Construction apparatus and parameter determination method therefor, and storage medium

Abstract

A construction apparatus and a parameter determination method therefor. The method comprises: determining mounting point parameters of a manipulator arm of the construction apparatus (S410); calculating, on the basis of the mounting point parameters, axis point parameters of a functional member directly connected to a bucket of the construction apparatus, wherein the functional member is mounted between the manipulator arm and the bucket, and when the functional member only comprises a quick-change apparatus, the functional member directly connected to the bucket is the quick-change apparatus; and when the functional member comprises only a tilting device or comprises the quick-change apparatus and the tilting device, the functional member directly connected to the bucket is the tilting device (S420); and determining bucket parameters of the bucket on the basis of the axis point parameters of the functional member directly connected to the bucket (S430).

Description

Construction equipment and parameter determination method thereof, storage medium

[0001] The present application claims priority to the Chinese patent application No. 202411279211.3 filed on September 12, 2024 with the China Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of engineering technology, for example, to a construction equipment and parameter determination method thereof, storage medium. BACKGROUND

[0003] As a common land and pavement leveling engineering machinery, excavators are widely used in road and bridge construction, mine and other earthwork sites. In actual earthwork operation process, in order to ensure the construction surface compliance and elevation error requirements, reduce construction measurement and slope inspection, and improve construction operation efficiency, real-time measurement of the position coordinates (such as bucket tip coordinates) of the vehicle body is often required.

[0004] The current excavator guidance system can receive data collected by the global navigation satellite system (GNSS) device and inertial navigation device through the on-board computer, determine the heading and position of the excavator using the GNSS antenna, and then combine the angle data of the vehicle body, boom, arm, connecting rod or excavator tilt sensor and the mechanical model parameters to calculate the real-time attitude of the excavator and the position coordinates of any point of interest of the vehicle body. Thus, the user can be guided to operate in real time in combination with the operation design data set by the system.

[0005] However, the above-mentioned excavator guidance system is usually only suitable for excavators with traditional structure, and cannot support excavators with quick attachment function and / or tilting rotation function (i.e. equipped with quick change equipment and / or tilting device), which affects the user experience. SUMMARY

[0006] The present application provides a construction equipment and parameter determination method thereof, storage medium, which can accurately determine the parameters of the construction equipment equipped with quick change equipment and / or tilting device, thereby providing a data basis for guiding the operation of the construction equipment, reducing the operation difficulty of the construction equipment, and improving the user experience.

[0007] According to an aspect of the present application, a parameter determination method of a construction equipment is provided, comprising:

[0008] determining the mounting point parameters of the mechanical arm of the construction equipment;

[0009] According to the mounting point parameter, the axis center point parameter of the functional part directly connected with the bucket of the construction equipment is calculated, wherein the functional part is installed between the mechanical arm and the bucket, when the functional part only includes the quick-change device, the functional part directly connected with the bucket is the quick-change device; when the functional part only includes the tilt device, or the functional part includes the quick-change device and the tilt device, the functional part directly connected with the bucket is the tilt device.

[0010] According to the axis center point parameter of the functional part directly connected with the bucket, the bucket parameter of the bucket is determined.

[0011] Optionally, when the functional part only includes the quick-change device, according to the mounting point parameter, the axis center point parameter of the functional part directly connected with the bucket of the construction equipment is calculated, comprising:

[0012] The first angle is determined, wherein the first angle is the included angle between the bottom edge of the quick-change device and the horizontal plane;

[0013] According to the mounting point parameter, the first angle, the first distance and the second distance, the axis center point parameter of the quick-change device is calculated, wherein the first distance is the distance from the mounting point of the quick-change device to the bottom edge of the quick-change device, the mounting point of the quick-change device coincides with the mounting point of the mechanical arm, and the second distance is the horizontal offset from the mounting point of the quick-change device to the quick-change point of the quick-change device.

[0014] Optionally, the bucket parameter includes the axis center point parameter of the bucket and the bucket tip parameter, and the quick-change point of the quick-change device coincides with the mounting point of the bucket;

[0015] According to the axis center point parameter of the functional part directly connected with the bucket, the bucket parameter of the bucket is determined, comprising:

[0016] The axis center point parameter of the quick-change device is taken as the axis center point parameter of the bucket;

[0017] According to the axis center point parameter of the bucket, the bucket tip parameter of the bucket is calculated.

[0018] Optionally, when the functional part only includes the tilt device, according to the mounting point parameter, the axis center point parameter of the functional part directly connected with the bucket of the construction equipment is calculated, comprising:

[0019] The second angle is determined, wherein the second angle is the included angle between the tilt axis of the tilt device and the horizontal plane;

[0020] According to the mounting point parameter, the second angle, the third distance and the fourth distance, the axis center point parameter of the tilt device is calculated, wherein the third distance is the distance from the mounting point of the tilt device to the tilt axis of the tilt device, the mounting point of the tilt device coincides with the mounting point of the mechanical arm, and the fourth distance is the distance from the quick-change point of the tilt device to the rotation axis of the tilt device.

[0021] Optionally, when the functional component includes the quick-change device and the tilt device, according to the mounting point parameter, the axis center point parameter of the functional component directly connected with the bucket of the construction device is calculated, including:

[0022] determining a first angle and a second angle, wherein the first angle is an included angle between a bottom edge of the quick-change device and a horizontal plane, and the second angle is an included angle between a tilting shaft of the tilt device and the horizontal plane;

[0023] according to the mounting point parameter, the first angle, a first distance and a second distance, calculating the axis center point parameter of the quick-change device, wherein the first distance is a distance from the mounting point of the quick-change device to the bottom edge of the quick-change device, the mounting point of the quick-change device coincides with the mounting point of the mechanical arm, and the second distance is a horizontal offset from the mounting point of the quick-change device to a quick-change point of the quick-change device;

[0024] according to the axis center point parameter of the quick-change device, the second angle, a third distance and a fourth distance, calculating the axis center point parameter of the tilt device, wherein the third distance is a distance from the mounting point of the tilt device to the tilting shaft of the tilt device, the mounting point of the tilt device coincides with the quick-change point of the quick-change device, and the fourth distance is a distance from the quick-change point of the tilt device to a rotating shaft of the tilt device.

[0025] Optionally, the bucket parameter includes an axis center point parameter of the bucket and a bucket tip parameter, and the quick-change point of the tilt device coincides with the mounting point of the bucket;

[0026] according to the axis center point parameter of the functional component directly connected with the bucket, determining the bucket parameter of the bucket, including:

[0027] according to the axis center point parameter of the tilt device, the second angle, the fourth distance and a fifth distance, calculating the axis center point parameter of the bucket, wherein the fifth distance is a distance from the quick-change point of the tilt device to the tilting shaft of the tilt device;

[0028] determining a third angle, wherein the third angle is an included angle between a bottom edge of the tilt device and the tilting shaft of the tilt device;

[0029] according to the third angle, a length of the bucket, a width of the bucket and an opening angle of the bucket, determining a relative position of the bucket tip of the bucket relative to the axis center point of the tilt device;

[0030] positionally transforming the relative position, and according to the positionally transformed relative position and the axis center point parameter of the tilt device, determining the bucket tip parameter of the bucket.

[0031] Optionally, the positionally transforming the relative position includes:

[0032] determining a fourth angle and a fifth angle, wherein the fourth angle is a tilting angle of the bucket around the tilting shaft of the tilt device, and the fifth angle is a rotating angle of the bucket around the rotating shaft of the tilt device;

[0033] According to the fifth angle, the relative position is rotationally transformed, according to the fourth angle, the relative position is tiltly transformed, and according to the second angle, the relative position is pitchly transformed, to obtain the relative position after position transformation.

[0034] Optionally, after the bucket parameter of the bucket is determined, the method further comprises:

[0035] The axis of the bucket and the midpoint of the bucket tip are adjusted to be located on a plumb line, so as to complete the calibration of the bucket opening angle.

[0036] According to another aspect of the present application, a construction equipment is provided, and the construction equipment comprises:

[0037] at least one processor; and a memory connected with the at least one processor in communication; wherein,

[0038] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the parameter determination method of the construction equipment according to any one of the embodiments of the present application.

[0039] According to another aspect of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to implement the parameter determination method of the construction equipment according to any one of the embodiments of the present application when executed. BRIEF DESCRIPTION OF DRAWINGS

[0040] The drawings needed in the following embodiment description will be briefly introduced.

[0041] Fig. 1 is a schematic structural diagram of a foundation structure of an excavator according to an embodiment of the present application;

[0042] Fig. 2 is a schematic structural diagram of a quick-change equipment according to an embodiment of the present application;

[0043] Fig. 3 is a schematic structural diagram of a tiltrotator according to an embodiment of the present application;

[0044] Fig. 4 is a flowchart of a parameter determination method of a construction equipment according to an embodiment of the present application;

[0045] Fig. 5 is a schematic diagram of a two-dimensional rotation matrix according to an embodiment of the present application;

[0046] Fig. 6 is a schematic diagram of a bucket pose according to an embodiment of the present application;

[0047] Fig. 7 is a schematic diagram of coordinate transmission according to an embodiment of the present application;

[0048] Fig. 8 is a flowchart of another parameter determination method of a construction equipment according to an embodiment of the present application;

[0049] FIG. 9 is a calibration diagram of a bucket according to an embodiment of the present application;

[0050] FIG. 10 is a structural diagram of a parameter determination device according to an embodiment of the present application;

[0051] FIG. 11 is a structural diagram of another parameter determination device according to an embodiment of the present application;

[0052] FIG. 12 is a structural diagram of a construction equipment according to an embodiment of the present application. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. The described embodiments are some embodiments of the present application, but not necessarily all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0054] It should be noted that the terms "first", "second", "third", "fourth", "fifth" and the like in the description, claims and drawings of the present application are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units shown in the embodiments of the present application can also include other processes, methods, systems, products or devices that are not clearly listed, or other steps or units inherent to these processes, methods, systems, products or devices.

[0055] The construction equipment provided by the embodiments of the present application can be an excavator, a dredger or the like, which can control a mechanical arm to drive a bucket to work. For example, FIG. 1 is a basic structural diagram of an excavator according to an embodiment of the present application. As shown in FIG. 1, the excavator includes a vehicle body 101, a large arm 102, a small arm 103, a connecting rod 104 and a bucket 105. The large arm 102 and the small arm 103 constitute a mechanical arm of the excavator. The connection point between the vehicle body 101 and the large arm 102 is the large arm axis. The connection point between the large arm 102 and the small arm 103 is the small arm axis. The connection points between the connecting rod 104 and the bucket 105 and between the small arm 103 and the bucket 105 are two axes of the bucket 105, respectively.

[0056] On the basis of the excavator shown in FIG. 1, the excavator can also be provided with a functional component, which is installed between the mechanical arm and the bucket. The functional component can enable the excavator to realize certain specific functions, such as quick loading and unloading of an accessory, tilting / rotating of the accessory, etc. In the present application, the functional component includes a quick-change device and / or a tiltrotator.

[0057] FIG. 2 is a structural schematic diagram of a quick-change device according to an embodiment of the present application. As shown in FIG. 2, the quick-change device has a mounting point H, an auxiliary mounting point H', a quick-change point Q, and an auxiliary quick-change point Q'. FIG. 3 is a structural schematic diagram of a tiltrotator according to an embodiment of the present application. As shown in FIG. 3, the tiltrotator has a mounting point A, an auxiliary mounting point A', a quick-change point B, and an auxiliary quick-change point B'.

[0058] FIG. 4 is a flowchart of a parameter determination method of a construction device according to an embodiment of the present application. The present embodiment can be applied to the case of determining parameters of a construction device (such as an excavator). The method can be executed by a parameter determination apparatus, which can be implemented in the form of hardware and / or software, and can be configured in the construction device (such as a controller integrated in the construction device). As shown in FIG. 4, the method includes the following steps:

[0059] S410, determining a mounting point parameter of the mechanical arm.

[0060] As described above, the construction device includes a vehicle body, a mechanical arm, and a bucket. The mechanical arm and the bucket can be directly connected or connected through a functional component (i.e., the functional component is installed between the mechanical arm and the bucket). The functional component includes a quick-change device and / or a tiltrotator.

[0061] For the case where the mechanical arm and the bucket are directly connected, a conventional excavator guidance system can be used to determine the position coordinates of any point of interest of the vehicle body, which is not specifically limited in the present embodiment. For the case where the mechanical arm and the bucket are connected through a functional component, the mounting point parameter of the mechanical arm needs to be determined.

[0062] In the present application, the mounting point of the mechanical arm generally refers to the connection point between the forearm and the functional component. The mounting point parameter of the mechanical arm can be determined by the axis of the upper arm. The mounting point parameter of the mechanical arm can be expressed in the form of coordinates or relative position.

[0063] S420, calculating an axis point parameter of the functional component directly connected to the bucket according to the mounting point parameter, wherein when the functional component only includes the quick-change device, the functional component directly connected to the bucket is the quick-change device; when the functional component only includes the tiltrotator, or the functional component includes both the quick-change device and the tiltrotator, the functional component directly connected to the bucket is the tiltrotator.

[0064] S430, determining the bucket parameter of the bucket according to the axis point parameter of the functional part directly connected with the bucket.

[0065] Generally, the bucket parameter includes the axis point parameter (such as the mounting axis point parameter) of the bucket and the tip parameter, and the tip parameter at least includes the left tip parameter and the right tip parameter.

[0066] It can be known from steps S420-S430 that the specific structure of the functional part needs to be determined before step S420 is performed.

[0067] Exemplarily, it can be determined in the direction from the end of the small arm to the tip of the bucket: first, it is determined whether the functional part includes the quick-change device, and then it is determined whether the functional part includes the tilt device.

[0068] If the functional part only includes the quick-change device, the relationship between the mechanical arm of the excavator and the carrier at this time is: large arm + small arm + quick-change device + bucket. The functional part directly connected with the bucket is the quick-change device. The implementation mode of steps S420-S430 is: the axis point parameter of the quick-change device is calculated according to the mounting point parameter; and the bucket parameter of the bucket can be determined according to the axis point parameter of the quick-change device.

[0069] If the functional part only includes the tilt device, the relationship between the mechanical arm of the excavator and the carrier at this time is: large arm + small arm + tilt device + bucket. The functional part directly connected with the bucket is the tilt device. The implementation mode of steps S420-S430 is: the axis point parameter of the tilt device is calculated according to the mounting point parameter; and the bucket parameter of the bucket can be determined according to the axis point parameter of the tilt device.

[0070] If the functional part includes the quick-change device and the tilt device, the relationship between the mechanical arm of the excavator and the carrier at this time is: large arm + small arm + quick-change device + tilt device + bucket. The functional part directly connected with the bucket is the tilt device. The implementation mode of steps S420-S430 is: the axis point parameter of the quick-change device is calculated according to the mounting point parameter; the axis point parameter of the tilt device is calculated according to the axis point parameter of the quick-change device; and the bucket parameter of the bucket can be determined according to the axis point parameter of the tilt device.

[0071] Three examples are provided below to illustrate steps S420-S430.

[0072] Example 1: The functional part only includes the quick-change device, and the functional part directly connected with the bucket is the quick-change device. The relationship between the mechanical arm of the excavator and the carrier is: large arm + small arm + quick-change device + bucket.

[0073] In example 1, as shown in FIG. 2, the mounting point H of the quick-change device is connected to the small arm of the excavator, the auxiliary mounting point H' of the quick-change device is connected to the connecting rod, and the quick-change point Q and the auxiliary quick-change point Q' of the quick-change device are respectively connected to the two shafts of the bucket. The quick-change device can realize the quick loading and unloading of the bucket.

[0074] Based on the definition in step S410, since the mounting point of the mechanical arm is the connection point between the small arm and the functional part, in example 1, the mounting point H of the quick-change device coincides with the mounting point of the mechanical arm, and the mounting point parameter of the mechanical arm is the H point parameter. The shaft center point of the quick-change device is the quick-change point Q of the quick-change device.

[0075] According to the H point parameter, the method for calculating the Q point parameter can include the following steps:

[0076] Step a1: determining a first angle, wherein the first angle is the angle between the bottom side of the quick-change device and the horizontal plane.

[0077] The bottom side of the quick-change device is the line between the quick-change point Q and the auxiliary quick-change point Q' of the quick-change device, and the X axis of the coordinate system is parallel to the horizontal plane. Therefore, the first angle is the angle between QQ' and the X axis, denoted as a.

[0078] Optionally, the first angle a can be collected by the angle sensor provided on the construction equipment.

[0079] Step a2: calculating the shaft center point parameter of the quick-change device according to the mounting point parameter, the first angle, the first distance and the second distance, wherein the first distance is the distance from the mounting point of the quick-change device to the bottom side of the quick-change device, the mounting point of the quick-change device coincides with the mounting point of the mechanical arm, and the second distance is the horizontal offset of the mounting point of the quick-change device to the quick-change point of the quick-change device.

[0080] In the case where the H point parameter, the first angle a and the related parameters of the quick-change device are known, the Q point parameter can be determined according to the principle of two-dimensional rotation matrix.

[0081] The related parameters of the quick-change device can be stored in the construction equipment, or can be obtained by network query through the model of the quick-change device.

[0082] The related parameters of the quick-change device at least include the first distance and the second distance. As shown in FIG. 2, the first distance is the distance from the mounting point H of the quick-change device to the bottom side QQ' of the quick-change device, denoted as QH2; the second distance is the horizontal offset of the mounting point H of the quick-change device to the quick-change point Q of the quick-change device, denoted as QH4. Optionally, the related parameters of the quick-change device can also include the distance QH1 between the mounting point H and the auxiliary mounting point H' of the quick-change device, and the angle QH3 between the line between the mounting point H and the auxiliary mounting point H' of the quick-change device and the bottom side QQ' of the quick-change device.

[0083] Figure 5 is a schematic diagram of a two-dimensional rotation matrix according to an embodiment of the present application. As shown in Figure 5, there is a point P in the Cartesian plane rectangular coordinate system XOY, and the coordinates of the point P in the coordinate system XOY are (x, y). After the point P rotates by an angle θ around the origin, the coordinates of the new point P' are (x', y').

[0084] The coordinates of P' are (x', y') satisfy the following relationship:

[0085] Therefore, taking the direction facing the construction equipment from the cab as the positive direction and the Z-axis vertically upward as the positive direction, the Q point parameters can be expressed as:

[0086] Since the quick-change point Q of the quick-change device coincides with the mounting point of the bucket, the mounting point of the bucket is the mounting axis point of the bucket. Therefore, the axis point parameters of the bucket are the Q point parameters, and the bucket tip parameters can be calculated according to the Q point parameters.

[0087] Example 2: The functional part only includes a tilt device, and the functional part directly connected to the bucket is the tilt device. The relationship between the mechanical arm of the excavator and the carrier is: large arm + small arm + tilt device + bucket.

[0088] In example 2, as shown in Figure 3, the mounting point A of the tilt device is connected to the small arm of the excavator, the auxiliary mounting point A' of the tilt device is connected to the connecting rod, and the quick-change point B and the auxiliary quick-change point B' of the tilt device are respectively connected to the two axis centers of the bucket. The tilt device can adjust the pose of the bucket.

[0089] Based on the definition in step S410, since the mounting point of the mechanical arm is the connection point between the small arm and the functional part, in example 2, the mounting point A of the tilt device coincides with the mounting point of the mechanical arm, and the mounting point parameters of the mechanical arm are the A point parameters. The axis point of the tilt device is the intersection I of the tilt axis and the rotation axis.

[0090] According to the A point parameters, the method for calculating the I point parameters can include the following steps:

[0091] Step b1: determining a second angle, wherein the second angle is the included angle between the tilt axis of the tilt device and the horizontal plane.

[0092] The second angle is the included angle between the tilt axis of the tilt device and the horizontal plane, denoted as λ. In the drawings of the present application, the tilt device is drawn without rotation, tilt and pitch, and the second angle λ is 0° at this time. In actual application, the size of the second angle λ can be determined by measurement.

[0093] Optionally, the second angle λ can be acquired by an angle sensor provided on the construction equipment.

[0094] Step b2: calculating the pivot point parameter of the tiltrotor according to the mounting point parameter, the second angle, a third distance and a fourth distance, wherein the third distance is a distance from the mounting point of the tiltrotor to the tilt axis of the tiltrotor, the mounting point of the tiltrotor coincides with the mounting point of the mechanical arm, and the fourth distance is a distance from the quick-change point of the tiltrotor to the rotation axis of the tiltrotor.

[0095] When the A-point parameter, the second angle λ and the related parameters of the tiltrotor are known, the I-point parameter can be determined according to the principle of two-dimensional rotation matrix.

[0096] The related parameters of the tiltrotor can be stored in the construction equipment or can be obtained through network query by the model of the tiltrotor.

[0097] The related parameters of the tiltrotor at least include the third distance and the fourth distance. As shown in FIG. 3, the third distance is a distance from the mounting point A of the tiltrotor to the tilt axis of the tiltrotor, denoted as TR3; and the fourth distance is a distance from the quick-change point B of the tiltrotor to the rotation axis of the tiltrotor, denoted as TR5. Optionally, the related parameters of the tiltrotor can further include: a distance TR1 from the mounting point A of the tiltrotor to the rotation axis of the tiltrotor, a distance TR2 between the mounting point A of the tiltrotor and an auxiliary mounting point A', a distance TR4 from the quick-change point B of the tiltrotor to the tilt axis of the tiltrotor, a distance TR6 between the quick-change point B of the tiltrotor and an auxiliary quick-change point B', an angle TR7 between AA' and the tilt axis, and an angle TR8 between BB' and the tilt axis.

[0098] Taking the direction from the cab facing the construction equipment as the positive direction and the Z-axis vertically upward as the positive direction, the I-point parameter can be expressed as:

[0099] Since the quick-change point B of the tiltrotor coincides with the mounting point of the bucket, the mounting point of the bucket is the mounting axis point of the bucket. Therefore, the B-point parameter is determined based on the I-point parameter, and the bucket tip parameter is calculated according to the B-point parameter. Including the following steps:

[0100] Step c1: calculating the pivot point parameter of the bucket according to the pivot point parameter of the tiltrotor, the second angle, the fourth distance and a fifth distance, wherein the fifth distance is a distance from the quick-change point of the tiltrotor to the tilt axis of the tiltrotor.

[0101] When the I-point parameter, the second angle λ and the related parameters of the tiltrotor are known, the B-point parameter can be determined according to the principle of two-dimensional rotation matrix.

[0102] Taking the direction from the cab facing the construction equipment as the positive direction and the Z-axis vertically upward as the positive direction, the B-point parameter can be expressed as:

[0103] Step c2: determining a third angle, wherein the third angle is an angle between the bottom side of the tiltrotor and the tilt axis of the tiltrotor.

[0104] The bottom side of the tilt is the line between the quick-change point B of the tilt and the auxiliary quick-change point B', that is, the third angle θ2 in the following formula is TR8 in FIG. 3.

[0105] Step c3: determining the relative position of the bucket tip of the bucket relative to the axis point of the tilt according to the third angle, the length l of the bucket, the width w of the bucket and the opening angle γ of the bucket.

[0106] FIG. 6 is a schematic diagram of a bucket pose provided by an embodiment of the present application. As shown in FIG. 6, a coordinate system is defined: facing the bucket away from the cab, extending the right hand, the thumb pointing to the right (X axis), the index finger pointing to the cab (Y axis), and the azimuth angle from Y to Z is positive. The angle between the bucket and the Y axis is denoted as θ3=180°-γ-θ2.

[0107] Suppose the B point parameters are B(0, y b ,z b ), then the relative position of the bucket tip of the bucket relative to the axis point of the tilt (including the bucket tip midpoint coordinates, left bucket tip coordinates and right bucket tip coordinates) can be respectively represented as:

[0108] Bucket tip midpoint coordinates:

[0109] Left bucket tip coordinates:

[0110] Right bucket tip coordinates:

[0111] Step c4: position transformation is performed on the relative position, and the bucket tip parameters are determined according to the position-transformed relative position and the axis point parameters of the tilt.

[0112] The fourth angle β and the fifth angle ρ can be determined first, wherein the fourth angle is the tilt angle of the bucket around the tilt axis of the tilt, and the fifth angle is the rotation angle of the bucket around the rotation axis of the tilt; the relative position is sequentially rotated, tilted and pitched according to the fifth angle ρ, the fourth angle β and the second angle λ respectively to obtain the position-transformed relative position.

[0113] It can be understood that the second angle λ reflects the position of the tilt relative to the horizontal plane, and the fifth angle ρ and the fourth angle β reflect the position of the bucket relative to the tilt. The angles of the fifth angle ρ, the fourth angle β and the second angle λ can be 0° or not. In actual application, the sizes of the fifth angle ρ, the fourth angle β and the second angle λ can be determined by measurement.

[0114] For example, the rotation transformation can be performed according to the formula , the tilt transformation can be performed according to the formula The pitch transformation is performed according to the formula The pitch transformation is performed.

[0115] According to the relative position after the position transformation and the I point parameter, the bucket tip parameters of the excavator are determined. For example, the left bucket tip parameter is equal to the sum of the left bucket tip relative coordinates after the position transformation and the I point parameter, and the right bucket tip parameter is equal to the sum of the right bucket tip relative coordinates after the position transformation and the I point parameter.

[0116] Example 3: The functional part includes a quick-change device and a tilt device, and the functional part directly connected to the excavator bucket is the tilt device. The relationship between the mechanical arm of the excavator and the carrier is: large arm + small arm + quick-change device + tilt device + excavator bucket.

[0117] In example 3, FIG. 7 is a coordinate transmission schematic diagram provided by an embodiment of the present application. As shown in FIGS. 2, 3 and 7, the mounting point H of the quick-change device is connected to the small arm of the excavator, the auxiliary mounting point H' of the quick-change device is connected to the connecting rod, the quick-change point Q of the quick-change device is connected to the mounting point A of the tilt device, the auxiliary quick-change point Q' of the quick-change device is connected to the auxiliary mounting point A' of the tilt device, and the quick-change point B and the auxiliary quick-change point B' of the tilt device are respectively connected to the two shaft centers of the excavator bucket. The quick-change device can realize the quick mounting and dismounting of the tilt device and the excavator bucket, and the tilt device can realize the adjustment of the pose of the excavator bucket.

[0118] Based on the definition in step S410, since the mounting point of the mechanical arm is the connection point between the small arm and the functional part, in example 3, the mounting point H of the quick-change device coincides with the mounting point of the mechanical arm, and the mounting point parameter of the mechanical arm is the H point parameter. The shaft center point of the quick-change device is the quick-change point Q of the quick-change device. The mounting point A of the tilt device coincides with the quick-change point Q of the quick-change device, that is, the Q point parameter = the A point parameter, and the shaft center point of the tilt device is the intersection I of the tilt axis and the rotation axis.

[0119] According to the H point parameter, the method for calculating the I point parameter can include the following steps:

[0120] Step d1: determining a first angle and a second angle, wherein the first angle is the included angle between the bottom side of the quick-change device and the horizontal plane, and the second angle is the included angle between the tilt axis of the tilt device and the horizontal plane.

[0121] The bottom side of the quick-change device is the line between the quick-change point Q and the auxiliary quick-change point Q' of the quick-change device, and the X axis of the coordinate system is parallel to the horizontal plane. Therefore, the first angle is the included angle between QQ' and the X axis, denoted as α. The second angle is the included angle between the tilt axis of the tilt device and the horizontal plane, denoted as λ.

[0122] Optionally, the first angle α and the second angle λ can be collected by an angle sensor provided on the construction equipment.

[0123] Step d2: calculating the axis point parameter of the quick-change device according to the mounting point parameter, the first angle, the first distance and the second distance, wherein the first distance is the distance from the mounting point of the quick-change device to the bottom edge of the quick-change device, the mounting point of the quick-change device coincides with the mounting point of the mechanical arm, and the second distance is the horizontal offset from the mounting point of the quick-change device to the quick-change point of the quick-change device.

[0124] When the H point parameter, the first angle a and the related parameters of the quick-change device are known, the Q point parameter can be determined according to the two-dimensional rotation matrix principle.

[0125] The related parameters of the quick-change device can be stored in the construction equipment or can be obtained by network query through the model of the quick-change device.

[0126] The related parameters of the quick-change device at least include the first distance and the second distance. As shown in FIG. 2, the first distance is the distance from the mounting point H of the quick-change device to the bottom edge QQ' of the quick-change device, denoted as QH2; the second distance is the horizontal offset from the mounting point H of the quick-change device to the quick-change point Q of the quick-change device, denoted as QH4. Optionally, the related parameters of the quick-change device can further include the distance QH1 between the mounting point H and the auxiliary mounting point H' of the quick-change device, and the angle QH3 between the line connecting the mounting point H and the auxiliary mounting point H' of the quick-change device and the bottom edge QQ' of the quick-change device.

[0127] Therefore, taking the direction from the cab facing the construction equipment as the positive direction and the Z axis vertically upward as the positive direction, the Q point parameter can be expressed as:

[0128] Step d3: calculating the axis point parameter of the tiltrotor according to the axis point parameter of the quick-change device, the second angle, the third distance and the fourth distance, wherein the third distance is the distance from the mounting point of the tiltrotor to the tilting shaft of the tiltrotor, the mounting point of the tiltrotor coincides with the quick-change point of the quick-change device, and the fourth distance is the distance from the quick-change point of the tiltrotor to the rotating shaft of the tiltrotor.

[0129] When the Q point parameter, the second angle λ and the related parameters of the tiltrotor are known, the I point parameter can be determined according to the two-dimensional rotation matrix principle.

[0130] The related parameters of the tiltrotor can be stored in the construction equipment or can be obtained by network query through the model of the tiltrotor.

[0131] The related parameters of the tiltrotator include at least a third distance and a fourth distance. As shown in FIG. 3, the third distance is a distance from the mounting point A of the tiltrotator to the tilt axis of the tiltrotator, denoted as TR3; and the fourth distance is a distance from the quick-change point B of the tiltrotator to the rotation axis of the tiltrotator, denoted as TR5. Optionally, the related parameters of the tiltrotator can further include: a distance from the mounting point A of the tiltrotator to the rotation axis of the tiltrotator, denoted as TR1; a distance between the mounting point A and the auxiliary mounting point A' of the tiltrotator, denoted as TR2; a distance from the quick-change point B of the tiltrotator to the tilt axis of the tiltrotator, denoted as TR4; a distance between the quick-change point B and the auxiliary quick-change point B' of the tiltrotator, denoted as TR6; an angle between the AA' and the tilt axis, denoted as TR7; and an angle between the BB' and the tilt axis, denoted as TR8.

[0132] The I-point parameters can be expressed as follows, with the positive direction being from the cab to the construction equipment, and the Z-axis being vertically upward.

[0133] Since the quick-change point B of the tiltrotator coincides with the mounting point of the bucket, the mounting point of the bucket is the mounting axis point of the bucket. Therefore, the B-point parameters are determined based on the I-point parameters, and the bucket tip parameters are calculated according to the B-point parameters. Specifically, the following steps are included:

[0134] Step e1: calculating the axis point parameters of the bucket according to the axis point parameters of the tiltrotator, the second angle, the fourth distance, and the fifth distance, wherein the fifth distance is a distance from the quick-change point of the tiltrotator to the tilt axis of the tiltrotator.

[0135] In the case where the I-point parameters, the second angle λ, and the related parameters of the tiltrotator are known, the B-point parameters can be determined according to the principle of two-dimensional rotation matrix.

[0136] The B-point parameters can be expressed as follows, with the positive direction being from the cab to the construction equipment, and the Z-axis being vertically upward.

[0137] Step e2: determining a third angle, wherein the third angle is an angle between the bottom edge of the tiltrotator and the tilt axis of the tiltrotator.

[0138] The bottom edge of the tiltrotator is a line between the quick-change point B and the auxiliary quick-change point B' of the tiltrotator, i.e., the third angle θ2 in the following formula is TR8 in FIG. 3.

[0139] Step e3: determining the relative position of the bucket tip relative to the axis point of the tiltrotator according to the third angle, the length l of the bucket, the width w of the bucket, and the opening angle γ of the bucket.

[0140] The angle between the bucket and the Y-axis is expressed as: θ3=180°-γ-θ2.

[0141] Suppose the B-point parameters are B(0, y b ,zb ), the relative positions of the bucket tips with respect to the pivot point of the tilt rotor (including the middle point coordinate of the bucket tip, the left bucket tip coordinate, and the right bucket tip coordinate) can be respectively represented as:

[0142] The middle point coordinate of the bucket tip is:

[0143] The left bucket tip coordinate is:

[0144] The right bucket tip coordinate is:

[0145] Step e4: performing position transformation on the relative positions, and determining the bucket tip parameters of the excavator according to the position-transformed relative positions and the pivot point parameters of the tilt rotor.

[0146] The fourth angle β and the fifth angle ρ can be determined first, where the fourth angle is the tilt angle of the excavator around the tilt axis of the tilt rotor, and the fifth angle is the rotation angle of the excavator around the rotation axis of the tilt rotor; the relative positions are rotationally transformed according to the fifth angle ρ, are tilted according to the fourth angle β, and are pitched according to the second angle λ, to obtain the position-transformed relative positions.

[0147] For example, the rotational transformation can be performed according to the formula , the tilting transformation can be performed according to the formula , and the pitching transformation can be performed according to the formula .

[0148] The bucket tip parameters of the excavator are determined according to the position-transformed relative positions and the I-point parameters. For example, the left bucket tip parameter is equal to the sum of the position-transformed left bucket tip relative coordinate and the I-point parameters, and the right bucket tip parameter is equal to the sum of the position-transformed right bucket tip relative coordinate and the I-point parameters.

[0149] Optionally, on the basis of the above embodiment, FIG. 8 is a flowchart of another parameter determination method of a construction equipment provided in the embodiment. As shown in FIG. 8, after step S430 is executed, step S440 is further included.

[0150] S440: adjusting the pivot point of the excavator and the middle point of the bucket tip of the excavator to be located on a plumb line, to complete the calibration of the opening angle of the excavator.

[0151] FIG. 9 is a calibration diagram of an excavator provided in the embodiment. As shown in FIG. 9, the pivot point 1 and the pivot point 2 are the upper edges of the excavator, J' is the intersection of the plumb plane passing through the upper edges of the excavator and the bucket tip, the distance between the pivot point 2 and J' is the length of the excavator, and the distance between J1 and J2 is the width of the excavator. The angle θ4 between the upper edge of the excavator and the horizontal plane can be determined through the angles of TR7 and TR8.

[0152] Therefore, the calibration of the bucket opening angle is completed by adjusting the shaft center point 2 of the bucket and the midpoint of the bucket tip to be on a plumb line.

[0153] That is, the bucket opening angle γ = θ4 + 90°.

[0154] The technical solution of the embodiment of the application determines the mounting point parameters of the mechanical arm, and then calculates the shaft center point parameters of the functional component directly connected to the bucket according to the mounting point parameters, so as to determine the bucket parameters of the bucket according to the shaft center point parameters of the functional component directly connected to the bucket. The parameter determination method of the construction equipment can be applied to three cases: 1) the functional component only includes a quick-change device, 2) the functional component only includes a tilt device, and 3) the functional component includes a quick-change device and a tilt device, covering various construction equipment structures and having universality. The determined bucket parameters can provide a data basis for guiding the operation of the construction equipment, so as to reduce the operation difficulty of the construction equipment and improve the user experience. On the other hand, the calibration of the bucket opening angle can be completed by using a plumb line, which reduces the calibration difficulty and the requirement for the calibration equipment. In addition, in the case where the functional component includes a quick-change device and a tilt device, after the bucket parameters are obtained by one calculation and the calibration of the bucket opening angle is completed, even if the structure of the subsequent functional component changes, the bucket tip precision still meets the requirements without the need for recalibration.

[0155] FIG. 10 is a structural schematic diagram of a parameter determination device provided by an embodiment of the application. The device is configured in a construction equipment, as shown in FIG. 10, and includes an acquisition module 1001 and a calculation module 1002.

[0156] The acquisition module 1001 is configured to determine the mounting point parameters of the mechanical arm of the construction equipment.

[0157] The calculation module 1002 is configured to calculate the shaft center point parameters of the functional component directly connected to the bucket of the construction equipment according to the mounting point parameters, wherein the functional component is installed between the mechanical arm and the bucket, the functional component directly connected to the bucket is a quick-change device when the functional component only includes a quick-change device, the functional component directly connected to the bucket is a tilt device when the functional component only includes a tilt device or the functional component includes a quick-change device and a tilt device, and the bucket parameters of the bucket are determined according to the shaft center point parameters of the functional component directly connected to the bucket.

[0158] Optionally, when the functional component only includes the quick-change device, the computing module 1002 is configured to calculate the axis center point parameter of the functional component directly connected to the excavator bucket based on the following manner: determining a first angle, wherein the first angle is an angle between a bottom edge of the quick-change device and a horizontal plane; and calculating the axis center point parameter of the quick-change device according to the mounting point parameter, the first angle, a first distance and a second distance, wherein the first distance is a distance from the mounting point of the quick-change device to the bottom edge of the quick-change device, the mounting point of the quick-change device coincides with the mounting point of the robotic arm, and the second distance is a horizontal offset from the mounting point of the quick-change device to the quick-change point of the quick-change device.

[0159] Optionally, the excavator bucket parameter includes an axis center point parameter and a bucket tip parameter of the excavator bucket, and the quick-change point of the quick-change device coincides with the mounting point of the excavator bucket; the computing module 1002 is configured to determine the excavator bucket parameter of the excavator bucket according to the following method: taking the axis center point parameter of the quick-change device as the axis center point parameter of the excavator bucket; and calculating the bucket tip parameter of the excavator bucket according to the axis center point parameter of the excavator bucket.

[0160] Optionally, when the functional component only includes the tilt device, the computing module 1002 is configured to calculate the axis center point parameter of the functional component directly connected to the excavator bucket based on the following manner: determining a second angle, wherein the second angle is an angle between an inclined shaft of the tilt device and a horizontal plane; and calculating the axis center point parameter of the tilt device according to the mounting point parameter, the second angle, a third distance and a fourth distance, wherein the third distance is a distance from the mounting point of the tilt device to the inclined shaft of the tilt device, the mounting point of the tilt device coincides with the mounting point of the robotic arm, and the fourth distance is a distance from the quick-change point of the tilt device to a rotating shaft of the tilt device.

[0161] Optionally, when the functional component includes the quick-change device and the tilt device, the computing module 1002 is configured to calculate the axis center point parameter of the functional component directly connected to the excavator bucket based on the following manner: determining a first angle and a second angle, wherein the first angle is an angle between a bottom edge of the quick-change device and a horizontal plane, and the second angle is an angle between an inclined shaft of the tilt device and a horizontal plane; calculating the axis center point parameter of the quick-change device according to the mounting point parameter, the first angle, a first distance and a second distance, wherein the first distance is a distance from the mounting point of the quick-change device to the bottom edge of the quick-change device, the mounting point of the quick-change device coincides with the mounting point of the robotic arm, and the second distance is a horizontal offset from the mounting point of the quick-change device to the quick-change point of the quick-change device; and calculating the axis center point parameter of the tilt device according to the axis center point parameter of the quick-change device, the second angle, a third distance and a fourth distance, wherein the third distance is a distance from the mounting point of the tilt device to the inclined shaft of the tilt device, the mounting point of the tilt device coincides with the quick-change point of the quick-change device, and the fourth distance is a distance from the quick-change point of the tilt device to a rotating shaft of the tilt device.

[0162] Optionally, the bucket parameters comprise a bucket center point parameter and a bucket tip parameter, and the quick-change point of the tilt device coincides with the mounting point of the bucket; the calculation module 1002 is configured to determine the bucket parameters of the bucket based on the following manner: calculating the bucket center point parameter of the bucket according to the tilt device center point parameter, the second angle, the fourth distance, and the fifth distance, wherein the fifth distance is the distance from the quick-change point of the tilt device to the tilt axis of the tilt device; determining a third angle, wherein the third angle is the included angle between the bottom side of the tilt device and the tilt axis of the tilt device; determining the relative position of the bucket tip of the bucket relative to the tilt device center point according to the third angle, the length of the bucket, the width of the bucket, and the opening angle of the bucket; performing position transformation on the relative position, and determining the bucket tip parameter of the bucket according to the position-transformed relative position and the tilt device center point parameter.

[0163] Optionally, the calculation module 1002 is configured to perform position transformation on the relative position based on the following manner: determining a fourth angle and a fifth angle, wherein the fourth angle is the tilt angle of the bucket around the tilt axis of the tilt device, and the fifth angle is the rotation angle of the bucket around the rotation axis of the tilt device; performing rotation transformation on the relative position according to the fifth angle, performing tilt transformation on the relative position according to the fourth angle, and performing pitch transformation on the relative position according to the second angle, to obtain the position-transformed relative position.

[0164] Optionally, in combination with FIG. 10, FIG. 11 is a structural schematic diagram of another parameter determination apparatus provided by an embodiment of the present application. As shown in FIG. 11, the apparatus further comprises a calibration module 1003.

[0165] The calibration module 1003 is configured to adjust the midpoint of the bucket center and the bucket tip to be located on a plumb line, so as to complete the calibration of the opening angle of the bucket.

[0166] The parameter determination apparatus provided by the embodiments of the present application can execute the parameter determination method of the construction equipment provided by any of the embodiments of the present application, and has the corresponding function modules and effects of the execution method.

[0167] FIG. 12 shows a structural schematic diagram of a construction equipment 10 that can be used to implement the embodiments of the present application. The construction equipment is integrated with an electronic device, which is intended to represent any form of digital computer, such as a laptop computer, a desktop computer, a workstation, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent any form of mobile device, such as a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, watch, etc.), and other similar computing devices. The components shown herein, their connections, and relationships, and their functions, are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0168] As shown in FIG. 12, the construction equipment 10 includes at least one processor 11, and a memory, such as a Read-Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., connected to the at least one processor 11 in communication. The memory stores computer programs executable by the at least one processor 11, and the processor 11 can perform various appropriate actions and processes according to the computer programs stored in the Read-Only Memory (ROM) 12 or loaded from the storage unit 18 into the Random Access Memory (RAM) 13. Various programs and data required for the operation of the construction equipment 10 can also be stored in the RAM 13. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An Input / Output (I / O) interface 15 is also connected to the bus 14.

[0169] Various components in the construction equipment 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as any type of display, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the construction equipment 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0170] The processor 11 can be any general and / or special purpose processing component having processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphic Processing Unit (GPU), any special-purpose Artificial Intelligence (AI) computing chip, any processor running machine learning model algorithms, a Digital Signal Processing (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the parameter determination method of the construction equipment.

[0171] In some embodiments, the parameter determination method of the construction equipment can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., the storage unit 18. In some embodiments, parts or all of the computer program can be loaded onto the construction equipment 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the parameter determination method of the construction equipment described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the parameter determination method of the construction equipment by any other suitable means, e.g., by means of firmware.

[0172] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), a complex programmable logic device (CPLD), a System on Chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0173] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as part of a separate software package, or entirely on a remote machine or server.

[0174] In the context of this application, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A machine-readable storage medium may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fiber, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0175] To provide user interaction, the systems and techniques described herein can be implemented on construction equipment having: a display device (e.g., a cathode ray tube (CRT) or liquid crystal display (LCD) monitor) configured to display information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the construction equipment. Other types of devices can also be configured to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0176] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0177] The computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The relationship of client and server is one of many possible arrangements for the relationship between the computing devices configured to provide the functionality described in this application. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and virtual private server (VPS) services.

[0178] The embodiments of the present application further provide a computer program product, comprising a computer program which, when executed by a processor, implements the behavior operation determination method provided by any of the embodiments of the present application.

[0179] The computer program product can be written in one or more programming languages or combinations of languages including object-oriented languages, such as Java, Smalltalk, C++, and conventional procedural languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0180] It should be understood that the steps shown in the above-mentioned forms of flow can be reordered, added or deleted. For example, the steps described in the present application can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions of the present application can be achieved, and the present application does not limit herein.

Claims

1. A method for determining parameters of a construction equipment, comprising: determining a mounting point parameter of a mechanical arm of the construction equipment; calculating an axis point parameter of a functional component directly connected to a bucket of the construction equipment according to the mounting point parameter, wherein the functional component is installed between the mechanical arm and the bucket, and the functional component directly connected to the bucket is a quick-change device when the functional component only comprises the quick-change device, and the functional component directly connected to the bucket is a tilt device when the functional component only comprises the tilt device or the functional component comprises the quick-change device and the tilt device; determining a bucket parameter of the bucket according to the axis point parameter of the functional component directly connected to the bucket.

2. The method of determining parameters of a construction apparatus according to claim 1, wherein, When the functional component only comprises the quick-change device, the calculating the axis point parameter of the functional component directly connected to the bucket of the construction equipment according to the mounting point parameter comprises: determining a first angle, wherein the first angle is an angle between a bottom edge of the quick-change device and a horizontal plane; calculating the axis point parameter of the quick-change device according to the mounting point parameter, the first angle, a first distance and a second distance, wherein the first distance is a distance from a mounting point of the quick-change device to the bottom edge of the quick-change device, the mounting point of the quick-change device coincides with the mounting point of the mechanical arm, and the second distance is a horizontal offset from the mounting point of the quick-change device to a quick-change point of the quick-change device.

3. The method of determining parameters of a construction apparatus according to claim 2, wherein, The bucket parameter comprises an axis point parameter of the bucket and a bucket tip parameter, and the quick-change point of the quick-change device coincides with a mounting point of the bucket. The determining the bucket parameter of the bucket according to the axis point parameter of the functional component directly connected to the bucket comprises: taking the axis point parameter of the quick-change device as the axis point parameter of the bucket; calculating the bucket tip parameter of the bucket according to the axis point parameter of the bucket.

4. The method of claim 1, wherein When the functional component only comprises the tilt device, the calculating the axis point parameter of the functional component directly connected to the bucket of the construction equipment according to the mounting point parameter comprises: determining a second angle, wherein the second angle is an angle between an inclined shaft of the tilt device and a horizontal plane; calculating the axis point parameter of the tilt device according to the mounting point parameter, the second angle, a third distance and a fourth distance, wherein the third distance is a distance from a mounting point of the tilt device to the inclined shaft of the tilt device, the mounting point of the tilt device coincides with the mounting point of the mechanical arm, and the fourth distance is a distance from a quick-change point of the tilt device to a rotating shaft of the tilt device.

5. The method of claim 1, wherein When the functional component comprises the quick-change device and the tilt device, the calculating the axis point parameter of the functional component directly connected to the bucket of the construction equipment according to the mounting point parameter comprises: determining a first angle and a second angle, wherein the first angle is an angle between a bottom edge of the quick-change device and a horizontal plane, and the second angle is an angle between an inclined shaft of the tilt device and the horizontal plane; According to the mounting point parameter, the first angle, the first distance, and the second distance, an axis center point parameter of the quick-change device is calculated, wherein the first distance is a distance from the mounting point of the quick-change device to a bottom edge of the quick-change device, the mounting point of the quick-change device coincides with the mounting point of the mechanical arm, and the second distance is a horizontal offset from the mounting point of the quick-change device to a quick-change point of the quick-change device; According to the axis center point parameter of the quick-change device, the second angle, the third distance, and the fourth distance, an axis center point parameter of the tilting device is calculated, wherein the third distance is a distance from a mounting point of the tilting device to a tilting axis of the tilting device, the mounting point of the tilting device coincides with the quick-change point of the quick-change device, and the fourth distance is a distance from the quick-change point of the tilting device to a rotating axis of the tilting device.

6. The method of claim 4 or 5, wherein The bucket parameter includes an axis center point parameter of the bucket and a bucket tip parameter, and the quick-change point of the tilting device coincides with the mounting point of the bucket; The determining the bucket parameter of the bucket according to the axis center point parameter of the functional part directly connected to the bucket includes: According to the axis center point parameter of the tilting device, the second angle, the fourth distance, and a fifth distance, an axis center point parameter of the bucket is calculated, wherein the fifth distance is a distance from the quick-change point of the tilting device to the tilting axis of the tilting device; A third angle is determined, wherein the third angle is an included angle between the bottom edge of the tilting device and the tilting axis of the tilting device; According to the third angle, a length of the bucket, a width of the bucket, and an opening angle of the bucket, a relative position of the bucket tip relative to the axis center point of the tilting device is determined; The relative position is subjected to position transformation, and according to the position-transformed relative position and the axis center point parameter of the tilting device, a bucket tip parameter of the bucket is determined.

7. The method of claim 6, wherein The position transformation of the relative position includes: Fourth and fifth angles are determined, wherein the fourth angle is a tilting angle of the bucket around the tilting axis of the tilting device, and the fifth angle is a rotating angle of the bucket around the rotating axis of the tilting device; The relative position is subjected to rotating transformation according to the fifth angle, tilting transformation according to the fourth angle, and pitching transformation according to the second angle, to obtain the position-transformed relative position.

8. The parameter determination method of the construction equipment according to claim 1, after the bucket parameter of the bucket is determined, further comprising: adjusting the axis center of the bucket and a midpoint of the bucket tip to be located on a plumb line, to complete calibration of the opening angle of the bucket.

9. A construction equipment, comprising: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the parameter determination method of the construction equipment according to any one of claims 1-8.

10. A computer readable storage medium storing computer instructions for causing a processor to implement the parameter determination method of any one of claims 1-8 when executed.

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