Coordinate transformation calibration measuring tool of excavator

Abstract

The invention relates to an excavator coordinate transformation calibration measuring tool, and belongs to the technical field of excavator control. According to the tool, a plurality of coordinate systems such as a world coordinate system, an excavator base coordinate system, an excavator accessory coordinate system, a material pile coordinate system and a site coordinate system are established, and the conversion relation among the coordinate systems is described through a mathematical model. And through matrix operation, calculating the motion trail of the excavator accessory in the material pile coordinate system, and calculating target parameters of each joint shaft, accessory and site of the excavator according to the trail. And finally, the target parameters are sent to a driving device, accurate control over all joint shafts, accessories and sites of the excavator is achieved, and therefore the precision, safety and efficiency of excavator operation are improved. The tool can be applied to the fields of earthwork, mining and the like, and is particularly suitable for large-scale excavation operation in a complex environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of excavator control, and relates to a calibration measurement tool for excavator coordinate transformation. Background Art

[0002] With the rapid development of the modern construction machinery industry, excavators, as commonly used construction machinery and equipment, play an important role in earthwork operations, mining and other fields. In order to further improve the working efficiency of excavators, accurately controlling the movement of each joint axis and attachment of the excavator has become the key.

[0003] However, traditional excavator coordinate transformation methods often have the following problems:

[0004] Insufficient accuracy: Traditional coordinate transformation methods often rely on simple mathematical models and are difficult to accurately describe the complex movement relationships between various components of the excavator, resulting in insufficient control accuracy and difficulty in meeting the requirements of complex operations.

[0005] Complicated calibration: Traditional coordinate transformation methods require a cumbersome calibration process, and operators need to have high professional skills, increasing the operation difficulty and maintenance cost.

[0006] Low collaborative working efficiency of joint axes and attachments: Traditional control methods are difficult to achieve the collaborative work of each joint axis and attachment of the excavator, resulting in low operation efficiency and affecting the operation progress.

[0007] These problems make it difficult for operators to achieve precise control of the excavator, especially when performing large-scale excavation operations in complex environments.

[0008] Therefore, proposing a calibration measurement tool and method based on collaborative coordinate transformation, which can effectively improve the operation accuracy and working efficiency of the excavator, has important practical significance. Summary of the Invention

[0009] In view of this, the purpose of the present invention is to provide a calibration measurement tool for excavator coordinate transformation.

[0010] To achieve the above purpose, the present invention provides the following technical solutions:

[0011] A calibration measurement tool for excavator coordinate transformation, comprising:

[0012] A coordinate system establishment module, used to establish multiple coordinate systems, including a world coordinate system, an excavator base coordinate system, an excavator attachment coordinate system, a stockpile coordinate system, and a site coordinate system, and describe the conversion relationships between them through a mathematical model;

[0013] A coordinate transformation module, configured to calculate the motion trajectory of the excavator attachment in the stockpile coordinate system according to the conversion relationship between the coordinate systems established by the coordinate system establishment module;

[0014] A parameter calculation module, configured to calculate the target parameters of each joint axis, attachment, and site of the excavator according to the motion trajectory calculated by the coordinate transformation module;

[0015] A drive control module, configured to send the target parameters calculated by the parameter calculation module to the drive device to control the coordinated operation of each joint axis, attachment, and site of the excavator.

[0016] Furthermore, the coordinate system establishment module further includes:

[0017] A coordinate system acquisition module, configured to acquire data of the world coordinate system, the excavator base coordinate system, the excavator attachment coordinate system, the stockpile coordinate system, and the site coordinate system;

[0018] A coordinate system calibration module, configured to calibrate the acquired coordinate system data to ensure the accuracy of the coordinate system data.

[0019] Furthermore, the coordinate transformation module further includes:

[0020] A matrix operation module, configured to calculate the matrix of the motion trajectory of the excavator attachment in the stockpile coordinate system according to the conversion relationship between the coordinate systems established by the coordinate system establishment module.

[0021] Furthermore, the parameter calculation module further includes:

[0022] A motion planning module, configured to plan the motion parameters of each joint axis and attachment of the excavator according to the motion trajectory calculated by the coordinate transformation module.

[0023] Furthermore, the drive control module further includes:

[0024] A control signal generation module, configured to generate control signals for controlling each joint axis, attachment, and site of the excavator according to the target parameters calculated by the parameter calculation module;

[0025] A signal sending module, configured to send the control signals to the drive device.

[0026] Furthermore, a real-time monitoring module is further included, configured to monitor the working state of the excavator in real time and give an alarm when an abnormality occurs.

[0027] Furthermore, a data storage module is further included, configured to store the coordinate system data acquired by the coordinate system establishment module, the motion trajectory calculated by the coordinate transformation module, and the target parameters calculated by the parameter calculation module.

[0028] Furthermore, the coordinate systems established by the coordinate system establishment module are converted through a series of rotation matrices and translation matrices.

[0029] Furthermore, the target parameters calculated by the parameter calculation module include the angles of each joint axis of the excavator, the attitude of the excavator attachment, and the position information of the site.

[0030] Furthermore, the driving device includes a hydraulic system and an electric motor system.

[0031] The beneficial effects of the present invention are as follows:

[0032] (1) Improve operation accuracy

[0033] By establishing multiple coordinate systems, this technology realizes precise control of each joint axis and attachment of the excavator. Through coordinated coordinate transformation, the movement trajectory of the excavator attachment in the stockpile coordinate system can be accurately calculated. This high-precision calculation method reduces the errors that may occur in traditional methods, ensures that each action in the excavation operation conforms to the predetermined trajectory and parameters, and greatly improves the operation accuracy, especially in complex environments and fine operations.

[0034] (2) Improve safety

[0035] Through the real-time monitoring and adjustment system, the excavator can detect its working state at any time to ensure the coordinated operation among each joint axis, attachment, and the site. In case of abnormal situations, the system can quickly give an alarm to prevent potential accidents. Moreover, this technology will lay the foundation for future unmanned excavator control technology. Eventually, the excavator will no longer be operated by personnel, reducing the risk of casualties at the source.

[0036] (3) Improve work efficiency

[0037] The implementation of this technology enables the excavator to complete complex operation tasks in a shorter time. Through precise coordinate transformation and movement trajectory calculation, the operation of the excavator becomes smoother and more efficient, reducing the waiting and adjustment time. In addition, the realization of coordinated control enables each joint axis and attachment to work in a coordinated manner, avoiding repeated operations caused by improper operation, thus significantly improving the overall work efficiency and achieving the effect of cost reduction and efficiency increase.

[0038] Other advantages, objectives, and features of the present invention will be described to some extent in the subsequent specification, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be learned from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following specification. Brief Description of the Drawings

[0039] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be described in detail and preferably below in conjunction with the accompanying drawings, where:

[0040] Figure 1 This is the flowchart of the present invention. Specific embodiments

[0041] The following uses specific examples to illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0042] Among them, the accompanying drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as limiting the present invention; in order to better illustrate the embodiments of the present invention, some components in the drawings will be omitted, enlarged, or reduced, which does not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0043] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0044] As Figure 1 shown, the present invention is a coordinated coordinate transformation calibration measurement tool and medium for an excavator. The core technical principle lies in establishing multiple coordinate systems and achieving precise control of each joint axis, attachment, and site of the excavator through the conversion relationships between these coordinate systems. Specifically, the following steps are adopted:

[0045] First, establish multiple coordinate systems, including a world coordinate system, an excavator base coordinate system, an excavator attachment coordinate system, a stockpile coordinate system, and a site coordinate system. The conversion between each coordinate system is achieved through a series of matrix transformation relationships.

[0046] According to these conversion relationships, calculate the movement trajectory of the excavator attachment in the stockpile coordinate system, and based on the trajectory, calculate the target parameters of each joint axis, attachment, and site of the excavator.

[0047] Send these target parameters to the drive device to achieve the coordinated operation of each joint axis, attachment, and site of the excavator, and ultimately achieve efficient control of the excavator operation.

[0048] Establishment of multiple coordinate systems: Define the world coordinate system, excavator base coordinate system, attachment coordinate system, stockpile coordinate system, and site coordinate system, and describe the conversion relationships between them through mathematical models.

[0049] Implementation of the coordinate transformation algorithm: Calculate the conversion relationships between coordinate systems through matrices, and then obtain the real-time trajectory of the excavator attachment. The formula of the matrix is as follows:

[0050]

[0051] Precise control of joint axes and attachments: According to the trajectory calculation results, generate the movement target parameters of each joint axis and attachment of the excavator, and send these parameters to the drive device to drive the excavator to perform precise operations.

[0052] Real-time monitoring and adjustment: Through the real-time monitoring system, adjust the working state of the excavator at any time to ensure the coordinated operation between each joint axis, attachment, and site, and perform self-correction in case of abnormalities.

[0053] The following illustrates the implementation mode of the present invention through a specific embodiment:

[0054] Step 1: Establish a coordinate system

[0055] World coordinate system (OwXwYwZw): Establish a three-dimensional rectangular coordinate system with the earth's surface as a reference.

[0056] Excavator base coordinate system (ObXbYbZb): Establish a three-dimensional rectangular coordinate system with the center of the excavator base as the origin. The Xb axis points in the forward direction of the excavator, the Yb axis points to the left side of the excavator, and the Zb axis is perpendicular upward.

[0057] Excavator attachment coordinate system (OtXtYtZt): Establish a three-dimensional rectangular coordinate system with the center of the excavator bucket as the origin. The Xt axis points to the front end of the bucket, the Yt axis points to the right side of the bucket, and the Zt axis is perpendicular upward.

[0058] Stockpile coordinate system (OrXrYrZr): Establish a three-dimensional rectangular coordinate system with the center of the stockpile as the origin. The Xr axis points to the front end of the stockpile, the Yr axis points to the right side of the stockpile, and the Zr axis is perpendicular upward.

[0059] Site Coordinate System (OsXsYsZs): A three-dimensional rectangular coordinate system is established with the center of the site as the origin. The Xs-axis points to the front end of the site, the Ys-axis points to the right side of the site, and the Zs-axis points vertically upward.

[0060] Step 2: Collect coordinate system data

[0061] Collect the origin position and attitude information of each coordinate system through sensors or measuring devices, and store them in the data storage module.

[0062] Step 3: Calculate the transformation relationship between coordinate systems

[0063] World coordinate system to stockpile coordinate system: Calculate the transformation matrix from the world coordinate system to the stockpile coordinate system using rotation matrices and translation matrices.

[0064] Stockpile coordinate system to excavator base coordinate system: Calculate the transformation matrix from the stockpile coordinate system to the excavator base coordinate system using rotation matrices and translation matrices.

[0065] Excavator base coordinate system to excavator attachment coordinate system: Calculate the transformation matrix from the excavator base coordinate system to the excavator attachment coordinate system using rotation matrices and translation matrices.

[0066] Step 4: Calculate the motion trajectory of the excavator attachment

[0067] Set the target point: Set a target point (Xr, Yr, Zr) in the stockpile coordinate system.

[0068] Calculate the transformation matrix: Transform the target point from the stockpile coordinate system to the world coordinate system.

[0069] Calculate the motion trajectory: Using the coordinate transformation module, calculate the motion trajectory of the excavator attachment in the stockpile coordinate system based on the transformation matrix and the geometric parameters of the excavator attachment.

[0070] Step 5: Calculate the target parameters

[0071] Motion planning: Based on the motion trajectory, use the motion planning module to plan the motion parameters of each joint axis and attachment of the excavator, such as joint angles, bucket attitude, etc.

[0072] Target parameter calculation: Using the parameter calculation module, calculate the target parameters of each joint axis, attachment, and site of the excavator based on the motion parameters, such as hydraulic system pressure, motor speed, etc.

[0073] Step 6: Control the drive device

[0074] Control signal generation: Send the target parameters to the drive control module to control the drive devices, such as the hydraulic system and the motor system, to drive the coordinated operation of each joint axis, attachment, and site of the excavator.

[0075] Real-time monitoring: Through the real-time monitoring module, the working status of the excavator is monitored in real time, and an alarm is given when an abnormality occurs.

[0076] Example values:

[0077] Target point (Xr, Yr, Zr) = (2m, 1m, 0.5m)

[0078] Length of the excavator attachment = 1.5m

[0079] Joint angles: Joint 1 = 30°, Joint 2 = 45°, Joint 3 = 60°

[0080] Through the above steps, the present invention realizes the precise control of each joint axis, attachment and work area of the excavator, improving the operation accuracy, safety and efficiency of the excavator.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the present technical solution, and they should all be covered within the scope of the claims of the present invention.

Claims

1. An excavator coordinate transformation calibration measurement tool, characterized in that: Including: A coordinate system establishment module for establishing multiple coordinate systems, including a world coordinate system, an excavator base coordinate system, an excavator attachment coordinate system, a stockpile coordinate system, and a site coordinate system, and describing the conversion relationships between them through a mathematical model; A coordinate transformation module for calculating the movement trajectory of the excavator attachment in the stockpile coordinate system according to the conversion relationships between the coordinate systems established by the coordinate system establishment module; A parameter calculation module for calculating the target parameters of each joint axis, attachment, and site of the excavator according to the movement trajectory calculated by the coordinate transformation module; A drive control module for sending the target parameters calculated by the parameter calculation module to the drive device to control the coordinated operation of each joint axis, attachment, and site of the excavator.

2. The coordinate transformation calibration measurement tool for an excavator according to claim 1, characterized in that: The coordinate system establishment module further includes: A coordinate system acquisition module for acquiring data of the world coordinate system, the excavator base coordinate system, the excavator attachment coordinate system, the stockpile coordinate system, and the site coordinate system; A coordinate system calibration module for calibrating the acquired coordinate system data to ensure the accuracy of the coordinate system data.

3. The coordinate transformation calibration measurement tool for an excavator according to claim 1, characterized in that: The coordinate transformation module further includes: A matrix operation module for calculating the matrix of the movement trajectory of the excavator attachment in the stockpile coordinate system according to the conversion relationships between the coordinate systems established by the coordinate system establishment module.

4. The coordinate transformation calibration measurement tool for an excavator according to claim 1, characterized in that: The parameter calculation module further includes: A motion planning module for planning the motion parameters of each joint axis and attachment of the excavator according to the movement trajectory calculated by the coordinate transformation module.

5. The coordinate transformation calibration measurement tool for an excavator according to claim 1, characterized in that: The drive control module further includes: A control signal generation module for generating control signals for controlling each joint axis, attachment, and site of the excavator according to the target parameters calculated by the parameter calculation module; A signal sending module for sending the control signals to the drive device.

6. The coordinate transformation calibration measurement tool for an excavator according to claim 1, characterized in that: It further includes a real-time monitoring module for real-time monitoring of the working state of the excavator and giving an alarm when an abnormality occurs.

7. The calibration measurement tool for coordinate transformation of the excavator according to claim 1, characterized in that: It further includes a data storage module for storing the coordinate system data acquired by the coordinate system establishment module, the movement trajectory calculated by the coordinate transformation module, and the target parameters calculated by the parameter calculation module.

8. The coordinate transformation calibration measurement tool for an excavator according to claim 1, wherein: The conversion between the coordinate systems established by the coordinate system establishment module is realized through a series of rotation matrices and translation matrices.

9. The calibration measurement tool for coordinate transformation of an excavator according to claim 1, characterized in that: The target parameters calculated by the parameter calculation module include the angles of each joint axis of the excavator, the posture of the excavator attachment, and the position information of the site.

10. The excavator coordinate transformation calibration measurement tool according to claim 1, characterized in that: The drive device includes a hydraulic system and an electric motor system.

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