the initial positioning point.

[0043] determining, by a determining module, actual state information of the excavator after the excavator performs the excavating operation at the initial positioning point, and determining actual excavating coordinates of the bucket tooth tip according to the actual state information and the attribute information;

[0044] determining, by the determining module, excavating deviation information according to the target excavating coordinates and the actual excavating coordinates, and controlling the excavator to continue to perform the excavating operation according to the excavating deviation information, iteratively obtaining new actual state information of the excavator after the excavating operation is performed, and determining new actual excavating coordinates of the bucket tooth tip according to the new actual state information and the attribute information, until the new actual excavating coordinates are consistent with the target excavating coordinates.

[0045] Optionally, the determining module is specifically configured 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 stick, 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 stick length, the bucket length, and the initial length vector of the boom pin shaft to the center of rotation;

[0047] determine the target excavating coordinates according to the initial coordinates and excavating information input by a user.

[0048] Optionally, the determining module is specifically configured 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 stick, the initial angle value of the bucket, the boom length, the stick length, the bucket length, and the initial length vector of the boom pin shaft to the center of rotation;

[0050] determine 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.

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

[0052] determine the initial x coordinate of the bucket tooth tip according to a first constant and an x component in the initial length vector of the boom pin shaft to the center of rotation;

[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 stick, the initial angle value of the bucket, the boom length, the stick length, the bucket length, and a y component in the initial length vector of the boom pin shaft to the center of rotation;

[0054] determine an initial z coordinate of the bucket tooth tip according to the initial angle value of the large arm, the initial angle value of the small arm, the initial angle value of the bucket, the length of the large arm, the length of the small arm, the length of the bucket, and a z component in the initial length vector of the large arm pin to the center of rotation;

[0055] take the initial x coordinate, the initial y coordinate, and the initial z coordinate as the initial coordinates of the bucket tooth tip.

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

[0057] determine an 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;

[0058] multiply the initial coordinates of the bucket tooth tip in the vehicle body coordinate system after derivation with the initial transformation matrix to obtain a product matrix, and derive the initial coordinates of the bucket tooth tip in the horizontal coordinate system from the product matrix.

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

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

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

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

[0063] multiply the initial roll matrix, the initial pitch matrix, and the initial rotation matrix to obtain the initial transformation matrix.

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

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

[0066] determine a distance deviation value according to the horizontal coordinate and the longitudinal coordinate in the target digging coordinate and the horizontal coordinate and the longitudinal coordinate in the actual digging coordinate;

[0067] determine an angle deviation value according to the vertical coordinate and the longitudinal coordinate in the target digging coordinate and the vertical coordinate and the longitudinal coordinate in the actual digging coordinate.

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

[0069] calculate a square of a difference between the horizontal coordinate in the actual digging coordinate and the horizontal coordinate in the target digging coordinate to obtain a first parameter;

[0070] calculating a square of a difference between a vertical coordinate in the actual digging coordinate and a vertical coordinate in the target digging coordinate, to obtain a second parameter;

[0071] calculating a root mean square of a sum of the first parameter and the second parameter, to obtain the distance deviation value.

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

[0073] calculating a difference between a vertical coordinate in the actual digging coordinate and a vertical coordinate in the target digging coordinate, to obtain a third parameter;

[0074] calculating a difference between a vertical coordinate in the actual digging coordinate and a vertical coordinate in the target digging coordinate, to obtain a fourth parameter;

[0075] calculating an inverse tangent of a value of the third parameter divided by the fourth parameter, to obtain the angle deviation value.

[0076] In a third aspect, an embodiment of the present application further provides an electronic device, including a processor, a storage medium and a bus, the storage medium stores program instructions executable by the processor, when an application program runs, the processor and the storage medium communicate through the bus, and the processor executes the program instructions to execute steps of the space measurement processing method of the excavator in the first aspect.

[0077] In a fourth aspect, an embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program reads and executes steps of the space measurement processing method of the excavator in the first aspect.

[0078] The present application has the following beneficial effects:

[0079] The space measurement processing method of the excavator and the electronic device provided by the present application can determine the actual digging coordinate of the bucket tooth tip according to the actual state information and the attribute information of the excavator after the excavator performs the digging operation at the initial positioning point, determine the digging deviation information according to the actual digging coordinate and the target digging coordinate, control the excavator to continue to perform the digging operation according to the determined digging deviation information, determine the digging deviation information according to the actual digging coordinate and the target digging coordinate after the excavator performs the digging operation once, control the digging operation of the excavator according to the digging deviation information, and stop the digging when the actual digging coordinate of the excavator is consistent with the target digging coordinate. The user can continuously adjust the digging operation according to the digging deviation information between the actual digging coordinate and the target digging coordinate in the digging process, so that the precise construction is realized, the user operation is simplified, the use difficulty of the user is reduced, and the work efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0080] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as a limitation to the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0081] Figure 1 A flowchart of a spatial measurement processing method of an excavator provided by an embodiment of the present application;

[0082] Figure 2 A flowchart of a method for determining a target excavation coordinate provided by an embodiment of the present application;

[0083] Figure 3 A flowchart of another method for determining a target excavation coordinate provided by an embodiment of the present application;

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

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

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

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

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

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

[0090] In order to make the purposes, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the drawings in the present application serve only the purpose of description and illustration, and do not serve to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn according to the actual proportions. The flowcharts used in the present application show the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowcharts or one or more operations can be removed from the flowcharts under the guidance of the content of the present application.

[0091] In addition, the described embodiments are only some 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 herein can be arranged and designed in various different 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 present application, but only 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 creative labor fall within 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 presence 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 by the embodiments of the present application is applied to an electronic device, which can be arranged on the excavator, and specifically can be installed at a driving position where a driver is located. The driver can input excavation information on the electronic device. Meanwhile, an inclination sensor can be installed on the vehicle body, the large arm, the small arm, and the bucket of the excavator respectively, which can be used to measure the pitch angle and roll angle of the vehicle body, the angle value of the large 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 vehicle body, which can measure the rotation angle of the excavator. The electronic device can be communicatively connected with each sensor, acquire the data measured by each sensor, and calculate the spatial position by using the method provided by the embodiments of the present application to determine the excavation deviation information, so that the driver can control the excavation operation of the excavator according to the determined excavation deviation information, thereby enabling the excavator to excavate to the target excavation coordinates.

[0094] The electronic device may be, for example, a mobile phone, a tablet computer, a notebook computer, a palm computer, a desktop computer, or the like, which has a computing processing capability and a display function. The method may be applied to an application program in a terminal device, for example, an APP (application) of a mobile phone or an application system on a computer.

[0095] The specific implementation process of the spatial measurement processing of the excavator provided in the embodiments of the present application will be explained below.

[0096] Figure 1 A flowchart of a spatial measurement processing method of an excavator provided in the embodiments of the present application is shown in FIG. 1. The execution subject of the method is an electronic device as described above. As shown in FIG. 1, the method comprises the following steps. Figure 1

[0097] In S101, initial state information of the excavator at an initial positioning point, attribute information of the excavator, and excavating information input by a user are acquired, and a target excavating coordinate of a bucket tooth tip is determined according to the initial state information, the attribute information, and the excavating information input by the user.

[0098] The initial state information may include, for example, an initial angle value of a large arm, an initial angle value of a small arm, an initial angle value of a bucket, an initial pitch angle of a vehicle body, an initial roll angle of the vehicle body, an initial rotation angle of the vehicle body, and an initial length vector of a large arm pin shaft to a center of rotation. The attribute information may include, for example, a length of the large arm, a length of the small arm, and a length of the bucket. The excavating information input by the user refers to a size of a target to be excavated at the initial positioning point, i.e., a size of a target to be excavated by the excavator. For example, if the target to be excavated is a pit with a depth of 3 meters, the excavating information input by the user is 3 meters deep.

[0099] Optionally, the user may determine the initial positioning point according to an excavating scene and actual requirements. The initial positioning point may be, for example, a ground surface region of an excavating region, such as a ground surface of a circular pit. After the initial positioning point is determined, the excavator may perform an excavating operation at the initial positioning point until the target to be excavated is reached. For example, if the target to be excavated is a pit with a depth of 5 meters, the excavator needs to dig a pit with a depth of 5 meters at the initial positioning point. The excavating scene may be classified into, for example, a basic measurement scene, a help brushing measurement scene, a strip excavating scene, and a deep pit excavating scene. After the initial positioning point is determined, the user may move the excavator and the bucket tooth tip of the excavator to the initial positioning point. At this time, the initial state information of the excavator at the initial positioning point is acquired.

[0100] In S102, actual state information of the excavator after the excavating operation of the excavator at the initial positioning point is acquired, and an actual excavating coordinate of the bucket tooth tip is determined according to the actual state information and the attribute information.

[0101] ​Optionally, after the user inputs the digging information in the electronic device, the user can control the excavator to perform a digging operation at the initial positioning point, and actual state information of the excavator can be obtained after the excavator performs the digging operation once, that is, the actual angle value of the large arm, the actual angle value of the small 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 of the excavator after the excavator digs once.

[0102] Optionally, the actual digging coordinates of the bucket tooth tip of the excavator after the excavator performs the digging operation can be determined according to the actual state information of the excavator obtained after the excavator performs the digging operation once and the attribute information and using a preset method.

[0103] S103, according to the target digging coordinates and the actual digging coordinates, determine the digging deviation information, and control the excavator to continue to perform the digging operation according to the digging deviation information, iteratively obtain new actual state information of the excavator after the excavator performs the digging operation, and determine new actual digging coordinates of the bucket tooth tip according to the new actual state information and the attribute information, until the new actual digging coordinates are consistent with the target digging coordinates.

[0104] Optionally, according to the digging deviation information determined by the actual digging coordinates of the bucket tooth tip of the excavator after the excavator performs the digging operation once at the initial positioning point and the target digging coordinates, the user can control the excavator to continue to perform the digging operation once, and obtain new actual state information after the excavator performs the digging operation again, and determine new actual digging coordinates of the bucket tooth tip according to the new actual state information and the attribute information of the excavator, and determine new digging deviation information according to the new actual digging coordinates and the target digging coordinates, until the new actual digging coordinates are consistent with the target digging coordinates, that is, when the new digging deviation information is zero, it means that the excavator has dug the target to be dug. When the user controls the excavator to continue to perform the digging operation according to the digging deviation information, the user can specifically adjust the rotation angle of the large arm, the small arm, the bucket, and the vehicle body of the excavator according to the digging deviation information, and then the excavator performs the digging operation again according to the adjusted excavator. The actual digging coordinates of the bucket tooth tip are coordinates in a horizontal coordinate system.

[0105] For example, A: if the target digging coordinate of the bucket tooth tip is (x, y, z), the actual digging coordinate of the bucket tooth tip determined after performing a digging operation at the initial positioning point is (x1, y1, z1). The digging deviation information determined according to the target digging coordinate (x, y, z) and the actual digging coordinate (x1, y1, z1) is digging deviation information 1. B: the user continues to control the excavator to perform a digging operation according to the digging deviation information, and determines the new actual digging coordinate of the bucket after performing the digging operation as (x2, y2, z2). C: the new digging deviation information 2 is determined according to the new actual digging coordinate (x2, y2, z2) and the target digging coordinate (x, y, z). If the new digging deviation information 2 is zero, the digging is stopped, that is, the new actual digging coordinate of the excavator is consistent with the target digging coordinate; if the new digging deviation information is not zero, the excavator continues to perform the digging operation according to the new deviation information, returns to step B, and stops the digging operation until the new digging deviation information is zero, that is, the new actual digging coordinate is consistent with the target digging coordinate.

[0106] In this embodiment, the actual digging coordinate of the bucket tooth tip is determined according to the actual state information and the attribute information of the excavator after the excavator performs the digging operation at the initial positioning point, and the digging deviation information is determined according to the actual digging coordinate and the target digging coordinate, so that the excavator continues to perform the digging operation according to the determined digging deviation information. After each digging operation is performed, the digging deviation information is determined according to the actual digging coordinate and the target digging coordinate, so that the excavator is controlled according to the digging deviation information. When the actual digging coordinate of the excavator is consistent with the target digging coordinate, the digging is stopped. The user can continuously adjust the digging operation according to the digging deviation information between the actual digging coordinate and the target digging coordinate during the digging process, so as to realize accurate construction. At the same time, the user operation can be simplified, the use difficulty of the user can be reduced, and the work efficiency can be improved.

[0107] Figure 2 A flowchart of a method for determining a target digging coordinate provided by the embodiment of the application is shown in Figure 2 The target digging coordinate of the bucket tooth tip determined according to the initial state information, the attribute information and the digging information input by the user in S101 can include:

[0108] S201, determining the initial coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the stick, 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 stick, the length of the bucket and the initial length vector of the boom pin to the center of rotation.

[0109] Wherein, the angle value of the boom may be represented by BoomAng, the angle value of the arm may be represented by ArmAng, the angle value of the bucket may be represented by BktAng, the pitch angle of the vehicle body may be represented by Pitch, the roll angle of the vehicle body may be represented by Roll, the rotation angle of the vehicle body may be represented by Heading, the length of the boom may be represented by L1, the length of the arm may be represented by L2, the length of the bucket may be represented by L3, and the length vector of the boom pin to the center of rotation may be represented by LA.

[0110] S202, determining a target digging coordinate according to the initial coordinate and the digging information input by the user.

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

[0112] Figure 3 The flowchart of another method for determining a target digging coordinate provided by an embodiment of the present application is shown in FIG. 4, which may Figure 3 comprise the following steps:

[0113] S301, determining the initial coordinate 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 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 initial length vector of the boom pin to the center of rotation.

[0114] Specifically, the initial coordinate M_O of the bucket tooth tip in the vehicle body coordinate system may be determined using a preset method 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 initial length vector of the boom pin to the center of rotation. The vehicle body coordinate system refers to a coordinate system established with the vehicle body of the excavator.

[0115] S302, determining the initial coordinate of the bucket tooth tip in the horizontal coordinate system according to the initial coordinate 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 coordinate M_O of the bucket tooth tip in the vehicle body coordinate system may be converted into the initial coordinate 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 flow chart of a method for determining initial coordinates provided by an embodiment of the present application is shown in FIG. 1, wherein the initial coordinates of the bucket tooth tip in the vehicle body coordinate system are determined according to the initial angle value of the boom, the initial angle value of the stick, the initial angle value of the bucket, the boom length, the stick length, the bucket length, and the x component of the initial length vector of the boom pin to the rotation center in S301. Figure 4

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

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

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

[0121] Wherein, M_O(i, 1) is the initial x coordinate, LA(i, 1) is the x component of the length vector of the boom pin to the rotation center at the i-th calculation, i is the calculation times, for the calculation of the initial coordinates, it can be considered as the first calculation, that is, the calculation before the excavator performs the digging operation, i takes the value of 1, which can represent the calculation of the initial coordinates, if the excavator performs the digging operation once, i+1, i = 2 represents the calculation after performing the digging operation once, i = 3 represents the calculation after performing the digging operation twice, and i = 4 represents the calculation after performing the digging operation three times.

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

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

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

[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) + StickAng(i)) + LA(i, 2) Formula (2)

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

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

[0129] Where 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 boom length, L2 is the forearm length, L3 is the bucket length, and LA(i, 2) is the y-component in the length vector from the boom pin to the rotation center at the i-th calculation.

[0130] Optionally, the initial angle values ​​of the boom (BoomAng(1), the forearm (ArmAng(1), the initial angle value of the bucket (BktAng(1), the boom length L1, the forearm length L2, the bucket length, and the y component LA(1,2) in 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 coordinate system.

[0131] S403. Determine the initial z-coordinate of the bucket tooth tip based on the initial angle values ​​of the boom, forearm, and bucket, as well as the z-component of the initial length vector from the boom pin to the rotation center.

[0132] Specifically, it can be obtained through 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] Formula 3 for LA(i, 3)

[0136] Where 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 boom length, L2 is the forearm length, L3 is the bucket length, and LA(i, 3) is the z component of the length vector from the boom pin to the rotation center at the i-th calculation.

[0137] Optionally, the initial angle value BoomAng(1) of the large arm, the initial angle value ArmAng(1) of the small arm, the initial angle value BktAng(1) of the bucket, the length L1 of the large arm, the length L2 of the small arm, the length L3 of the bucket, and the z component LA(1, 3) of the initial length vector of the large arm 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, the initial x coordinate, the initial y coordinate, and the initial z coordinate are taken as the initial coordinates of the bucket tooth tip.

[0139] Therefore, 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 The flowchart of another method for determining the initial coordinates provided by the embodiments of the present application is shown in Figure 5 S302, 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 are used to determine the initial coordinates of the bucket tooth tip in the horizontal coordinate system.

[0141] S501, 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 are used to determine the initial transformation matrix.

[0142] Optionally, the initial transformation matrix Mat(1) from the vehicle body coordinate system to the horizontal coordinate system can 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, 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.

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

[0145] M_W(i, :) = (Mat(i) * M_O(i, :) ')'formula (four)

[0146] Wherein, M_W(i, :) is the coordinates of the bucket tooth tip in the horizontal coordinate system at the i th calculation, M_O(i, :) is the coordinates in the vehicle body coordinate system at the i th calculation, and Mat(i) is the transformation matrix at 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 (four) 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 by an embodiment of the present application is shown in FIG. 5. Figure 6 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, the initial transformation matrix can be determined in S501, which can include:

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

[0150] Specifically, the initial roll matrix MatR(1) can be obtained by the following formula (five).

[0151] MatR(i) = [cos(Roll(i)) 0 sin(Roll(i)); 0 1 0; -sin(Roll(i)) 0 cos(Roll(i))] formula (five)

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

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

[0154] Specifically, the initial pitch matrix MatP(1) can be obtained by the following formula (six).

[0155] MatP(i) = [1 0 0; 0 cos(Pitch(i)) -sin(Pitch(i)); 0 sin(Pitch(i)) cos(Pitch(i))] formula (six)

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

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

[0158] Specifically, the initial rotation matrix MatY(1) can be obtained by the following formula (seven).

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

[0160] Wherein, Heading(i) is the rotation angle of the vehicle body at the ith time of calculation. The initial rotation angle Heading(1) can be substituted into Formula (7) 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 the initial transformation matrix.

[0162] Specifically, Formula (8) can be used.

[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 Formula (8) to obtain the initial transformation matrix Mat(1).

[0165] Optionally, after each execution of the excavator for the digging operation, the actual state information of the excavator after the digging operation is obtained, and the actual digging coordinates of the bucket tooth tip are determined according to the actual state information and the attribute information. The process of determining the actual digging coordinates of the bucket tooth tip after each execution of the digging operation is consistent with the process of determining the initial coordinates in the horizontal coordinate system, and specifically, the actual digging coordinates of the bucket tooth tip of the excavator after each execution of the digging operation can be obtained by using Formula (1) to Formula (8). After each execution of the digging operation, i+1 in Formula (1) to Formula (8).

[0166] Figure 7 A flowchart of a method for determining digging deviation information provided by the embodiment of the application is shown in Figure 7 The process of determining the digging deviation information according to the target digging coordinates and the actual digging coordinates in S103 can include:

[0167] S701, calculate the difference between the vertical coordinates in the target digging coordinates and the vertical coordinates in the actual digging coordinates to obtain a height deviation value.

[0168] As described above, the target digging coordinates are (x, y, z), and the actual digging coordinates are (x1, y1, z1).

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

[0170] S702, determine a distance deviation value according to the horizontal coordinate and the vertical coordinate in the target excavation coordinate and the horizontal coordinate and the vertical coordinate in the actual excavation coordinate.

[0171] Specifically, the distance deviation value can be determined according to the horizontal coordinate x and the vertical coordinate y in the target excavation coordinate and the horizontal coordinate x1 and the vertical coordinate y1 in the actual excavation coordinate by using a preset method.

[0172] S703, determine an 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.

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

[0174] Alternatively, the determination of the distance deviation value according to the horizontal coordinate and the vertical coordinate in the target excavation coordinate and the horizontal coordinate and the vertical coordinate in the actual excavation coordinate in the above S702 can include:

[0175] Alternatively, the square of the difference between the horizontal coordinate in the actual excavation coordinate and the horizontal coordinate in the target excavation coordinate can be calculated to obtain a first parameter, and the first parameter is (x1-x) 2 The square of 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 a third parameter, and the third parameter is (y1-y) 2 The square root of the sum of the first parameter and the second parameter is calculated to obtain the distance deviation value. The distance deviation value is

[0176] Alternatively, the determination of 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 in the above S703 can include:

[0177] Alternatively, 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 a 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 a fourth parameter y1-y. The arctangent 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 mentioning that, for other secondary execution of the digging operation, the process of calculating the new actual digging coordinate and the digging deviation information of the target digging coordinate is the same as the process of S701-S703, only replacing x1, y1, z1 with the horizontal coordinate, vertical coordinate and vertical coordinate of the new actual digging coordinate. The actual digging coordinate of the bucket tooth tip determined by the excavator after the first digging operation is (x1, y1, z1), the actual digging coordinate of the bucket tooth tip determined after the second digging operation is (x2, y2, z2), the actual digging coordinate of the bucket tooth tip determined after the third digging operation is (x3, y3, z3), and so on.

[0179] Figure 8 A device schematic diagram of a spatial measurement processing method of an excavator provided by an embodiment of the present application is shown in FIG. 8, which includes: Figure 8

[0180] The determining module 801 is configured to acquire initial state information of the excavator at an initial positioning point, attribute information of the excavator, and digging information input by a user, and determine a target digging coordinate of a bucket tooth tip according to the initial state information, the attribute information, and the digging information input by the user. The initial state information includes an initial angle value of a boom, an initial angle value of a stick, an initial angle value of a bucket, an initial pitch angle of a vehicle body, an initial roll angle of the vehicle body, an initial rotation angle of the vehicle body, and an initial length vector of a boom pin to a center of rotation. The attribute information includes a boom length, a stick length, and a bucket length of the excavator. The digging information is used to indicate a size of a target to be dug at the initial positioning point.

[0181] The determining module 801 is configured to acquire actual state information of the excavator after the excavator performs a digging operation at the initial positioning point, and determine an actual digging coordinate of the bucket tooth tip according to the actual state information and the attribute information.

[0182] The determining module 801 is configured to determine digging deviation information according to the target digging coordinate and the actual digging coordinate, control the excavator to continue to perform a digging operation according to the digging deviation information, iteratively acquire new actual state information of the excavator after the excavator performs a digging operation, and determine a new actual digging coordinate of the bucket tooth tip according to the new actual state information and the attribute information, until the new actual digging coordinate is consistent with the target digging coordinate.

[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 big arm, the initial angle value of the small arm, 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 big arm length, the small arm length, the bucket length, and the initial length vector of the big arm pin shaft to the center of rotation;

[0185] determine the target digging coordinates according to the initial coordinates and the digging 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 big arm, the initial angle value of the small arm, the initial angle value of the bucket, the big arm length, the small arm length, the bucket length, and the initial length vector of the big arm pin shaft to the center of rotation;

[0188] determine 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.

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

[0190] determine the initial x coordinate of the bucket tooth tip according to a first constant and an x component in the initial length vector of the big arm pin shaft to the center of rotation;

[0191] determine the initial y coordinate of the bucket tooth tip according to the initial angle value of the big arm, the initial angle value of the small arm, the initial angle value of the bucket, the big arm length, the small arm length, the bucket length, and a y component in the initial length vector of the big arm pin shaft to the center of rotation;

[0192] determine the initial z coordinate of the bucket tooth tip according to the initial angle value of the big arm, the initial angle value of the small arm, the initial angle value of the bucket, the big arm length, the small arm length, the bucket length, and a z component in the initial length vector of the big arm pin shaft to the center of rotation;

[0193] determine the initial x coordinate, the initial y coordinate, and the initial z coordinate as the initial coordinates of the bucket tooth tip.

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

[0195] determine an 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.

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

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

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

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

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

[0201] multiply the initial roll matrix, the initial pitch matrix, and the initial rotation matrix 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 horizontal coordinate and the longitudinal coordinate in the target excavation coordinate and the horizontal coordinate and the longitudinal coordinate in the actual excavation coordinate;

[0205] determine an angle deviation value according to the vertical coordinate and the longitudinal coordinate in the target excavation coordinate and the vertical coordinate and the longitudinal 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 horizontal coordinate in the actual excavation coordinate and the horizontal coordinate in the target excavation coordinate to obtain a first parameter;

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

[0209] calculate the root mean square of the sum of the first parameter and the second parameter 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] calculate the difference between the longitudinal coordinate in the actual excavation coordinate and the longitudinal coordinate in the target excavation coordinate to obtain a fourth parameter;

[0213] calculating an inverse tangent of a value of the third parameter divided by the fourth parameter to obtain the angle deviation value.

[0214] Figure 9 A structural block diagram of an electronic device 900 is provided in an embodiment of the present application. As shown in the figure, the electronic device can include a processor 901, a memory 902. Figure 9

[0215] Optionally, a bus 903 can also be included, wherein the memory 902 is configured to store machine readable instructions executable by the processor 901, and when the electronic device 900 is running, the processor 901 communicates with the memory 902 through the bus 903, and the machine readable instructions are executed by the processor 901 to perform the method steps in the above method embodiments.

[0216] An embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to perform the method steps in the above excavator space measurement processing method embodiments.

[0217] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described system and device can refer to the corresponding process in the method embodiments, and will not be described herein. In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The above-described device embodiments are only schematic, for example, the division of the modules is only a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual ones can be indirect coupling or communication connection through some communication interfaces, devices or modules, and can be electrical, mechanical or other forms.

[0218] ​In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. When the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing 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 methods described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0219] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A spatial measurement processing method of an excavator, characterized by, The method comprises: acquiring initial state information of the excavator at an initial positioning point, attribute information of the excavator, and user inputted excavation information, and determining a target excavation coordinate of a bucket tooth tip according to the initial state information, the attribute information, and the user inputted excavation information, wherein the initial state information comprises an initial angle value of a boom, an initial angle value of a stick, an initial angle value of a bucket, an initial pitch angle of a vehicle body, an initial roll angle of the vehicle body, an initial rotation angle of the vehicle body, and an initial length vector of a boom pin shaft to a center of rotation, the attribute information comprises a boom length, a stick length, and a bucket length of the excavator, and the excavation information is used to indicate a size of a target to be excavated at the initial positioning point; acquiring actual state information of the excavator after the excavator performs an excavation operation at the initial positioning point, and determining an actual excavation coordinate of the bucket tooth tip according to the actual state information and the attribute information; determining excavation deviation information according to the target excavation coordinate and the actual excavation coordinate, and controlling the excavator to continue to perform the excavation operation according to the excavation deviation information, iteratively acquiring new actual state information of the excavator after the excavator performs the excavation operation, and determining a new actual excavation coordinate of the bucket tooth tip according to the new actual state information and the attribute information, until the new actual excavation coordinate is consistent with the target excavation coordinate.

2. The spatial measurement processing method of the excavator according to claim 1, characterized by, The method comprises: determining an initial coordinate of the bucket tooth tip according to the initial angle value of the boom, the initial angle value of the stick, 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 stick length, the bucket length, and the initial length vector of the boom pin shaft to the center of rotation; determining the target excavation coordinate according to the initial coordinate and the user inputted excavation information.

3. The spatial measurement processing method of an excavator according to claim 2, characterized by, The method comprises: determining the initial coordinate of the bucket tooth tip in a vehicle body coordinate system according to the initial angle value of the boom, the initial angle value of the stick, the initial angle value of the bucket, the boom length, the stick length, the bucket length, and the initial length vector of the boom pin shaft to the center of rotation; determining the initial coordinate of the bucket tooth tip in a horizontal coordinate system according to the initial coordinate 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 of an excavator according to claim 3, characterized by, The method comprises: determining the initial coordinate 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 stick, the initial angle value of the bucket, the boom length, the stick length, the bucket length, and the initial length vector of the boom pin shaft to the center of rotation. determining an initial x coordinate of the bucket tooth tip according to the first constant and an x component in an initial length vector of the large arm pin shaft to the center of rotation; determining an initial y coordinate of the bucket tooth tip according to the initial angle value of the large arm, the initial angle value of the small arm, the initial angle value of the bucket, the length of the large arm, the length of the small arm, the length of the bucket and a y component in the initial length vector of the large arm pin shaft to the center of rotation; determining an initial z coordinate of the bucket tooth tip according to the initial angle value of the large arm, the initial angle value of the small arm, the initial angle value of the bucket, the length of the large arm, the length of the small arm, the length of the bucket and a z component in the initial length vector of the large arm pin shaft to the center of rotation; taking the initial x coordinate, the initial y coordinate and the initial z coordinate as the initial coordinates of the bucket tooth tip.

5. The spatial measurement processing method of an excavator according to claim 3, characterized by, The method for 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 comprises: determining an 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; multiplying the initial coordinates of the bucket tooth tip in the vehicle body coordinate system after derivation with the initial transformation matrix to obtain a product matrix, and deriving the initial coordinates of the bucket tooth tip in the horizontal coordinate system from the product matrix.

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

7. The spatial measurement processing method of an excavator according to claim 1, characterized by, The method for determining the deviation information of the excavation according to the target excavation coordinates and the actual excavation coordinates comprises: calculating the difference between the vertical coordinate in the target excavation coordinates and the vertical coordinate in the actual excavation coordinates to obtain a height deviation value; determining a distance deviation value according to the horizontal coordinate and the longitudinal coordinate in the target excavation coordinates and the horizontal coordinate and the longitudinal coordinate in the actual excavation coordinates; determining an angle deviation value according to the vertical coordinate and the longitudinal coordinate in the target excavation coordinates and the vertical coordinate and the longitudinal coordinate in the actual excavation coordinates.

8. The spatial measurement processing method of an excavator according to claim 7, characterized by, The method for determining the distance deviation value according to the horizontal coordinate and the longitudinal coordinate in the target excavation coordinates and the horizontal coordinate and the longitudinal coordinate in the actual excavation coordinates comprises: calculating the square of the difference between the horizontal coordinate in the actual excavation coordinates and the horizontal coordinate in the target excavation coordinates to obtain a first parameter; calculating the square of the difference between the longitudinal coordinate in the actual excavation coordinates and the longitudinal coordinate in the target excavation coordinates to obtain a second parameter; calculating the root mean square of the sum of the first parameter and the second parameter to obtain the distance deviation value.

9. The spatial measurement processing method of the excavator according to claim 7, characterized by, The angle deviation value is determined according to a vertical coordinate and a longitudinal coordinate in the target excavation coordinate and a vertical coordinate and a longitudinal coordinate in the actual excavation coordinate, and the determining the angle deviation value comprises: calculating a 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 a difference between the longitudinal coordinate in the actual excavation coordinate and the longitudinal coordinate in the target excavation coordinate to obtain a fourth parameter; calculating an inverse tangent of a value of the third parameter divided by the fourth parameter to obtain the angle deviation value.

10. An electronic device, comprising: The device comprises a memory and a processor, the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the steps of the space measurement processing method of the excavator in any one of claims 1-9.

Images