Parameter calibration method, device and equipment of excavator and storage medium
By aligning the bucket teeth of the excavator with the zero point of the wire-coupled distance sensor and controlling the random movement of the joints, the optimal solution of the parameters to be calibrated is collected and calculated. This solves the problems of low data acquisition efficiency and insufficient accuracy in the existing technology, and achieves efficient and accurate parameter calibration.
Patent Information
- Application Number
- CN202511231845.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-29
- Publication Date
- 2025-11-21
AI Technical Summary
Existing technologies suffer from low data acquisition efficiency and the inability to perform continuous measurements during excavator parameter calibration, resulting in reduced calibration efficiency and insufficient accuracy.
By automating the excavator, the bucket teeth are aligned with the zero point of the wire-coupled distance sensor. After collecting initial data, the joints are controlled to move randomly to collect multiple sets of measurement data. The optimal solution for the parameters to be calibrated is then calculated by minimizing the target loss function.
It realizes automated continuous data acquisition for excavator parameter calibration, improves calibration efficiency, reduces human error, and enhances the accuracy and reliability of calibration results.
Smart Images
Figure CN120991783A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the mechanical technical field, and in particular, relates to a parameter calibration method, device and equipment of excavator and a storage medium. BACKGROUND
[0002] For the excavator installed with a mechanical arm and a device such as a bucket, obtaining the accurate kinematic dimensions of the mechanical arm on the excavator and calibrating the external parameters of the sensor has an important influence on the automatic control effect of the excavator.
[0003] At present, in the process of calibrating the parameters (i.e. calibrating the kinematic dimension parameters of the mechanical arm, the external parameters of the sensor and the like) of the excavator, the bucket teeth tip of the excavator needs to be manually operated to be in contact with the ground, and the flat ground is taken as a horizontal reference surface to collect the measurement data required for parameter calibration. In this way, on the one hand, the collection of measurement data requires a large amount of manual assistance, thus resulting in the defects of the existing technology that the data collection efficiency is low and complete automation calibration cannot be achieved; on the other hand, the collection of measurement data requires the bucket teeth tip to be in contact with the ground, and the touch point is a discrete point, thus resulting in the fact that the existing technology cannot realize continuous collection of measurement data, and further causing the efficiency of parameter calibration to be reduced. SUMMARY
[0004] Therefore, the present application provides a parameter calibration method, device and equipment of excavator and a storage medium, which realizes continuous collection of measurement data by automatically controlling the excavator, effectively improves the parameter calibration efficiency of the excavator, and is also beneficial to reducing the manual errors caused by manual data collection in the parameter calibration process, and further improves the accuracy and reliability of the parameter calibration result.
[0005] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are described in detail below, and the accompanying drawings are described as follows.
[0006] In a first aspect, the embodiments of the present application provide a parameter calibration method of excavator, and the parameter calibration method comprises:
[0007] Under the condition that the bucket teeth tip of the excavator is aligned with the output zero point of the range-finding sensor, the initial range-finding reading of the range-finding sensor and the initial sensor data of the to-be-calibrated sensor are collected; wherein the range-finding sensor is fixed on the ground and one end of the cable is connected with the bucket teeth tip, and the to-be-calibrated sensor is installed on the excavator;
[0008] The multiple sets of measurement data corresponding to the multiple random motions of the at least one joint of the excavator are collected by controlling random motions of at least one joint on the excavator, wherein each set of measurement data includes a ranging reading of the ranging sensor and sensor data of the to-be-calibrated sensor;
[0009] The parameter optimal solution corresponding to the to-be-calibrated parameters is calculated by minimizing a target loss function with the to-be-calibrated parameters as independent variables according to the multiple sets of measurement data, the initial ranging reading and the initial sensor data, wherein the to-be-calibrated parameters include external parameters of the to-be-calibrated sensor and kinematic dimension parameters corresponding to a connecting rod on the excavator.
[0010] In a second aspect, an embodiment of the present application provides a parameter calibration device of an excavator, and the parameter calibration device comprises:
[0011] A first measurement module is configured to collect an initial ranging reading of a ranging sensor and initial sensor data of a to-be-calibrated sensor under the condition that a bucket tooth tip of the excavator is aligned with an output zero point of the ranging sensor, wherein the ranging sensor is fixed on the ground and one end of a cable is connected to the bucket tooth tip, and the to-be-calibrated sensor is installed on the excavator.
[0012] A second measurement module is configured to collect multiple sets of measurement data corresponding to multiple random motions of at least one joint of the excavator by controlling random motions of the at least one joint on the excavator, wherein each set of measurement data includes a ranging reading of the ranging sensor and sensor data of the to-be-calibrated sensor.
[0013] A parameter optimization module is configured to calculate a parameter optimal solution corresponding to to-be-calibrated parameters by minimizing a target loss function with the to-be-calibrated parameters as independent variables according to the multiple sets of measurement data, the initial ranging reading and the initial sensor data, wherein the to-be-calibrated parameters include external parameters of the to-be-calibrated sensor and kinematic dimension parameters corresponding to a connecting rod on the excavator.
[0014] In a third aspect, an embodiment of the present application provides a computer device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements steps of the parameter calibration method of the excavator when executing the computer program.
[0015] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to perform steps of the parameter calibration method of the excavator.
[0016] The technical scheme provided by the embodiments of the present application can include the following beneficial effects:
[0017] The parameter calibration method, device, equipment and storage medium of the excavator provided by the embodiments of the present application can collect the initial ranging reading of the ranging sensor and the initial sensor data of the sensor to be calibrated under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the ranging sensor; the multiple sets of measurement data corresponding to the multiple random movements of at least one joint are collected by controlling the random movement of at least one joint on the excavator; and the optimal solution of the parameter to be calibrated is calculated by minimizing the target loss function with the independent variable being the parameter to be calibrated according to the multiple sets of measurement data, the initial ranging reading and the initial sensor data. In this way, the continuous collection of measurement data is realized by automatically controlling the excavator, which effectively improves the parameter calibration efficiency of the excavator, and is also conducive to reducing the manual error caused by manual data collection in the parameter calibration process, thereby improving the accuracy and reliability of the parameter calibration result. BRIEF DESCRIPTION OF DRAWINGS
[0018] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.
[0019] Figure 1 A flowchart of a parameter calibration method of an excavator provided by an embodiment of the present application is shown;
[0020] Figure 2 An installation position diagram of a sensor to be calibrated on an excavator provided by an embodiment of the present application is shown;
[0021] Figure 3 A joint change diagram when measurement data is collected by automatically controlling the random movement of a joint on an excavator provided by an embodiment of the present application is shown;
[0022] Figure 4 A marking diagram of a parameter to be calibrated on an excavator provided by an embodiment of the present application is shown;
[0023] Figure 5 A structural diagram of a parameter calibration device of an excavator provided by an embodiment of the present application is shown;
[0024] Figure 6 A structural diagram of an electronic device 600 provided by an embodiment of the present application is shown. DETAILED DESCRIPTION
[0025] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for clear, complete description of the technical solutions in the embodiments of the present application. It should be appreciated that the accompanying drawings in the present application are only intended to illustrate and describe the present application, and should not be used to limit the scope of the present application. In addition, it should be appreciated that the schematic drawings are not drawn according to the actual scale. The flowcharts used in the present application show the operations implemented according to some embodiments of the present application. It should be appreciated that the operations of the flowcharts can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowcharts or one or more operations can be removed from the flowcharts under the guidance of the content of the present application.
[0026] In addition, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.
[0027] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.
[0028] At present, in the process of calibrating the parameters of the excavator (i.e. calibrating the kinematic dimension parameters of the mechanical arm, the external parameters of the sensor and other parameters), the excavator bucket tooth tip needs to be manually operated to contact the ground, and the flat ground is used as a horizontal reference surface to collect the measurement data required for parameter calibration. In this way, on the one hand, the collection of measurement data requires a large amount of manual assistance, thus resulting in the defects of the prior art that the data collection efficiency is low and full automation calibration cannot be achieved; on the other hand, the collection of measurement data requires the bucket tooth tip to contact the ground, and the touch point is a discrete point, thus resulting in the fact that the prior art cannot realize continuous collection of measurement data, and further causing the efficiency of parameter calibration to be reduced.
[0029] Based on this, the embodiments of this application provide a parameter calibration method, device, equipment and storage medium for excavators. By automatically controlling the excavator to continuously collect measurement data, the efficiency of parameter calibration for excavators is effectively improved. At the same time, it is also beneficial to reduce human error caused by manual data collection during the parameter calibration process, thereby improving the accuracy and reliability of the parameter calibration results.
[0030] To facilitate understanding of the embodiments of this application, the following provides a detailed description of a parameter calibration method, apparatus, device, and storage medium for an excavator provided by the embodiments of this application.
[0031] Reference Figure 1 As shown, Figure 1 The diagram illustrates a flowchart of a parameter calibration method for an excavator according to an embodiment of this application, wherein the parameter calibration method includes steps S101-S103; specifically:
[0032] S101, under the condition that the tip of the excavator's bucket tooth is aligned with the zero point of the output of the wire distance measuring sensor, the initial distance measurement reading of the wire distance measuring sensor and the initial sensor data of the sensor to be calibrated are collected.
[0033] S102, by controlling at least one joint on the excavator to move randomly, multiple sets of measurement data corresponding to multiple random movements of at least one joint are collected.
[0034] S103, based on the multiple sets of measurement data, the initial ranging readings, and the initial sensor data, the optimal solution for the parameters to be calibrated is calculated by minimizing the target loss function with the independent variable being the parameter to be calibrated.
[0035] The excavator parameter calibration method provided in this application, under the condition that the excavator's bucket tooth tip is aligned with the output zero point of the wire-coupled distance sensor, acquires the initial distance measurement reading of the wire-coupled distance sensor and the initial sensor data of the sensor to be calibrated; by controlling the random movement of at least one joint on the excavator, multiple sets of measurement data corresponding to multiple random movements of at least one joint are acquired; based on the multiple sets of measurement data, the initial distance measurement reading, and the initial sensor data, the optimal solution of the parameter to be calibrated is calculated by minimizing the target loss function with the parameter to be calibrated as the independent variable. Thus, this application achieves continuous acquisition of measurement data through automated control of the excavator, effectively improving the parameter calibration efficiency of the excavator, and also helps to reduce human error caused by manual data acquisition during the parameter calibration process, thereby improving the accuracy and reliability of the parameter calibration results.
[0036] The steps in the interaction method in the game provided by the embodiments of the application are respectively exemplarily described as follows.
[0037] S101, under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the pull-wire ranging sensor, an initial ranging reading of the pull-wire ranging sensor and initial sensor data of the sensor to be calibrated are collected.
[0038] In the embodiments of the application, the parameter calibration method of the excavator shown in steps S101-S103 can be run in the calibration device; wherein, in the data collection and parameter calibration process, the body of the calibration device can be fixed on the ground, one end of the cable of the pull-wire ranging sensor in the calibration device is connected with the bucket tooth tip of the excavator (that is, the pull-wire ranging sensor is fixed on the ground and one end of the cable is connected with the bucket tooth tip), and the track and the cabin of the excavator are kept fixed on the ground.
[0039] It should be noted that the sensor to be calibrated is installed on the excavator; wherein, the sensor to be calibrated can at least include three sensors to be calibrated installed on the large arm, the small arm and the bucket of the excavator respectively; wherein, the type of the sensor to which the sensor to be calibrated belongs is not limited in the embodiments of the application.
[0040] Specifically, as an optional embodiment, the sensor to be calibrated can include a first sensor installed on the large arm of the excavator, a second sensor installed on the small arm of the excavator, and a third sensor installed on the bucket of the excavator, at this time, the first sensor, the second sensor and the third sensor can belong to an inclination sensor for measuring the inclination of the installation position relative to the ground.
[0041] Exemplary description, Figure 2 A schematic diagram of the installation position of the sensor to be calibrated on the excavator provided by the embodiments of the application is shown, as shown in Figure 2 Taking the excavator as an example, the sensor to be calibrated can include a first sensor installed on the large arm of the excavator, a second sensor installed on the small arm of the excavator, and a third sensor installed on the bucket of the excavator.
[0042] Specifically, as another optional embodiment, the sensor to be calibrated can also be a displacement sensor installed on the hydraulic cylinder of the excavator; wherein, the hydraulic cylinder includes the hydraulic cylinder corresponding to the large arm, the small arm and the bucket of the excavator respectively.
[0043] Here, taking the three to-be-calibrated sensors mounted on the boom, the arm and the bucket of the excavator as examples, if the to-be-calibrated sensor mounted on the boom is denoted as the first sensor a, the to-be-calibrated sensor mounted on the arm is denoted as the second sensor β, and the to-be-calibrated sensor mounted on the bucket is denoted as the third sensor γ, the plurality of joints (i.e., the boom joint, the arm joint, and the bucket joint) of the excavator can be automatically controlled to move until the condition that the output zero point of the range sensor is aligned with the tooth tip of the bucket of the excavator is met. At this time, the zero point moment when data collection can be started can be measured, and the initial range reading p0 (which is equivalent to the cable length corresponding to the cable of the range sensor at the zero point moment) of the range sensor, the sensor data (i.e., sensor reading) of the first sensor a at the zero point moment, the sensor data (i.e., sensor reading) of the second sensor β at the zero point moment, and the sensor data (i.e., sensor reading) of the third sensor γ at the zero point moment are collected.
[0044] It should be noted that the excavator includes but is not limited to an excavator including a mechanical arm (i.e., the boom and the arm) and a bucket, a loader, and the like. The specific vehicle type of the excavator is not mandatory limited by the embodiments of the present application.
[0045] S102, by controlling at least one joint of the excavator to move randomly, a plurality of sets of measurement data corresponding to a plurality of random movements of the at least one joint are collected.
[0046] Here, according to the related description in step S101, the joint can include a boom joint, an arm joint, and a bucket joint corresponding to a boom, an arm, and a bucket of the excavator, respectively. That is, each random movement can be a random movement of one of the boom joint, the arm joint, and the bucket joint, or a random movement of a plurality of joints of the boom joint, the arm joint, and the bucket joint.
[0047] Here, in the step S102, each random motion corresponds to a posture of the excavator (i.e. through the above-mentioned random motion, the effect of changing the posture of the excavator is achieved), wherein each random motion corresponds to a set of measurement data collected, and each set of measurement data also includes the ranging reading of the ranging sensor and the sensor data of the to-be-calibrated sensor, that is, the data collection process of the multiple sets of measurement data in the step S102 and the data collection process of the above-mentioned step S101 are based on the continuous collection of measurement data by automatically controlling the excavator to change the posture.
[0048] Specifically, as an optional embodiment, the above-mentioned step S102 can be executed in the manner shown in the following step a1:
[0049] Step a1, control at least one of the joints on the excavator to perform random motion within the safe motion range corresponding to the joint, and collect the ranging reading of the ranging sensor and the sensor data of the to-be-calibrated sensor as measurement data corresponding to the current random motion after the current random motion stops.
[0050] It should be noted that the above-mentioned joint represents one or more joints on the excavator, that is, the above-mentioned joint can be one or more of the above-mentioned boom joint, arm joint and bucket joint, and in the embodiments of the present application, it is only necessary to ensure that after each random motion of the joint controlled automatically, the posture of the excavator can be changed, so that the above-mentioned multiple sets of different measurement data can be continuously collected under the condition that the excavator is in different postures. The specific number and type of joints involved in each random motion are not limited in the embodiments of the present application.
[0051] Specifically, whether it is the boom joint, the arm joint or the bucket joint, each joint corresponds to a safe motion range, wherein the safe motion range is determined by the maximum movable angle and the minimum movable angle of a joint, and the safe motion ranges corresponding to different joints can be different, and the embodiments of the present application do not make any limitation on this.
[0052] Exemplary description, Figure 3 A schematic diagram of the change of the joint when the measurement data is collected by automatically controlling the joint on the excavator to perform random motion is shown, as shown in Figure 3As shown, taking the excavator as an example, through the wire ranging sensor fixed on the ground and having one end connected with the bucket tooth tip, the initial ranging reading p0 of the wire ranging sensor can be collected at the zero time (i.e. the time when the bucket tooth tip of the excavator is aligned with the output zero point of the wire ranging sensor), and then through the random motion of the control of the boom joint, the arm joint and the bucket joint of the excavator, the ranging reading p of the wire ranging sensor in the ith group of measurement data can be collected at the ith time (equivalent to the ith random motion) i .
[0053] Specifically, still taking the above-mentioned to-be-calibrated sensors including three to-be-calibrated sensors respectively installed on the boom, the arm and the bucket of the excavator as an example, if the to-be-calibrated sensor installed on the boom is denoted as the first sensor a, the to-be-calibrated sensor installed on the arm is denoted as the second sensor β, and the to-be-calibrated sensor installed on the bucket is denoted as the third sensor γ, then the n times of random motion of the multiple joints (i.e. the boom joint, the arm joint and the bucket joint) on the excavator can be automatically controlled, wherein, taking the ith random motion as an example, after the ith random motion, the ith group of measurement data corresponding to the ith time (i.e. the ith random motion) can be collected, including: the ranging reading p of the wire ranging sensor i (equivalent to the cable length of the wire ranging sensor at the ith time), the sensor data (i.e. the sensor reading) of the first sensor a at the ith time, the sensor data (i.e. the sensor reading) of the second sensor β at the ith time, and the sensor data (i.e. the sensor reading) of the third sensor γ at the ith time; wherein, the sensor data in the above-mentioned ith group of measurement data is equivalent to the sensor data of the above-mentioned to-be-calibrated sensors included in the ith group of measurement data.
[0054] S103, according to the multiple groups of measurement data, the initial ranging reading and the initial sensor data, the parameter optimal solution corresponding to the to-be-calibrated parameters is calculated by minimizing the target loss function with the to-be-calibrated parameters as the independent variables.
[0055] Here, the to-be-calibrated parameters can include: the external parameters of the to-be-calibrated sensors and the kinematic dimension parameters corresponding to the connecting rods on the excavator; wherein, the connecting rods include but are not limited to: the first connecting rod between the boom joint and the arm joint of the excavator, the second connecting rod between the arm joint and the bucket joint, and the third connecting rod between the bucket joint and the bucket tooth tip.
[0056] For example, still taking the to-be-calibrated sensors including the first sensor a, the second sensor β, and the third sensor γ respectively installed on the large arm, the small arm, and the bucket of the excavator as an example, Figure 4 A marking diagram of a to-be-calibrated parameter on an excavator is shown, as shown in Figure 4 As shown, the to-be-calibrated parameters can include the external parameters of the first sensor a the external parameters of the second sensor β, and the external parameters of the third sensor γ The first kinematic dimension parameter L1 corresponding to the first connecting rod (also equivalent to the length of the large arm of the excavator), the second kinematic dimension parameter L2 corresponding to the second connecting rod (also equivalent to the length of the small arm of the excavator), and the third kinematic dimension parameter L3 corresponding to the third connecting rod (also equivalent to the length of the bucket of the excavator).
[0057] In the embodiment of the present application, as an optional embodiment, the above step S103 can be performed according to the method shown in steps b1-b6, specifically:
[0058] Step b1, determining an initial joint angle expression of the joint corresponding to the to-be-calibrated sensor at the zero point according to the analytical function corresponding to the joint between the initial sensor data and the joint.
[0059] Here, there is a preset analytical function between the sensor data of the to-be-calibrated sensor and the joint angle of the joint corresponding to the installation position thereof; wherein the analytical function is shown in the following formula 1:
[0060]
[0061] Wherein θ represents the joint angle of the joint corresponding to the installation position of the to-be-calibrated sensor;
[0062] q represents the sensor data of the to-be-calibrated sensor;
[0063] represents the external parameters of the to-be-calibrated sensor;
[0064] f() represents the function expression of the analytical function itself, that is, based on the existence of the analytical function f, any two of the joint angle θ, the sensor data q, and the external parameters can be calculated through the analytical function f.
[0065] Specifically, when step b1 is performed, θ in the above formula 1 is replaced by the joint angle of the large arm joint at the zero point q in the above formula 1 is replaced by the sensor data of the first sensor a corresponding to the large arm joint at the zero point (i.e. the initial sensor data of the first sensor α), and replacing θ in the above formula 1 with the external parameters of the first sensor α (i.e. the initial sensor data of the first sensor α), and replacing θ in the above formula 1 with the external parameters of the first sensor α
[0066] Specifically, in the execution of step b1, θ in the above formula 1 is replaced with the joint angle of the forearm joint at the zero time point q in the above formula 1 is replaced with the sensor data corresponding to the second sensor β matched with the forearm joint at the zero time point (i.e. the initial sensor data of the second sensor β), and replacing θ in the above formula 1 with the external parameters of the second sensor β (i.e. the initial sensor data of the second sensor β), and replacing θ in the above formula 1 with the external parameters of the second sensor β
[0067] Specifically, in the execution of step b1, θ in the above formula 1 is replaced with the joint angle of the shovel joint at the zero time point q in the above formula 1 is replaced with the sensor data corresponding to the third sensor γ matched with the shovel joint at the zero time point (i.e. the initial sensor data of the third sensor γ), and replacing θ in the above formula 1 with the external parameters of the third sensor γ (i.e. the initial sensor data of the third sensor γ), and replacing θ in the above formula 1 with the external parameters of the third sensor γ
[0068] It should be noted that, as can be seen from the above formula 1-1 to formula 1-3, for the joint angle of any joint, the initial joint angle expression corresponding to each joint at the zero time point includes the initial sensor data and the external parameters.
[0069] Step b2, for each set of measurement data, according to the analytical function corresponding to the sensor data and the joint in the set of measurement data, determine the target joint angle expression corresponding to the joint at the target time.
[0070] Here, the target time represents the data acquisition time of the set of measurement data; wherein the specific function form of the analytical function in step b2 can refer to the above formula 1, and the repeated parts will not be described here.
[0071] Specifically, taking the i-th set of measurement data as an example, in the execution of step b2, θ in the above formula 1 is replaced with the joint angle of the forearm joint at the i-th time q is replaced by the sensor data corresponding to the first sensor a at the i th moment matched with the big arm joint (That is, the sensor data of the first sensor a in the i th group of measurement data), and q in the above formula 1 is replaced by the external parameter of the first sensor a The target joint angle expression corresponding to the big arm joint at the i th moment is as shown in the following formula 2-1:
[0072] Specifically, taking the i th group of measurement data as an example, when step b2 is performed, θ in the above formula 1 is replaced by the joint angle of the small arm joint at the i th moment q in the above formula 1 is replaced by the sensor data corresponding to the second sensor β at the i th moment matched with the small arm joint (That is, the sensor data of the second sensor β in the i th group of measurement data), and q in the above formula 1 is replaced by the external parameter of the second sensor β The target joint angle expression corresponding to the small arm joint at the i th moment is as shown in the following formula 2-2:
[0073] Specifically, taking the i th group of measurement data as an example, when step b2 is performed, θ in the above formula 1 is replaced by the joint angle of the bucket joint at the i th moment q in the above formula 1 is replaced by the sensor data corresponding to the third sensor γ at the i th moment matched with the bucket joint (That is, the sensor data of the third sensor γ in the i th group of measurement data), and q in the above formula 1 is replaced by the external parameter of the third sensor γ The target joint angle expression corresponding to the bucket joint at the i th moment is as shown in the following formula 2-3:
[0074] Step b3, determining the first homogeneous transformation matrix corresponding to the zero moment according to the initial joint angle expression and the kinematic dimension parameter.
[0075] Here, referring to the above formula 1-1 to formula 1-3 in step b1, the first homogeneous transformation matrix T(θ0;L,Φ) can be obtained in the manner as shown in the following formula 3-1 to formula 3-4, specifically:
[0076]
[0077]
[0078] wherein, denotes the joint angle of the boom joint at the zero time instant;
[0079] denotes the joint angle of the stick joint at the zero time instant;
[0080] denotes the joint angle of the bucket joint at the zero time instant;
[0081] denotes the first kinematic dimension parameter corresponding to the first connecting rod (also equivalent to the length of the boom of the excavator);
[0082] denotes the second kinematic dimension parameter corresponding to the second connecting rod (also equivalent to the length of the stick of the excavator);
[0083] denotes the second kinematic dimension parameter corresponding to the third connecting rod (also equivalent to the length of the bucket of the excavator).
[0084] Step b4, determining the second homogeneous transformation matrix corresponding to the target time instant according to the target joint angle expression and the kinematic dimension parameters.
[0085] Here, referring to the formulas 2-1 to 2-3 in the above step b2, the second homogeneous transformation matrix T(θ i ;L,Φ) can be obtained in the following formulas 4-1 to 4-4, specifically:
[0086]
[0087] wherein, denotes the joint angle of the boom joint at the i-th time instant;
[0088] denotes the joint angle of the stick joint at the i-th time instant;
[0089] denotes the joint angle of the bucket joint at the i-th time instant;
[0090] denotes the first kinematic dimension parameter corresponding to the first connecting rod (also equivalent to the length of the boom of the excavator);
[0091] denotes the second kinematic dimension parameter corresponding to the second connecting rod (also equivalent to the length of the stick of the excavator);
[0092] denotes the second kinematic dimension parameter corresponding to the third connecting rod (also equivalent to the length of the bucket of the excavator).
[0093] Step b5, substituting the first homogeneous transformation matrix, the second homogeneous transformation matrix, the ranging reading in the set of measurement data and the initial ranging reading into the target loss function to obtain a target loss function expression corresponding to the set of measurement data.
[0094] Here, the target loss function expression is shown in the following formula 5, specifically:
[0095] loss(L, Φ) = [(T(θ i ; L, Φ).x - T(θ0; L, Φ).x) 2 + (T(θ i ; L, Φ).z - T(θ0; L, Φ).z)2- (pi - p0)2]2.
[0096] Wherein, T(θ i ; L, Φ).x represents the first value in the last column of the second homogeneous transformation matrix T(θ i ; L, Φ);
[0097] T(θ0; L, Φ).x represents the first value in the last column of the first homogeneous transformation matrix T(θ0; L, Φ);
[0098] T(θ i ; L, Φ).z represents the third value in the last column of the second homogeneous transformation matrix T(θ i ; L, Φ);
[0099] T(θ0; L, Φ).z represents the third value in the last column of the first homogeneous transformation matrix T(θ0; L, Φ);
[0100] pi i represents the ranging reading of the ranging sensor in the i-th set of measurement data;
[0101] p0 represents the initial ranging reading of the ranging sensor;
[0102] loss(L, Φ) represents the target loss function with the independent variable being the to-be-calibrated parameters (i.e. the above kinematic dimension parameters L1-L3 and the above external parameters ).
[0103] Step b6, by minimizing the target loss function expression corresponding to each set of measurement data, the to-be-calibrated parameters corresponding to the minimum of the target loss function are calculated as the optimal solution of the parameters.
[0104] Here, referring to the loss (L, Φ) shown in the above formula 5, by substituting multiple sets of measurement data, the loss (L, Φ) corresponding to the multiple sets of measurement data can be obtained, and by minimizing the loss (L, Φ), the above kinematic size parameters L1-L3 and the above external parameters corresponding to the time when the loss (L, Φ) reaches the minimum can be calculated The parameter optimal solution of the to-be-calibrated parameters.
[0105] Specifically, after obtaining the parameter optimal solution of the to-be-calibrated parameters, as an optional embodiment, the kinematic size parameters corresponding to the connecting rods on the excavator can be determined according to the kinematic size parameters in the parameter optimal solution; for example, the lengths corresponding to the first connecting rod, the second connecting rod, and the third connecting rod, respectively, can be determined according to the kinematic size parameters L1-L3 in the parameter optimal solution.
[0106] Specifically, after obtaining the parameter optimal solution of the to-be-calibrated parameters, as an optional embodiment, the external parameters of the to-be-calibrated sensors can also be calibrated according to the external parameters in the parameter optimal solution; for example, the external parameters of the first sensor α can be calibrated according to the external parameters calibrate the external parameters of the first sensor α according to the external parameters calibrate the external parameters of the second sensor β according to the external parameters calibrate the external parameters of the third sensor γ.
[0107] Based on the above parameter calibration method of the excavator provided in the embodiments of the present application, under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the range-finding sensor, the initial range-finding reading of the range-finding sensor and the initial sensor data of the to-be-calibrated sensors are collected; by controlling the random motion of at least one joint on the excavator, multiple sets of measurement data corresponding to multiple random motions of the at least one joint are collected; according to the multiple sets of measurement data, the initial range-finding reading, and the initial sensor data, by minimizing the target loss function with the to-be-calibrated parameters as the independent variables, the parameter optimal solution corresponding to the to-be-calibrated parameters is calculated. In this way, the present application realizes continuous collection of measurement data by automatically controlling the excavator, effectively improves the parameter calibration efficiency of the excavator, and is also conducive to reducing the manual errors caused by manual data collection in the parameter calibration process, thereby improving the accuracy and reliability of the parameter calibration results.
[0108] Based on the same inventive concept, the application also provides a parameter calibration device of the excavator corresponding to the parameter calibration method of the excavator, and since the parameter calibration device of the excavator in the application has a similar problem solving principle as the parameter calibration method of the excavator in the application, the implementation of the parameter calibration device of the excavator can be referred to the implementation of the parameter calibration method of the excavator, and the repeated parts will not be described here.
[0109] Referring to Figure 5 , it is shown that Figure 5 The structure of a parameter calibration device of an excavator provided by the application is shown, wherein the parameter calibration device comprises:
[0110] The first measurement module 501 is configured to collect initial ranging readings of the ranging sensor and initial sensor data of the to-be-calibrated sensor under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the ranging sensor; wherein the ranging sensor is fixed on the ground, and one end of the cable is connected to the bucket tooth tip; and the to-be-calibrated sensor is installed on the excavator.
[0111] The second measurement module 502 is configured to collect a plurality of sets of measurement data corresponding to a plurality of random movements of at least one joint of the excavator; wherein each set of measurement data comprises ranging readings of the ranging sensor and sensor data of the to-be-calibrated sensor.
[0112] The parameter optimization module 503 is configured to calculate a parameter optimal solution corresponding to the to-be-calibrated parameter by minimizing a target loss function with the to-be-calibrated parameter as an independent variable according to the plurality of sets of measurement data, the initial ranging readings and the initial sensor data; wherein the to-be-calibrated parameter comprises external parameters of the to-be-calibrated sensor and kinematic dimension parameters corresponding to the connecting rods on the excavator.
[0113] In an optional implementation, the joints comprise a large arm joint, a small arm joint and a bucket joint corresponding to a large arm, a small arm and a bucket of the excavator, respectively.
[0114] In an optional implementation, the to-be-calibrated sensor comprises a first sensor installed on the large arm of the excavator, a second sensor installed on the small arm of the excavator, and a third sensor installed on the bucket of the excavator.
[0115] In an optional implementation, the to-be-calibrated sensor further comprises a displacement sensor installed on a hydraulic cylinder of the excavator; wherein the hydraulic cylinder comprises hydraulic cylinders corresponding to the large arm, the small arm and the bucket of the excavator, respectively.
[0116] In an alternative implementation, when the plurality of sets of measurement data respectively corresponding to a plurality of random motions of at least one joint of the excavator are collected by controlling the random motion of the at least one joint of the excavator in a manner described above, the second measurement module 502 is configured to:
[0117] controlling the random motion of the at least one joint of the excavator within a safety motion range corresponding to the joint, and collecting the ranging reading of the ranging sensor and the sensor data of the to-be-calibrated sensor after the random motion as the measurement data corresponding to the random motion.
[0118] In an alternative implementation, when the parameter optimal solution of the to-be-calibrated parameter is calculated by minimizing the objective loss function with the to-be-calibrated parameter as an independent variable according to the plurality of sets of measurement data, the initial ranging reading and the initial sensor data, the parameter optimization module 503 is configured to:
[0119] determining an initial joint angle expression corresponding to the zero point time of the joint according to an analytical function corresponding between the initial sensor data and the joint; wherein the initial joint angle expression includes the initial sensor data and the external parameter;
[0120] for each set of measurement data, determining a target joint angle expression corresponding to a target time of the joint according to an analytical function corresponding between the sensor data and the joint in the set of measurement data; wherein the target time represents the data collection time of the set of measurement data;
[0121] determining a first homogeneous transformation matrix corresponding to the zero point time according to the initial joint angle expression and the kinematic dimension parameter;
[0122] determining a second homogeneous transformation matrix corresponding to the target time according to the target joint angle expression and the kinematic dimension parameter;
[0123] substituting the first homogeneous transformation matrix, the second homogeneous transformation matrix, the ranging reading in the set of measurement data and the initial ranging reading into the objective loss function to obtain an objective loss function expression corresponding to the set of measurement data;
[0124] calculating the to-be-calibrated parameter corresponding to the minimum of the objective loss function as the parameter optimal solution by minimizing the objective loss function expression corresponding to each set of measurement data.
[0125] In an alternative implementation, the parameter calibration device further comprises a parameter calibration module, wherein the parameter calibration module is configured to:
[0126] determine, according to the kinematic dimension parameter in the parameter optimal solution, a kinematic dimension parameter corresponding to a connecting rod on the excavator;
[0127] calibrate, according to the external parameter in the parameter optimal solution, an external parameter of the sensor to be calibrated.
[0128] Based on the parameter calibration device of the excavator provided in the embodiments of the present application, under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the range-finding sensor, the initial range-finding reading of the range-finding sensor and the initial sensor data of the sensor to be calibrated are collected; by controlling random movement of at least one joint on the excavator, a plurality of sets of measurement data corresponding to a plurality of random movements of the at least one joint are collected; according to the plurality of sets of measurement data, the initial range-finding reading and the initial sensor data, the parameter optimal solution corresponding to the parameters to be calibrated is calculated by minimizing the target loss function with the parameters to be calibrated as independent variables. In this way, the present application realizes continuous collection of measurement data by automatically controlling the excavator, effectively improves the parameter calibration efficiency of the excavator, and is also conducive to reducing the manual errors caused by manual data collection in the parameter calibration process, thereby improving the accuracy and reliability of the parameter calibration result.
[0129] Based on the same inventive concept, the present application also provides an electronic device corresponding to the parameter calibration method of the excavator. Since the principle of solving problems in the electronic device in the embodiments of the present application is similar to that of the parameter calibration method of the excavator in the embodiments of the present application, the implementation of the electronic device can be referred to the implementation of the parameter calibration method of the excavator, and the repeated parts will not be described here.
[0130] Figure 6 A structural schematic diagram of an electronic device 600 provided in the embodiments of the present application, comprising: a processor 601, a memory 602 and a bus 603, the memory 602 storing machine readable instructions executable by the processor 601, when the electronic device runs a parameter calibration method of an excavator as in the embodiments, the processor 601 and the memory 602 communicate through the bus 603, and the processor 601 executes the machine readable instructions, wherein the processor 601 executes the machine readable instructions to implement the following steps, specifically:
[0131] Under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the range-finding sensor, the initial range-finding reading of the range-finding sensor and the initial sensor data of the sensor to be calibrated are collected; wherein the range-finding sensor is fixed on the ground and one end of the cable is connected to the bucket tooth tip, and the sensor to be calibrated is installed on the excavator;
[0132] The multiple sets of measurement data corresponding to the multiple random motions of the at least one joint are collected by controlling random motions of at least one joint of the excavator, wherein each set of measurement data includes a ranging reading of the ranging sensor and sensor data of the to-be-calibrated sensor.
[0133] The parameter optimal solution corresponding to the to-be-calibrated parameters is calculated according to the multiple sets of measurement data, the initial ranging reading and the initial sensor data by minimizing a target loss function with the to-be-calibrated parameters as independent variables, wherein the to-be-calibrated parameters include external parameters of the to-be-calibrated sensor and kinematic dimension parameters corresponding to connecting rods of the excavator.
[0134] In an optional implementation, the joints include a large-arm joint, a small-arm joint and a bucket joint corresponding to a large arm, a small arm and a bucket of the excavator respectively.
[0135] In an optional implementation, the to-be-calibrated sensor includes a first sensor installed on the large arm of the excavator, a second sensor installed on the small arm of the excavator and a third sensor installed on the bucket of the excavator.
[0136] In an optional implementation, the to-be-calibrated sensor further includes a displacement sensor installed on a hydraulic cylinder of the excavator, wherein the hydraulic cylinder includes hydraulic cylinders corresponding to the large arm, the small arm and the bucket of the excavator respectively.
[0137] In an optional implementation, in the process of collecting the multiple sets of measurement data corresponding to the multiple random motions of the at least one joint by controlling random motions of at least one joint of the excavator, the processor 601 is configured to:
[0138] control the at least one joint of the excavator to perform random motion within a safe motion range corresponding to the joint, and collect a ranging reading of the ranging sensor and sensor data of the to-be-calibrated sensor as the measurement data corresponding to the current random motion after the current random motion stops.
[0139] In an optional implementation, in the process of calculating the parameter optimal solution corresponding to the to-be-calibrated parameters according to the multiple sets of measurement data, the initial ranging reading and the initial sensor data by minimizing a target loss function with the to-be-calibrated parameters as independent variables, the processor 601 is configured to:
[0140] determine an initial joint angle expression corresponding to the joint at the zero moment according to a corresponding analytical function between the initial sensor data and the joint; wherein the initial joint angle expression comprises the initial sensor data and the external parameters;
[0141] For each group of measurement data, determine a target joint angle expression corresponding to the joint at a target moment according to a corresponding analytical function between the sensor data and the joint in the group of measurement data; wherein the target moment represents a data collection moment of the group of measurement data;
[0142] determine a first homogeneous transformation matrix corresponding to the zero moment according to the initial joint angle expression and the kinematic dimension parameters;
[0143] determine a second homogeneous transformation matrix corresponding to the target moment according to the target joint angle expression and the kinematic dimension parameters;
[0144] substitute the first homogeneous transformation matrix, the second homogeneous transformation matrix, the ranging reading in the group of measurement data and the initial ranging reading into the target loss function to obtain a target loss function expression corresponding to the group of measurement data;
[0145] By minimizing the target loss function expression corresponding to each group of measurement data, the parameter optimal solution is obtained as the parameter optimal solution when the target loss function reaches the minimum.
[0146] In an optional implementation, the processor 601 is further configured to:
[0147] determine kinematic dimension parameters corresponding to the connecting rods on the excavator according to the kinematic dimension parameters in the parameter optimal solution;
[0148] calibrate the external parameters of the sensor to be calibrated according to the external parameters in the parameter optimal solution.
[0149] The electronic device provided by the embodiment of the present application can collect the initial ranging reading of the wire ranging sensor and the initial sensor data of the sensor to be calibrated under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the wire ranging sensor; the multiple sets of measurement data corresponding to the multiple random movements of at least one joint are collected by controlling the random movement of at least one joint on the excavator; and the parameter optimal solution corresponding to the parameters to be calibrated is calculated by minimizing the target loss function with the independent variable being the parameters to be calibrated according to the multiple sets of measurement data, the initial ranging reading and the initial sensor data. In this way, the continuous collection of measurement data is realized by automatically controlling the excavator, the parameter calibration efficiency of the excavator is effectively improved, and the accuracy and reliability of the parameter calibration result are improved by reducing the manual error caused by manual data collection in the parameter calibration process.
[0150] Based on the same inventive concept, the embodiment of the present application also provides a computer readable storage medium, which stores a computer program. When the computer program is run by a processor, the processor performs the following steps:
[0151] The initial ranging reading of the wire ranging sensor and the initial sensor data of the sensor to be calibrated are collected under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the wire ranging sensor; wherein the wire ranging sensor is fixed on the ground, and one end of the cable is connected to the bucket tooth tip; and the sensor to be calibrated is installed on the excavator.
[0152] The multiple sets of measurement data corresponding to the multiple random movements of at least one joint are collected by controlling the random movement of at least one joint on the excavator; wherein each set of measurement data includes the ranging reading of the wire ranging sensor and the sensor data of the sensor to be calibrated.
[0153] The parameter optimal solution corresponding to the parameters to be calibrated is calculated by minimizing the target loss function with the independent variable being the parameters to be calibrated according to the multiple sets of measurement data, the initial ranging reading and the initial sensor data; wherein the parameters to be calibrated include the external parameters of the sensor to be calibrated and the kinematic dimension parameters corresponding to the connecting rod on the excavator.
[0154] In an optional embodiment, the joints include the boom joint, the arm joint and the bucket joint corresponding to the boom, the arm and the bucket on the excavator respectively.
[0155] In an alternative embodiment, the sensors to be calibrated comprise: a first sensor mounted on a boom of the excavator, a second sensor mounted on a stick of the excavator, and a third sensor mounted on a bucket of the excavator.
[0156] In an alternative embodiment, the sensors to be calibrated further comprise: a displacement sensor mounted on a hydraulic cylinder of the excavator; wherein the hydraulic cylinder comprises a hydraulic cylinder corresponding to the boom, the stick, and the bucket of the excavator respectively.
[0157] In an alternative embodiment, when the plurality of sets of measurement data corresponding to a plurality of random motions of at least one joint of the excavator are collected by controlling the at least one joint of the excavator to perform random motions, the processor is configured to:
[0158] control the at least one joint of the excavator to perform random motions within a safe motion range of the joint, and collect a ranging reading of the cable length measurement sensor and sensor data of the sensors to be calibrated after the random motion as the measurement data corresponding to the random motion.
[0159] In an alternative embodiment, when the parameter optimal solution corresponding to the parameters to be calibrated is calculated by minimizing a target loss function with the parameters to be calibrated as independent variables according to the plurality of sets of measurement data, the initial ranging reading, and the initial sensor data, the processor is configured to:
[0160] determine an initial joint angle expression corresponding to the zero point time of the joint according to an analytical function corresponding to the initial sensor data and the joint; wherein the initial joint angle expression comprises the initial sensor data and the external parameters;
[0161] for each set of measurement data, determine a target joint angle expression corresponding to a target time of the joint according to an analytical function corresponding to the sensor data and the joint in the set of measurement data; wherein the target time represents a data collection time of the set of measurement data;
[0162] determine a first homogeneous transformation matrix corresponding to the zero point time according to the initial joint angle expression and the kinematic dimension parameters;
[0163] determine a second homogeneous transformation matrix corresponding to the target time according to the target joint angle expression and the kinematic dimension parameters;
[0164] substitute the first homogeneous transformation matrix, the second homogeneous transformation matrix, the ranging reading in the set of measurement data and the initial ranging reading into the target loss function to obtain a target loss function expression corresponding to the set of measurement data;
[0165] By minimizing the target loss function expression corresponding to each set of measurement data, the parameter optimal solution corresponding to the target loss function reaching the minimum is calculated as the parameter optimal solution.
[0166] In an optional embodiment, the processor is further configured to:
[0167] According to the kinematic dimension parameter in the parameter optimal solution, a kinematic dimension parameter corresponding to a connecting rod on the excavator is determined.
[0168] According to the external parameter in the parameter optimal solution, the external parameter of the sensor to be calibrated is calibrated.
[0169] The computer readable storage medium provided in the embodiments of the present application is used to collect the initial ranging reading of the range finding sensor and the initial sensor data of the sensor to be calibrated under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the range finding sensor; the multiple sets of measurement data corresponding to multiple random motions of at least one joint are collected by controlling the random motion of at least one joint on the excavator; and the parameter optimal solution corresponding to the parameter to be calibrated is calculated by minimizing the target loss function with the parameter to be calibrated as the independent variable according to the multiple sets of measurement data, the initial ranging reading and the initial sensor data. In this way, the present application realizes continuous collection of measurement data by automatically controlling the excavator, effectively improves the parameter calibration efficiency of the excavator, and is also conducive to reducing the manual error caused by manual data collection in the parameter calibration process, thereby improving the accuracy and reliability of the parameter calibration result.
[0170] In the embodiments of the present application, the computer readable storage medium can also execute other machine readable instructions when executed by the processor to perform the parameter calibration method of the excavator as described in other embodiments. For specific steps and principles of the parameter calibration method of the excavator, refer to the description of the method embodiment, which will not be repeated here.
[0171] In the embodiments of the present application, it should be understood that the disclosed system and method can be implemented in other manners. The embodiments described above are merely exemplary, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation; for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, and electrical, mechanical or other forms.
[0172] The units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.
[0173] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.
[0174] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various other media that can store program codes.
[0175] It should be noted that: similar reference numerals and letters in the following drawings represent similar items, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third" and the like are used only to distinguish descriptions, and cannot be understood as indicating or implying relative importance.
[0176] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present application, and are used to illustrate the technical solutions of the present application, but not to limit the same. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any person skilled in the art can make modifications or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to some of the technical features within the technical scope disclosed by the present application. The modifications, changes or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application. All of them should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims
1. A method of calibrating parameters of an excavator, characterized by, The parameter calibration method comprises: Under the condition that the bucket tooth tip of the excavator is aligned with the output zero point of the pull-wire ranging sensor, initial ranging readings of the pull-wire ranging sensor and initial sensor data of the sensor to be calibrated are collected; wherein the pull-wire ranging sensor is fixed on the ground and one end of the cable is connected with the bucket tooth tip, and the sensor to be calibrated is installed on the excavator; By controlling random motion of at least one joint on the excavator, a plurality of sets of measurement data corresponding to a plurality of random motions of at least one joint are collected; wherein each set of measurement data comprises ranging readings of the pull-wire ranging sensor and sensor data of the sensor to be calibrated; According to the plurality of sets of measurement data, the initial ranging readings and the initial sensor data, a parameter optimal solution corresponding to the to-be-calibrated parameters is calculated by minimizing a target loss function with the to-be-calibrated parameters as independent variables; wherein the to-be-calibrated parameters comprise external parameters of the sensor to be calibrated and kinematic dimension parameters corresponding to connecting rods on the excavator.
2. The parameter calibration method according to claim 1, characterized in that, The joints comprise a large arm joint, a small arm joint and a bucket joint corresponding to a large arm, a small arm and a bucket of the excavator respectively.
3. The parameter calibration method of claim 1, wherein, The sensor to be calibrated comprises a first sensor installed on the large arm of the excavator, a second sensor installed on the small arm of the excavator and a third sensor installed on the bucket of the excavator.
4. The parameter calibration method of claim 1, wherein, The sensor to be calibrated further comprises a displacement sensor installed on a hydraulic cylinder of the excavator; wherein the hydraulic cylinder comprises hydraulic cylinders corresponding to the large arm, the small arm and the bucket of the excavator respectively.
5. The parameter calibration method of claim 1, wherein, The method of collecting a plurality of sets of measurement data corresponding to a plurality of random motions of at least one joint by controlling random motion of at least one joint on the excavator comprises: Controlling at least one joint on the excavator to perform random motion within a safe motion range corresponding to the joint, and collecting ranging readings of the pull-wire ranging sensor and sensor data of the sensor to be calibrated as the measurement data corresponding to the current random motion after the current random motion stops.
6. The parameter calibration method of claim 1, wherein, The method of calculating a parameter optimal solution corresponding to the to-be-calibrated parameters by minimizing a target loss function with the to-be-calibrated parameters as independent variables according to the plurality of sets of measurement data, the initial ranging readings and the initial sensor data comprises: According to an analytical function corresponding between the initial sensor data and the joint, an initial joint angle expression corresponding to the joint at a zero point time is determined; wherein the initial joint angle expression comprises the initial sensor data and the external parameters; For each set of measurement data, according to an analytical function corresponding between the sensor data and the joint in the set of measurement data, a target joint angle expression corresponding to the joint at a target time is determined; wherein the target time represents a data collection time of the set of measurement data; According to the initial joint angle expression and the kinematic dimension parameters, a first homogeneous transformation matrix corresponding to the zero point time is determined; According to the target joint angle expression and the kinematic dimension parameter, a second homogeneous transformation matrix corresponding to the target moment is determined; The first homogeneous transformation matrix, the second homogeneous transformation matrix, the ranging reading in the set of measurement data, and the initial ranging reading are substituted into the target loss function to obtain a target loss function expression corresponding to the set of measurement data; By minimizing the target loss function expression corresponding to each set of measurement data, the parameter optimal solution is calculated as the parameter optimal solution when the target loss function reaches the minimum.
7. The parameter calibration method of claim 1, wherein, The parameter calibration method further comprises: According to the kinematic dimension parameter in the parameter optimal solution, the kinematic dimension parameter corresponding to the connecting rod on the excavator is determined; According to the external parameter in the parameter optimal solution, the external parameter of the to-be-calibrated sensor is calibrated.
8. A parameter calibration device for an excavator, characterized in that, The parameter calibration device comprises: A first measurement module is configured to collect an initial ranging reading of a taut-wire ranging sensor and initial sensor data of a to-be-calibrated sensor under the condition that a bucket tooth tip of an excavator and an output zero point of the taut-wire ranging sensor are aligned, wherein the taut-wire ranging sensor is fixed on the ground and one end of a cable is connected to the bucket tooth tip, and the to-be-calibrated sensor is installed on the excavator; A second measurement module is configured to collect a plurality of sets of measurement data corresponding to a plurality of random movements of at least one joint of the excavator by controlling the random movement of the at least one joint; wherein each set of measurement data includes ranging readings of the taut-wire ranging sensor and sensor data of the to-be-calibrated sensor; A parameter optimization module is configured to calculate a parameter optimal solution corresponding to a to-be-calibrated parameter by minimizing a target loss function with the to-be-calibrated parameter as an independent variable according to the plurality of sets of measurement data, the initial ranging reading, and the initial sensor data; wherein the to-be-calibrated parameter includes an external parameter of the to-be-calibrated sensor and a kinematic dimension parameter corresponding to a connecting rod on the excavator.
9. An electronic device, comprising: The parameter calibration device comprises: A processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory communicate through the bus when the electronic device is running, and the machine-readable instructions are executed by the processor to perform the steps of the parameter calibration method of the excavator according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and the computer program is executed by the processor to perform the steps of the parameter calibration method of the excavator according to any one of claims 1 to 7.