Method and device for determining position of shovel blade tip of bulldozer, bulldozer and storage medium

Abstract

The invention discloses a bulldozer shovel blade point position determining method and device, a bulldozer and a storage medium. The method comprises the following steps: calculating an overturning angle and a course angle of the scraper knife according to first external position information, measured by a first position measuring instrument, of the scraper knife under an external coordinate system and second external position information, measured by a second position measuring instrument, of the scraper knife under the external coordinate system; the pitch angle of the scraper knife is calculated according to the first external position information, the second external position information, the shaft point height of the trunnion, the phase distance between the trunnion and the first position measuring instrument and the phase distance between the trunnion and the second position measuring instrument; constructing a rotation matrix based on the pitch angle, the flip angle and the course angle; calculating the product of the rotation matrix and the initial internal position information of the shovel blade tip under the internal coordinate system to obtain the real-time internal position information of the shovel blade tip under the internal coordinate system; and according to the real-time internal position information and the first external position information, real-time external position information of the shovel blade point under the external coordinate system is determined.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of bulldozers, and in particular, to a method and device for determining the position of a bulldozer's blade tip, a bulldozer, and a storage medium. Background Art

[0002] In the field of modern engineering construction, as an important earthmoving construction machinery, bulldozers are widely used in various infrastructure construction, mining, land leveling and other projects. During the operation of a bulldozer, accurately determining the coordinates of the blade tip plays a crucial role in ensuring the operation quality, improving the construction efficiency, and ensuring the construction safety.

[0003] Currently, the existing method for determining the position of a bulldozer's blade tip mainly uses an inertial navigation sensor to measure the attitude information of the blade (including the roll angle, pitch angle, and heading angle), and determines the position of the bulldozer's blade tip based on the attitude information. However, this method is easily interfered with in a complex construction site environment, such as factors like dust and light changes, resulting in inaccurate measurement data, thereby affecting the accuracy of the calculated blade tip coordinates.

[0004] Therefore, there is an urgent need to propose a new method to solve the above problems. Summary of the Invention

[0005] The present invention provides a method and device for determining the position of a bulldozer's blade tip, a bulldozer, and a storage medium, which can improve the accuracy of the calculated blade tip coordinates and reduce the component cost.

[0006] In a first aspect, an embodiment of the present invention provides a method for determining the position of a bulldozer's blade tip. The bulldozer includes a blade, a blade tip, and a trunnion. A first position measuring instrument and a second position measuring instrument are installed on both sides above the blade. The method includes:

[0007] Calculating the roll angle of the blade according to the first external position information of the blade in an external coordinate system measured by the first position measuring instrument and the second external position information of the blade in the external coordinate system measured by the second position measuring instrument, and calculating the heading angle of the blade according to the first external position information and the second external position information;

[0008] Calculating the pitch angle of the blade by using the first external position information, the second external position information, the axial point height of the trunnion, the phase distance between the trunnion and the first position measuring instrument, and the phase distance between the trunnion and the second position measuring instrument;

[0009] Constructing a rotation matrix based on the pitch angle, the roll angle, and the heading angle;

[0010] Calculate the product of the rotation matrix and the initial internal position information of the cutting edge tip in the internal coordinate system to obtain the real-time internal position information of the cutting edge tip in the internal coordinate system;

[0011] Determine the real-time external position information of the cutting edge tip in the external coordinate system according to the real-time internal position information and the first external position information.

[0012] The technical solution of the present invention first calculates the flipping angle of the scraper blade according to the first external position information of the scraper blade in the external coordinate system measured by the first position measuring instrument and the second external position information of the scraper blade in the external coordinate system measured by the second position measuring instrument, and calculates the heading angle of the scraper blade according to the first external position information and the second external position information, providing a data basis for constructing the rotation matrix later. Then, the pitch angle of the scraper blade is calculated by using the first external position information, the second external position information, the axial point height of the trunnion, the phase distance between the trunnion and the first position measuring instrument, and the phase distance between the trunnion and the second position measuring instrument. Without relying on an inertial navigation sensor, the pitch angle of the scraper blade can be directly calculated, reducing the component cost and calculation complexity. Furthermore, a rotation matrix is constructed based on the pitch angle, flipping angle, and heading angle, providing a data basis for determining the real-time internal position information of the cutting edge tip in the internal coordinate system later. After that, the product of the rotation matrix and the initial internal position information of the cutting edge tip in the internal coordinate system is calculated to obtain the real-time internal position information of the cutting edge tip in the internal coordinate system, providing a data basis for determining the real-time external position information of the cutting edge tip in the external coordinate system later. Finally, the real-time external position information of the cutting edge tip in the external coordinate system is determined according to the real-time internal position information and the first external position information, which can help the staff accurately control the scraper blade movement according to the real-time external position information, thereby improving the operation accuracy and quality. Therefore, the technical solution of the present invention can directly calculate the attitude information of the scraper blade without relying on an inertial navigation sensor, solving the problem that when using an inertial navigation sensor to measure the attitude information of the scraper blade, the measurement data is inaccurate due to being easily interfered by the construction site environment, thereby affecting the calculation accuracy of the cutting edge tip coordinates.

[0013] In a second aspect, an embodiment of the present invention further provides a device for determining the position of the cutting edge tip of a bulldozer. The bulldozer includes a scraper blade, a cutting edge tip, and a trunnion. First position measuring instruments and second position measuring instruments are installed on both sides above the scraper blade. The device includes:

[0014] A first angle calculation module, configured to calculate the flipping angle of the scraper blade according to the first external position information of the scraper blade in the external coordinate system measured by the first position measuring instrument and the second external position information of the scraper blade in the external coordinate system measured by the second position measuring instrument, and calculate the heading angle of the scraper blade according to the first external position information and the second external position information;

[0015] A second angle calculation module, configured to calculate the pitch angle of the blade using the first external position information, the second external position information, the axial point height of the trunnion, the phase distance between the trunnion and the first position measuring instrument, and the phase distance between the trunnion and the second position measuring instrument;

[0016] A construction module, configured to construct a rotation matrix based on the pitch angle, the roll angle, and the heading angle;

[0017] An internal position determination module, configured to calculate the product of the rotation matrix and the initial internal position information of the blade tip in the internal coordinate system to obtain the real-time internal position information of the blade tip in the internal coordinate system;

[0018] An external position determination module, configured to determine the real-time external position information of the blade tip in the external coordinate system according to the real-time internal position information and the first external position information.

[0019] In a third aspect, an embodiment of the present invention further provides a bulldozer, which includes:

[0020] At least one processor; and a memory communicatively connected to the at least one processor;

[0021] Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the position of the blade tip of the bulldozer according to any one of the first aspects.

[0022] In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, and the computer-executable instructions implement the method for determining the position of the blade tip of the bulldozer according to any one of the first aspects when executed by a computer processor.

[0023] It should be noted that the above computer instructions can be stored in whole or in part on a computer-readable storage medium. Among them, the computer-readable storage medium can be packaged together with the processor of the device for determining the position of the blade tip of the bulldozer, or can be separately packaged from the processor of the device for determining the position of the blade tip of the bulldozer. This application does not make any limitations in this regard.

[0024] The descriptions of the second aspect, the third aspect, and the fourth aspect in this application can refer to the detailed description of the first aspect; and, for the beneficial effects of the descriptions of the second aspect, the third aspect, and the fourth aspect, reference can be made to the analysis of the beneficial effects of the first aspect, which will not be elaborated here.

[0025] In this application, the name of the device for determining the position of the tip of the bulldozer blade does not constitute a limitation on the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the functions of each device or functional module are similar to those of this application and fall within the scope of the claims of this application and their equivalent technologies.

[0026] These aspects or other aspects of this application will be more clearly understood in the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is a flowchart of a method for determining the position of the tip of the bulldozer blade provided by an embodiment of the present invention;

[0029] Figure 2a It is a flowchart of another method for determining the position of the tip of the bulldozer blade provided by an embodiment of the present invention;

[0030] Figure 2b It is a schematic diagram of the principle for calculating the first pitch angle provided by an embodiment of the present invention;

[0031] Figure 3 It is a schematic structural diagram of a device for determining the position of the tip of the bulldozer blade provided by an embodiment of the present invention;

[0032] Figure 4 It is a schematic structural diagram of a bulldozer provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The following will further elaborate on the present invention in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention and not for limiting the present invention. Additionally, it should be noted that for the sake of description, only the parts related to the present invention rather than all the structures are shown in the drawings.

[0034] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0035] In the description of the present application and the accompanying drawings, terms such as "first" and "second" are used to distinguish different objects or different treatments of the same object, rather than to describe a specific order of the objects.

[0036] In addition, the terms "comprising" and "having" and any variations thereof mentioned in the description of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes other steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0037] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts depict the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operations are completed, but it can also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc. In addition, in the case of no conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0038] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0039] In the description of the present application, unless otherwise specified, the meaning of "a plurality" refers to two or more.

[0040] Figure 1 The flowchart of a method for determining the position of the tip of a bulldozer blade provided for an embodiment of the present invention. This embodiment is applicable to the situation of real-time positioning of the tip of a bulldozer blade. The bulldozer in this embodiment includes a blade, a tip of the blade, and a trunnion, and a first position measuring instrument and a second position measuring instrument are installed on both sides above the blade. This method can be executed by a device for determining the position of the tip of a bulldozer blade. This device can be implemented in a software and / or hardware manner. Exemplarily, this device can be integrated in a bulldozer. Refer to Figure 1 , the method for determining the position of the tip of a bulldozer blade in this embodiment specifically includes the following steps:

[0041] Step 110: Calculate the flipping angle of the scraper based on the first external position information of the scraper in the external coordinate system measured by the first position measuring instrument and the second external position information of the scraper in the external coordinate system measured by the second position measuring instrument, and calculate the heading angle of the scraper based on the first external position information and the second external position information.

[0042] Specifically, the scraper refers to a device at the front end of construction machinery (such as bulldozers, loaders, graders, etc.) for shoveling and transporting materials. The first position measuring instrument and the second position measuring instrument refer to devices for measuring the position information of the scraper, and they are installed on both sides above the scraper. For example: both the first position measuring instrument and the second position measuring instrument can be global navigation satellite system receivers. The external coordinate system refers to a reference coordinate system relative to the object to be measured (such as the scraper) and is used to describe the position and attitude of the scraper in the entire working space. For example: the origin of the external coordinate system can be set as the point 500 kilometers west of the central meridian and located on the equator. In this external coordinate system, the X-axis points north, the Y-axis points east, and the Z-axis is perpendicular to the Y plane and points outside the earth, that is, vertically upward. The first external position information refers to the position data of the scraper in the external coordinate system measured by the first position measuring instrument. The second external position information refers to the position data of the scraper in the external coordinate system measured by the second position measuring instrument. The flipping angle of the scraper refers to the angle generated by the scraper rotating around the Y-axis after establishing a space rectangular coordinate system with the geometric center of the bulldozer as the origin, the forward direction of the bulldozer as the positive direction of the Y-axis, the direction perpendicular to the Y-axis and pointing to the left side of the bulldozer in the horizontal plane as the positive direction of the X-axis, and the vertically upward direction as the Z-axis. The heading angle of the scraper refers to the angle generated by the scraper rotating around the Z-axis after establishing a space rectangular coordinate system with the geometric center of the bulldozer as the origin, the forward direction of the bulldozer as the positive direction of the Y-axis, the direction perpendicular to the Y-axis and pointing to the left side of the bulldozer in the horizontal plane as the positive direction of the X-axis, and the vertically upward direction as the Z-axis.

[0043] In specific implementation, after obtaining the first external position information (including the first external lateral information, the first external longitudinal information, and the first external height information) and the second external position information (including the second external lateral information, the second external longitudinal information, and the second external height information), the difference between the second external height information and the first external height information can be calculated first to obtain the target height difference, and then the horizontal distance between the first position measuring instrument and the second position measuring instrument can be calculated based on the first external lateral information, the first external longitudinal information, the second external lateral information, and the second external longitudinal information to obtain the target distance; then the arctangent function is solved based on the target height difference and the target distance to obtain the flipping angle.

[0044] Meanwhile, the difference between the second external lateral information and the first external lateral information can be calculated to obtain the target lateral difference, and then the difference between the second external longitudinal information and the first external longitudinal information can be calculated to obtain the target longitudinal difference. Finally, the four-quadrant arctangent function is solved based on the target lateral difference and the target longitudinal difference to obtain the heading angle.

[0045] Exemplarily, if the first external position information is (x1, y1, z1) and the second external position information is (x2, y2, z2), then the target height difference Δh = z2 - z1, and the target distance d = [(x2 - x1) 2 +(y2 - y1) 2 1 / 2 , the flip angle θ = arctan(Δh / d), the target lateral difference Δx = x2 - x1, the target longitudinal difference Δy = y2 - y1, and the heading angle φ = arctan2(Δy, Δx). Additionally, when the heading angle range is set to [0, 2π], if the angle returned by arctan2 is negative, the actual heading angle is arctan2(Δy, Δx) + 2π.

[0046] Optionally, if the first position measuring instrument obtains geodetic coordinates based on the WGS-84 ellipsoid datum, the geodetic coordinates based on the WGS-84 ellipsoid datum can be converted into spatial rectangular coordinates based on the WGS-84 ellipsoid datum by means of the forward calculation formula from geodetic coordinates to spatial rectangular coordinates. Subsequently, the spatial rectangular coordinates based on the WGS-84 ellipsoid datum are converted into spatial rectangular coordinates based on the CGCS2000 ellipsoid using the seven-parameter conversion model. Then, the spatial rectangular coordinates based on the CGCS2000 ellipsoid are converted into geodetic coordinates based on the CGCS2000 ellipsoid by means of the inverse calculation formula from spatial rectangular coordinates to geodetic coordinates. Finally, the geodetic coordinates based on the CGCS2000 ellipsoid are processed based on the Gauss-Krüger projection to obtain the first external lateral information and the first external longitudinal information, and at the same time, the height information in the geodetic coordinates based on the CGCS2000 ellipsoid is directly determined as the first external height information, thereby obtaining the first external position information. Similarly, if the second position measuring instrument also obtains geodetic coordinates based on the WGS-84 ellipsoid datum, the second external position information can be obtained according to the same steps above. At this time, the first external position information refers to the position data obtained after coordinate conversion of the position data measured by the first position measuring instrument. The second external position information refers to the position data obtained after coordinate conversion of the position data measured by the second position measuring instrument.

[0047] In this embodiment, by calculating the heading angle and pitch angle of the blade, a data basis is provided for constructing the rotation matrix later.

[0048] ​Step 120: Calculate the pitch angle of the blade using the first external position information, the second external position information, the axial point height of the trunnion, the phase distance between the trunnion and the first position measuring instrument, and the phase distance between the trunnion and the second position measuring instrument.

[0049] Specifically, the axial point height of the trunnion refers to the vertical distance from the axis center of the trunnion to the bulldozer chassis plane (i.e., the bottom of the bulldozer track). The phase distance between the trunnion and the first position measuring instrument refers to the straight-line distance from the center point of the trunnion to the first position measuring instrument on the two-dimensional plane. The phase distance between the trunnion and the second position measuring instrument refers to the straight-line distance from the center point of the trunnion to the second position measuring instrument on the two-dimensional plane. The pitch angle of the blade refers to the angle generated when the blade rotates around the X-axis after establishing a space rectangular coordinate system with the geometric center of the bulldozer as the origin, the forward direction of the bulldozer as the positive direction of the Y-axis, the direction perpendicular to the Y-axis and pointing to the left side of the bulldozer in the horizontal plane as the positive direction of the X-axis, and the vertically upward direction as the Z-axis.

[0050] In specific implementation, the first pitch angle of the blade can be calculated first using the first external position information, the axial point height of the trunnion, and the phase distance between the trunnion and the first position measuring instrument, then the second pitch angle of the blade can be calculated using the second external position information, the axial point height of the trunnion, and the phase distance between the trunnion and the second position measuring instrument, and then the pitch angle of the blade can be determined according to the first pitch angle and the second pitch angle. Specifically, the difference between the first external height information and the axial point height of the trunnion can be calculated first to obtain the first height deviation, and then the arcsine function can be solved according to the first height deviation and the phase distance between the trunnion and the first position measuring instrument to obtain the first pitch angle. Similarly, the difference between the second external height information and the axial point height of the trunnion can be calculated to obtain the second height deviation, and then the arcsine function can be solved according to the second height deviation and the phase distance between the trunnion and the second position measuring instrument to obtain the second pitch angle. Finally, the average value of the first pitch angle and the second pitch angle can be calculated to obtain the pitch angle of the blade.

[0051] In this embodiment, through the first external position information, the second external position information, the axial point height of the trunnion, the phase distance between the trunnion and the first position measuring instrument, and the phase distance between the trunnion and the second position measuring instrument, the pitch angle of the blade can be directly calculated without relying on an inertial navigation sensor, reducing the component cost and calculation complexity.

[0052] Step 130: Construct a rotation matrix based on the pitch angle, roll angle, and heading angle.

[0053] Specifically, the rotation matrix refers to an orthogonal matrix determined according to the pitch angle, roll angle, and heading angle of the blade, and is used to describe the coordinate rotation relationship generated by the attitude change of the blade during the working process.

[0054] In a specific implementation, a roll rotation matrix can be constructed based on the trigonometric function corresponding to the roll angle, a pitch rotation matrix can be constructed based on the trigonometric function corresponding to the pitch angle, and a yaw rotation matrix can be constructed based on the trigonometric function corresponding to the yaw angle. Then, calculate the product of the roll rotation matrix and the pitch rotation matrix to obtain the roll-pitch rotation matrix, and calculate the product of the roll-pitch rotation matrix and the yaw rotation matrix to obtain the rotation matrix.

[0055] Exemplarily, if the pitch angle is β, the roll angle is γ, and the yaw angle is α, the roll rotation matrix is The pitch rotation matrix is The yaw rotation matrix is The roll-pitch rotation matrix is The rotation matrix is

[0056]

[0057] In this embodiment, by constructing the rotation matrix, a data basis is provided for subsequently determining the real-time internal position information of the tip of the blade in the internal coordinate system.

[0058] Step 140: Calculate the product of the rotation matrix and the initial internal position information of the tip of the blade in the internal coordinate system to obtain the real-time internal position information of the tip of the blade in the internal coordinate system.

[0059] Specifically, the tip of the blade refers to the working part at the very front of the blade. For example, the tip of the blade includes the two side parts at the very front of the blade. The internal coordinate system is established with a certain point on the bulldozer (such as the geometric center of the first position measuring instrument) as the origin, and is used to describe the relative position relationship of each point of the bulldozer itself, corresponding to the external coordinate system. For example, the internal coordinate system can be established with the geometric center of the first position measuring instrument as the origin, the forward direction of the bulldozer as the positive direction of the Y-axis, the direction perpendicular to the Y-axis and pointing to the left side of the bulldozer in the horizontal plane as the positive direction of the X-axis, and the direction vertically downward as the Z-axis. The initial internal position information refers to the initial position data of the tip of the blade in the internal coordinate system. For example, the initial internal position information is the position data of the tip of the blade in the internal coordinate system when no operation is performed. The real-time internal position information refers to the current position data of the tip of the blade in the internal coordinate system obtained through calculation.

[0060] Exemplarily, if the initial internal position information is (x, y, z) and the rotation matrix is Then the real-time internal position information is (r11*x + r12*y + r13*z, r21*x + r22*y + r23*z, r31*x + r32*y + r33*z).

[0061] In this embodiment, through the above steps, a data basis is provided for subsequently determining the real-time external position information of the tip of the blade in the external coordinate system.

[0062] Step 150: Determine the real-time external position information of the cutting edge of the shovel in the external coordinate system according to the real-time internal position information and the first external position information.

[0063] Specifically, the real-time external position information refers to the current position data of the cutting edge of the shovel in the external coordinate system calculated according to the real-time internal position information and the first external position information.

[0064] In specific implementation, after obtaining the real-time internal position information, the real-time external position information of the cutting edge of the shovel in the external coordinate system (including real-time external lateral information, real-time external longitudinal information, and real-time external height information) can be determined according to the real-time internal position information (including real-time internal lateral information, real-time internal longitudinal information, and real-time internal height information) and the first external position information (including first external lateral information, first external longitudinal information, and first external height information). Specifically, first calculate the sum of the first external lateral information and the real-time internal lateral information to obtain the real-time external lateral information; then calculate the sum of the first external longitudinal information and the real-time internal longitudinal information to obtain the real-time external longitudinal information; finally, calculate the difference between the first external height information and the real-time internal height information to obtain the real-time external height information.

[0065] In this embodiment, through the above steps, the real-time external position information of the cutting edge of the shovel in the external coordinate system is determined, which can help the staff accurately control the shovel action according to the real-time external position information, thereby improving the operation accuracy and quality.

[0066] In the embodiment of the present invention, the flip angle of the blade is first calculated according to the first external position information of the blade in the external coordinate system measured by the first position measuring instrument and the second external position information of the blade in the external coordinate system measured by the second position measuring instrument, and the heading angle of the blade is calculated according to the first external position information and the second external position information, which provides a data basis for the subsequent construction of the rotation matrix. Then, the pitch angle of the blade is calculated using the first external position information, the second external position information, the axis height of the ear axis, the phase distance between the ear axis and the first position measuring instrument, and the phase distance between the ear axis and the second position measuring instrument. The pitch angle of the blade can be directly calculated without the help of an inertial navigation sensor, thereby reducing component cost and calculation complexity. Then, a rotation matrix is ​​constructed based on the pitch angle, the flip angle, and the heading angle, which provides a data basis for the subsequent determination of the real-time internal position information of the blade tip in the internal coordinate system. Then, the product of the rotation matrix and the initial internal position information of the blade tip in the internal coordinate system is calculated to obtain the real-time internal position information of the blade tip in the internal coordinate system, which provides a data basis for the subsequent determination of the real-time external position information of the blade tip in the external coordinate system. Finally, the real-time external position information of the blade tip in the external coordinate system is determined based on the real-time internal position information and the first external position information, which can help the staff to accurately control the blade movement based on the real-time external position information, thereby improving the accuracy and quality of the operation. Therefore, the technical solution of the present invention can directly calculate the posture information of the blade without the help of an inertial navigation sensor, solving the problem that when the inertial navigation sensor is used to measure the blade posture information, the measurement data is inaccurate due to the susceptibility to environmental interference, thereby affecting the accuracy of the blade tip coordinate calculation.

[0067] Figure 2a A flowchart of another method for determining the position of a blade tip of a bulldozer provided in an embodiment of the present invention. This embodiment is specific based on the above embodiment. In this embodiment, the method may also include:

[0068] Step 210, calculate the flip angle of the blade according to the first external position information of the blade in the external coordinate system measured by the first position measuring instrument and the second external position information of the blade in the external coordinate system measured by the second position measuring instrument, and calculate the heading angle of the blade according to the first external position information and the second external position information.

[0069] Optionally, the first external position information includes first external height information, and the second external position information includes second external height information.

[0070] Step 211: Calculate the difference between the first external height information and the axial point height of the ear axis to obtain a first height deviation.

[0071] Specifically, the first external height information refers to the height information of the scraper blade measured by the first position measuring instrument in the external coordinate system. The first height deviation refers to the difference between the first external height information and the height of the axis point of the trunnion.

[0072] In a specific implementation, the first height deviation = the first external height information - the height of the axis point of the trunnion.

[0073] In this embodiment, through the above steps, a data basis is provided for determining the first pitch angle later.

[0074] Step 212: Solve the arcsine function according to the first height deviation and the phase distance between the trunnion and the first position measuring instrument to obtain the first pitch angle.

[0075] Specifically, the first pitch angle refers to the pitch angle determined according to the first height deviation and the phase distance between the trunnion and the first position measuring instrument.

[0076] In a specific implementation, the first pitch angle = arcsin (the first height deviation / the phase distance between the trunnion and the first position measuring instrument).

[0077] Optionally, after solving the arcsine function according to the first height deviation and the phase distance between the trunnion and the first position measuring instrument to obtain the first pitch angle, the first pitch angle can be directly determined as the pitch angle of the scraper blade.

[0078] Exemplarily, as Figure 2b shown, it can be found that the first external height information is H1, the height of the axis point of the trunnion is H2, the phase distance of the first position measuring instrument is L, and the first pitch angle is pitch, then pitch = arcsin((H1 - H2) / L).

[0079] In this embodiment, through the above steps, a data basis is provided for determining the pitch angle of the scraper blade later.

[0080] Step 213: Calculate the difference between the second external height information and the height of the axis point of the trunnion to obtain the second height deviation.

[0081] Specifically, the second external height information refers to the height information of the scraper blade measured by the second position measuring instrument in the external coordinate system. The second height deviation refers to the difference between the second external height information and the height of the axis point of the trunnion.

[0082] In a specific implementation, the second height deviation = the second external height information - the height of the axis point of the trunnion.

[0083] In this embodiment, through the above steps, a data basis is provided for determining the second pitch angle later.

[0084] Step 214: Solve the arcsine function based on the second height deviation and the phase distance between the trunnion and the second position measuring instrument to obtain the second pitch angle.

[0085] Specifically, the second pitch angle refers to the pitch angle determined based on the second height deviation and the phase distance between the trunnion and the second position measuring instrument.

[0086] In specific implementation, the second pitch angle = arcsin(second height deviation / phase distance between the trunnion and the second position measuring instrument).

[0087] In this embodiment, through the above steps, a data basis is provided for determining the pitch angle of the scraper blade later.

[0088] Step 215: Calculate the average value of the first pitch angle and the second pitch angle to obtain the pitch angle of the scraper blade.

[0089] In specific implementation, the pitch angle of the scraper blade = (first pitch angle + second pitch angle) / 2.

[0090] In this embodiment, through the above steps, the pitch angle of the scraper blade can be directly calculated without relying on an inertial navigation sensor, reducing the component cost and the difficulty of harness connection.

[0091] Step 216: Construct a rotation matrix based on the pitch angle, roll angle, and heading angle.

[0092] In one implementation manner, step 216 may specifically include: constructing a roll rotation matrix based on the trigonometric function corresponding to the roll angle; constructing a pitch rotation matrix based on the trigonometric function corresponding to the pitch angle; constructing a yaw rotation matrix based on the trigonometric function corresponding to the heading angle; and constructing a rotation matrix according to the roll rotation matrix, pitch rotation matrix, and yaw rotation matrix.

[0093] Specifically, the roll rotation matrix refers to the rotation matrix constructed based on the trigonometric function corresponding to the roll angle. The pitch rotation matrix refers to the rotation matrix constructed based on the trigonometric function corresponding to the pitch angle. The yaw rotation matrix refers to the rotation matrix constructed based on the trigonometric function corresponding to the heading angle.

[0094] In specific implementation, first, a roll rotation matrix can be constructed based on the trigonometric function corresponding to the roll angle, a pitch rotation matrix based on the trigonometric function corresponding to the pitch angle, and a yaw rotation matrix based on the trigonometric function corresponding to the heading angle. Then, calculate the product of the roll rotation matrix and the pitch rotation matrix to obtain the roll-pitch rotation matrix, and calculate the product of the roll-pitch rotation matrix and the yaw rotation matrix to obtain the rotation matrix.

[0095] Exemplarily, if the pitch angle is β, the roll angle is γ, and the heading angle is α, then the roll rotation matrix is The pitch rotation matrix is The yaw rotation matrix is The roll-pitch rotation matrix is The rotation matrix is

[0096]

[0097] In this embodiment, by constructing respective rotation matrices based on the trigonometric functions corresponding to the flip angle, pitch angle and heading angle, the posture changes of the blade in three different dimensions can be accurately captured. Further, when the equipment has posture abnormalities or operating accuracy deviations, the angle data corresponding to each basic rotation matrix can be analyzed to quickly locate which dimension has posture problems, thereby more effectively performing equipment maintenance and debugging work and reducing maintenance time and costs.

[0098] Furthermore, a rotation matrix is ​​constructed according to the roll rotation matrix, the pitch angle rotation matrix and the yaw rotation matrix, including: calculating the product of the yaw rotation matrix and the pitch angle rotation matrix to obtain an intermediate rotation matrix; calculating the product of the intermediate rotation matrix and the roll rotation matrix to obtain a rotation matrix.

[0099] Specifically, the intermediate rotation matrix refers to a transition matrix obtained in the process of calculating the rotation matrix.

[0100] Exemplarily, the product of the above-determined yaw rotation matrix and pitch angle rotation matrix is ​​calculated to obtain an intermediate rotation matrix:

[0101] Then calculate the product of the intermediate rotation matrix and the roll rotation matrix determined above, and get the rotation matrix as

[0102]

[0103] In this embodiment, since the change of the yaw angle usually has a greater impact on the overall posture and is easily disturbed by environmental factors and generates errors, the product of the yaw rotation matrix and the pitch angle rotation matrix is ​​calculated first, so that the error caused by the yaw can be processed centrally. When the roll rotation matrix is ​​subsequently calculated, the error transmission can be better controlled, thereby improving the accuracy of the rotation matrix. In addition, the above calculation sequence is easier to implement modular programming.

[0104] Step 217 , calculate the product of the rotation matrix and the initial internal position information of the blade tip in the internal coordinate system to obtain the real-time internal position information of the blade tip in the internal coordinate system.

[0105] Step 218: Determine the real-time external position information of the blade tip in the external coordinate system according to the real-time internal position information and the first external position information.

[0106] Optionally, the first external position information further includes a first external lateral information and a first external longitudinal information, the real-time internal position information includes a real-time internal lateral information, a real-time internal longitudinal information, and a real-time internal height information, and the real-time external position information includes a real-time external lateral information, a real-time external longitudinal information, and a real-time external height information.

[0107] In one implementation, step 218 may specifically include: calculating the sum of the first external lateral information and the real-time internal lateral information to obtain the real-time external lateral information; calculating the sum of the first external longitudinal information and the real-time internal longitudinal information to obtain the real-time external longitudinal information; calculating the difference between the first external height information and the real-time internal height information to obtain the real-time external height information.

[0108] Specifically, the first external lateral information refers to the position data of the blade in the lateral direction (such as the due north direction) in the external coordinate system measured by the first position measuring instrument. The first external longitudinal information refers to the position data of the blade in the longitudinal direction (such as the due east direction) in the external coordinate system measured by the first position measuring instrument. The real-time internal lateral information refers to the instant position data of the blade tip in the lateral direction (such as the due north direction) in the internal coordinate system. The real-time internal longitudinal information refers to the instant position data of the blade tip in the longitudinal direction (such as the due east direction) in the internal coordinate system. The real-time internal height information refers to the instant position data of the blade tip in the height direction (such as the vertically downward direction) in the internal coordinate system. The real-time external lateral information refers to the real-time position data of the blade tip in the lateral direction in the external coordinate system. The real-time external longitudinal information refers to the real-time position data of the blade tip in the longitudinal direction in the external coordinate system. The real-time external height information refers to the real-time position data of the blade tip in the height direction (such as the vertically upward direction) in the external coordinate system.

[0109] Exemplarily, if the first external lateral information is N, the first external longitudinal information is E, the first external height information is H, the real-time internal lateral information is newx, the real-time internal longitudinal information is newy, and the real-time internal height information is newz, then the real-time external lateral information is N + newx, the real-time external longitudinal information is E + newy, and the real-time external height information is H - newz.

[0110] In this embodiment, through the above steps, the complexity of calculating the real-time external position information is reduced, and the calculation efficiency is improved.

[0111] Further, after step 218, it further includes: adjusting the position of the blade according to the real-time external position information and the preset external position information of the blade tip.

[0112] Specifically, the preset external position information refers to the position information of the blade tip in the external coordinate system set in advance according to the actual situation or requirements.

[0113] In a specific implementation, after obtaining the real-time external position information, the difference between the real-time external position information and the preset external position information can be calculated first to obtain the position error. Then, a suitable control algorithm (such as proportional-integral-derivative control and fuzzy control, etc.) can be selected according to the actual situation or requirements. After that, the selected control algorithm is applied to generate a control signal based on the obtained position error. Finally, the position of the blade is adjusted according to the generated control signal so that it moves to the target position corresponding to the preset external position information.

[0114] In this embodiment, through the above steps, the operation accuracy and quality are improved, and at the same time, the automated operation process is realized, thereby improving the production efficiency and reducing the labor cost.

[0115] The method for determining the position of the blade tip of a bulldozer provided by an embodiment of the present invention first calculates the flipping angle of the blade based on the first external position information of the blade in the external coordinate system measured by the first position measuring instrument and the second external position information of the blade in the external coordinate system measured by the second position measuring instrument, and calculates the heading angle of the blade based on the first external position information and the second external position information, providing a data basis for constructing a rotation matrix later. Then, calculate the difference between the first external height information and the shaft point height of the trunnion to obtain the first height deviation, providing a data basis for determining the first pitch angle later. Solve the arcsine function based on the first height deviation and the phase distance between the trunnion and the first position measuring instrument to obtain the first pitch angle, providing a data basis for determining the pitch angle of the blade later. Calculate the difference between the second external height information and the shaft point height of the trunnion to obtain the second height deviation, providing a data basis for determining the second pitch angle later. Solve the arcsine function based on the second height deviation and the phase distance between the trunnion and the second position measuring instrument to obtain the second pitch angle, providing a data basis for determining the pitch angle of the blade later. Calculate the average value of the first pitch angle and the second pitch angle to obtain the pitch angle of the blade. Without relying on an inertial navigation sensor, the pitch angle of the blade can be directly calculated, reducing component costs and computational complexity. Then, construct a rotation matrix based on the pitch angle, flipping angle, and heading angle, providing a data basis for determining the real-time internal position information of the blade tip in the internal coordinate system later. Then, calculate the product of the rotation matrix and the initial internal position information of the blade tip in the internal coordinate system to obtain the real-time internal position information of the blade tip in the internal coordinate system, providing a data basis for determining the real-time external position information of the blade tip in the external coordinate system later. Finally, determine the real-time external position information of the blade tip in the external coordinate system based on the real-time internal position information and the first external position information, which can help the staff accurately control the blade movement according to the real-time external position information, thereby improving the operation accuracy and quality. Therefore, the technical solution of the present invention can directly calculate the attitude information of the blade without relying on an inertial navigation sensor, solving the problem that when using an inertial navigation sensor to measure the attitude information of the blade, the measurement data is inaccurate due to being easily interfered by the construction environment, thereby affecting the accuracy of calculating the coordinates of the blade tip.

[0116] Figure 3 FIG. is a schematic structural diagram of a device for determining the position of the blade tip of a bulldozer provided by an embodiment of the present invention. This device belongs to the same inventive concept as the method for determining the position of the blade tip of a bulldozer in the above embodiments. Details not described in detail in the embodiment of the device for determining the position of the blade tip of a bulldozer can refer to the embodiment of the method for determining the position of the blade tip of a bulldozer above.

[0117] As Figure 3 shown, the device includes:

[0118] The first angle calculation module 310 is configured to calculate the flipping angle of the scraper blade according to the first external position information of the scraper blade in the external coordinate system measured by the first position measuring instrument and the second external position information of the scraper blade in the external coordinate system measured by the second position measuring instrument, and calculate the heading angle of the scraper blade according to the first external position information and the second external position information;

[0119] The second angle calculation module 320 is configured to calculate the pitch angle of the scraper blade by using the first external position information, the second external position information, the axial point height of the trunnion, the phase distance between the trunnion and the first position measuring instrument, and the phase distance between the trunnion and the second position measuring instrument;

[0120] The construction module 330 is configured to construct a rotation matrix based on the pitch angle, the flipping angle, and the heading angle;

[0121] The internal position determination module 340 is configured to calculate the product of the rotation matrix and the initial internal position information of the scraper tip in the internal coordinate system to obtain the real-time internal position information of the scraper tip in the internal coordinate system;

[0122] The external position determination module 350 is configured to determine the real-time external position information of the scraper tip in the external coordinate system according to the real-time internal position information and the first external position information.

[0123] Based on the above embodiments, the second angle calculation module 320 is specifically configured to:

[0124] Calculate the first pitch angle of the scraper blade by using the first external position information, the axial point height of the trunnion, and the phase distance between the trunnion and the first position measuring instrument;

[0125] Calculate the second pitch angle of the scraper blade by using the second external position information, the axial point height of the trunnion, and the phase distance between the trunnion and the second position measuring instrument;

[0126] Calculate the average value of the first pitch angle and the second pitch angle to obtain the pitch angle of the scraper blade.

[0127] Based on the above embodiments, the first external position information includes first external height information, the second external position information includes second external height information, and the second angle calculation module 320 calculates the first pitch angle of the scraper blade by using the first external position information, the axial point height of the trunnion, and the phase distance between the trunnion and the first position measuring instrument, including:

[0128] Calculate the difference between the first external height information and the axial point height of the trunnion to obtain a first height deviation;

[0129] Solve the arcsine function according to the first height deviation and the phase distance between the trunnion and the first position measuring instrument to obtain the first pitch angle;

[0130] Correspondingly, the second angle calculation module 320 calculates the second pitch angle of the scraper using the second external position information, the height of the axis point of the trunnion, and the phase distance between the trunnion and the second position measuring instrument, including:

[0131] Calculate the difference between the second external height information and the height of the axis point of the trunnion to obtain the second height deviation;

[0132] Solve the arcsine function according to the second height deviation and the phase distance between the trunnion and the second position measuring instrument to obtain the second pitch angle.

[0133] Based on the above embodiments, the first external position information further includes first external lateral information and first external longitudinal information, the real-time internal position information includes real-time internal lateral information, real-time internal longitudinal information, and real-time internal height information, and the real-time external position information includes real-time external lateral information, real-time external longitudinal information, and real-time external height information. The external position determination module 350 is specifically configured to:

[0134] Calculate the sum of the first external lateral information and the real-time internal lateral information to obtain the real-time external lateral information;

[0135] Calculate the sum of the first external longitudinal information and the real-time internal longitudinal information to obtain the real-time external longitudinal information;

[0136] Calculate the difference between the first external height information and the real-time internal height information to obtain the real-time external height information.

[0137] Based on the above embodiments, the construction module 330 is specifically configured to:

[0138] Construct a roll rotation matrix based on the trigonometric function corresponding to the roll angle;

[0139] Construct a pitch rotation matrix based on the trigonometric function corresponding to the pitch angle;

[0140] Construct a yaw rotation matrix based on the trigonometric function corresponding to the heading angle;

[0141] Construct the rotation matrix according to the roll rotation matrix, the pitch rotation matrix, and the yaw rotation matrix.

[0142] Based on the above embodiments, the construction module 330 constructs the rotation matrix according to the roll rotation matrix, the pitch rotation matrix, and the yaw rotation matrix, including:

[0143] Calculating the product of the yaw rotation matrix and the pitch rotation matrix to obtain an intermediate rotation matrix;

[0144] Calculating the product of the intermediate rotation matrix and the roll rotation matrix to obtain the rotation matrix.

[0145] Based on the above embodiments, the device further includes:

[0146] An adjustment module, configured to adjust the position of the blade after determining the real-time external position information of the blade tip in the external coordinate system according to the real-time internal position information and the first external position information, based on the real-time external position information and the preset external position information of the blade tip.

[0147] The device for determining the position of the blade tip of a bulldozer provided by the embodiments of the present invention can execute the method for determining the position of the blade tip of a bulldozer provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0148] It should be noted that in the embodiments of the device for determining the position of the blade tip of the above bulldozer, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0149] Figure 4 FIG. is a schematic structural diagram of a bulldozer provided by an embodiment of the present invention. Figure 4 FIG. shows a block diagram of an exemplary bulldozer 4 suitable for implementing the embodiments of the present invention. Figure 4 The shown bulldozer 4 is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0150] As Figure 4 shown, the bulldozer 4 is presented in the form of a general-purpose computing electronic device. The components of the bulldozer 4 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 connecting different system components (including the system memory 28 and the processing unit 16).

[0151] Bus 18 represents one or more of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, an Accelerated Graphics Port, a processor bus, or a local bus using any of the several bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0152] The Bulldozer 4 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the Bulldozer 4, including both volatile and nonvolatile media, removable and non-removable media.

[0153] System memory 28 can include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The Bulldozer 4 can further include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, storage system 34 can be used for reading and writing on non-removable, nonvolatile magnetic media ( Figure 4 not shown and typically called a "hard disk drive"). Although Figure 4 not shown in, a disk drive for reading and writing on removable nonvolatile disks (such as a "floppy disk"), and an optical disk drive for reading and writing on removable nonvolatile optical disks (such as a CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to the bus 18 by one or more data media interfaces. System memory 28 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of the embodiments of the present invention.

[0154] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in system memory 28, and such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. The program modules 42 generally carry out the functions and / or methods of the embodiments described herein.

[0155] The bulldozer 4 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the bulldozer 4, and / or communicate with any device that enables the bulldozer 4 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through the input / output (I / O) interface 22. Moreover, the bulldozer 4 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through the network adapter 20. As Figure 4 shown, the network adapter 20 communicates with other modules of the bulldozer 4 through the bus 18. It should be understood that although Figure 4 not shown in the figure, other hardware and / or software modules can be used in combination with the bulldozer 4, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0156] The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28, for example, implementing the method for determining the position of the tip of the blade of the bulldozer provided in the embodiments of the present invention. The bulldozer includes a blade, a tip of the blade, and trunnions. First position measuring instruments and second position measuring instruments are installed on both sides above the blade. The method includes:

[0157] Calculating the flipping angle of the blade according to the first external position information of the blade in the external coordinate system measured by the first position measuring instrument and the second external position information of the blade in the external coordinate system measured by the second position measuring instrument, and calculating the heading angle of the blade according to the first external position information and the second external position information;

[0158] Calculating the pitch angle of the blade by using the first external position information, the second external position information, the axial point height of the trunnion, the phase distance between the trunnion and the first position measuring instrument, and the phase distance between the trunnion and the second position measuring instrument;

[0159] Constructing a rotation matrix based on the pitch angle, the flipping angle, and the heading angle;

[0160] Calculating the product of the rotation matrix and the initial internal position information of the tip of the blade in the internal coordinate system to obtain the real-time internal position information of the tip of the blade in the internal coordinate system;

[0161] Determining the real-time external position information of the tip of the blade in the external coordinate system according to the real-time internal position information and the first external position information.

[0162] Of course, those skilled in the art can understand that the processor can also implement the technical solution of the method for determining the position of the tip of the bulldozer blade provided in any embodiment of the present invention.

[0163] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements, for example, the method for determining the position of the tip of the bulldozer blade provided in the embodiment of the present invention. The bulldozer includes a blade, a tip of the blade, and a trunnion. First and second position measuring instruments are installed on both sides above the blade. The method includes:

[0164] Calculating the flipping angle of the blade according to the first external position information of the blade in the external coordinate system measured by the first position measuring instrument and the second external position information of the blade in the external coordinate system measured by the second position measuring instrument, and calculating the heading angle of the blade according to the first external position information and the second external position information;

[0165] Calculating the pitch angle of the blade by using the first external position information, the second external position information, the axial point height of the trunnion, the phase distance between the trunnion and the first position measuring instrument, and the phase distance between the trunnion and the second position measuring instrument;

[0166] Constructing a rotation matrix based on the pitch angle, the flipping angle, and the heading angle;

[0167] Calculating the product of the rotation matrix and the initial internal position information of the tip of the blade in the internal coordinate system to obtain the real-time internal position information of the tip of the blade in the internal coordinate system;

[0168] Determining the real-time external position information of the tip of the blade in the external coordinate system according to the real-time internal position information and the first external position information.

[0169] The computer storage medium of the embodiments of the present invention may adopt any combination of one or more computer-readable media. The computer-readable media may be computer-readable signal media or computer-readable storage media. The computer-readable storage media may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage media may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

[0170] The computer-readable signal media may include data signals propagated in a baseband or as part of a carrier wave, which carry computer-readable program codes. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal media may also be any computer-readable media other than the computer-readable storage media, and the computer-readable media may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0171] The program codes contained on the computer-readable media may be transmitted by any appropriate media, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0172] The computer program codes for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program codes may be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (for example, by using an Internet service provider to connect through the Internet).

[0173] Those of ordinary skill in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented with program codes executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them can be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0174] In addition, the acquisition, storage, use, processing, etc. of data in the technical solution of the present invention all comply with the relevant provisions of national laws and regulations.

[0175] Note that the above is only the preferred embodiment of the present invention and the applied technical principle. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for determining the position of a blade tip of a bulldozer, wherein the bulldozer comprises a blade, a blade tip and a trunnion, and a first position measuring instrument and a second position measuring instrument are installed on both sides above the blade, characterized in that: The method comprises: Calculating a flip angle of the blade according to first external position information of the blade in an external coordinate system measured by the first position measuring instrument and second external position information of the blade in the external coordinate system measured by the second position measuring instrument, and calculating a heading angle of the blade according to the first external position information and the second external position information; Calculating the pitch angle of the blade using the first external position information, the second external position information, the axis point height of the ear shaft, the phase distance between the ear shaft and the first position measuring instrument, and the phase distance between the ear shaft and the second position measuring instrument; Constructing a rotation matrix based on the pitch angle, the roll angle and the heading angle; Calculate the product of the rotation matrix and the initial internal position information of the blade tip in the internal coordinate system to obtain the real-time internal position information of the blade tip in the internal coordinate system; The real-time external position information of the blade tip in the external coordinate system is determined according to the real-time internal position information and the first external position information.

2. The method for determining the position of a bulldozer blade tip according to claim 1, characterized in that: Calculating the pitch angle of the blade by using the first external position information, the second external position information, the axis point height of the ear shaft, the phase distance between the ear shaft and the first position measuring instrument, and the phase distance between the ear shaft and the second position measuring instrument, including: Calculating a first pitch angle of the blade by using the first external position information, the axial height of the ear shaft, and the phase distance between the ear shaft and the first position measuring instrument; Calculating a second pitch angle of the blade by using the second external position information, the axial height of the ear shaft, and the phase distance between the ear shaft and the second position measuring instrument; The average of the first pitch angle and the second pitch angle is calculated to obtain the pitch angle of the blade.

3. The method for determining the position of a bulldozer blade tip according to claim 2, characterized in that: The first external position information includes first external height information, the second external position information includes second external height information, and the first pitch angle of the blade is calculated by using the first external position information, the axial height of the ear shaft, and the phase distance between the ear shaft and the first position measuring instrument, including: Calculating a difference between the first external height information and the axial point height of the trunnion to obtain a first height deviation; Solving an inverse sine function according to the first height deviation and a phase distance between the ear axis and the first position measuring instrument to obtain the first pitch angle; Correspondingly, calculating the second pitch angle of the blade by using the second external position information, the axis point height of the ear shaft, and the phase distance between the ear shaft and the second position measuring instrument includes: Calculating a difference between the second external height information and the axial point height of the trunnion to obtain a second height deviation; The second pitch angle is obtained by solving an inverse sine function according to the second height deviation and a phase distance between the ear axis and the second position measuring instrument.

4. The method for determining the position of a bulldozer blade tip according to claim 3, characterized in that: The first external position information further includes first external lateral information and first external longitudinal information, the real-time internal position information includes real-time internal lateral information, real-time internal longitudinal information and real-time internal height information, the real-time external position information includes real-time external lateral information, real-time external longitudinal information and real-time external height information, and determining the real-time external position information of the blade tip in the external coordinate system according to the real-time internal position information and the first external position information includes: Calculating a sum of the first external lateral information and the real-time internal lateral information to obtain the real-time external lateral information; Calculating the sum of the first external longitudinal information and the real-time internal longitudinal information to obtain the real-time external longitudinal information; A difference between the first external height information and the real-time internal height information is calculated to obtain the real-time external height information.

5. The method for determining the position of a bulldozer blade tip according to claim 1, characterized in that: Constructing a rotation matrix based on the pitch angle, the roll angle and the heading angle, comprising: Constructing a roll rotation matrix based on the trigonometric function corresponding to the flip angle; Constructing a pitch angle rotation matrix based on the trigonometric function corresponding to the pitch angle; Constructing a yaw rotation matrix based on the trigonometric function corresponding to the heading angle; The rotation matrix is ​​constructed according to the roll rotation matrix, the pitch rotation matrix and the yaw rotation matrix.

6. The method for determining the position of a bulldozer blade tip according to claim 5, characterized in that: Constructing the rotation matrix according to the roll rotation matrix, the pitch angle rotation matrix and the yaw rotation matrix includes: Calculating the product of the yaw rotation matrix and the pitch angle rotation matrix to obtain an intermediate rotation matrix; The product of the intermediate rotation matrix and the roll rotation matrix is ​​calculated to obtain the rotation matrix.

7. The method for determining the position of a bulldozer blade tip according to claim 1, characterized in that: After determining the real-time external position information of the blade tip in the external coordinate system according to the real-time internal position information and the first external position information, the method further includes: The position of the blade is adjusted according to the real-time external position information and the preset external position information of the blade tip.

8. A device for determining the position of a blade tip of a bulldozer, the bulldozer comprising a blade, a blade tip and a trunnion, a first position measuring instrument and a second position measuring instrument being installed on both sides above the blade, characterized in that: The device comprises: a first angle calculation module, configured to calculate a flip angle of the blade according to first external position information of the blade in an external coordinate system measured by the first position measuring instrument and second external position information of the blade in the external coordinate system measured by the second position measuring instrument, and to calculate a heading angle of the blade according to the first external position information and the second external position information; a second angle calculation module, configured to calculate the pitch angle of the blade by using the first external position information, the second external position information, the axis point height of the ear shaft, the phase distance between the ear shaft and the first position measuring instrument, and the phase distance between the ear shaft and the second position measuring instrument; A construction module, configured to construct a rotation matrix based on the pitch angle, the roll angle and the heading angle; An internal position determination module, used for calculating the product of the rotation matrix and the initial internal position information of the blade tip in the internal coordinate system to obtain the real-time internal position information of the blade tip in the internal coordinate system; The external position determination module is used to determine the real-time external position information of the blade tip in the external coordinate system according to the real-time internal position information and the first external position information.

9. A bulldozer, characterized in that: The bulldozer comprises: at least one processor; and a memory communicatively coupled to the at least one processor; Wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for determining the blade tip position of a bulldozer as described in any one of claims 1-7.

10. A storage medium containing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to execute the method for determining the blade tip position of a bulldozer as described in any one of claims 1-7.

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