CN112095710A

CN112095710A - Excavator pose display method and device and excavator applying same

Info

Publication number: CN112095710A
Application number: CN202010971496.2A
Authority: CN
Inventors: 谢智慧; 涂晓丹; 杨晨; 汪蓉
Original assignee: Shanghai Sany Heavy Machinery Co Ltd
Current assignee: Shanghai Sany Heavy Machinery Co Ltd
Priority date: 2020-09-16
Filing date: 2020-09-16
Publication date: 2020-12-18

Abstract

The invention discloses an excavator pose display method and device and an excavator applied by the excavator pose display method and device, and relates to the technical field of image processing. The method comprises the following steps: acquiring first angle data acquired by a first angle sensor, second angle data acquired by a second angle sensor and third angle data acquired by a third angle sensor; calculating coordinate data of a first position point, a second position point, a third position point and a fourth position point where the tooth tip of the bucket is located in a preset reference coordinate system according to the first angle data, the second angle data and the third angle data, distance data of the first position point relative to a rotation central axis of the rotation motor and length data of the bucket, the arm and the movable arm; constructing a real-time pose model of the excavator; and controlling the display to display the real-time pose model of the excavator. The display in the cockpit can visually and accurately display the pose of the excavator to a driver, so that the working posture of the excavator can be accurately regulated and controlled, and the operation controllability and the safety of the excavator are improved.

Description

Excavator pose display method and device and excavator applying same

Technical Field

The invention relates to the field of image processing, in particular to an excavator pose display method and device and an excavator applied by the excavator pose display method and device.

Background

With the development of urban infrastructure and the development of mine field resources, the application of the excavator is more and more extensive, and the excavator plays an important role in rescue and relief work, rescue and blasting and the like. In some places with low visibility, such as mine holes or places with diffused smoke, an operator of the excavator can judge the current working environment only by lighting a working lamp on the excavator through naked eyes so as to control the working postures of working devices such as a bucket and a bucket rod of the excavator. The control of the excavator working device is easily influenced by dust particles in the environment, and misjudgment is caused to cause safety accidents.

Therefore, an auxiliary display scheme capable of providing the position and posture of the excavator working device for a driver in an excavator cab is needed.

Disclosure of Invention

In order to solve the technical problem, the embodiment of the disclosure provides an excavator pose display method and device and an excavator applied by the excavator pose display method and device, and the specific scheme is as follows:

in a first aspect, an embodiment of the present disclosure provides an excavator pose display method, which is applied to a controller of an excavator, where the excavator further includes: the control system comprises an upper vehicle walking motor, a rotary motor, a bucket rod, a movable arm and a cab, wherein a rotary central shaft of the rotary motor is perpendicular to a reference horizontal plane where the upper vehicle walking motor is located, one end of the movable arm is fixedly arranged at a first site close to the rotary central shaft, the other end of the movable arm and one end of the bucket rod are hinged to a second site, the other end of the bucket rod and one end, far away from a tooth tip, of the bucket are hinged to a third site, a first angle sensor is assembled at the first site, a second angle sensor is assembled at the second site, a third angle sensor is assembled at the third site, the first angle sensor, the second angle sensor and the third angle sensor are all in communication connection with the controller, and the controller is in communication connection with a display in the cab; the method comprises the following steps:

acquiring first angle data acquired by the first angle sensor, second angle data acquired by the second angle sensor and third angle data acquired by the third angle sensor;

according to the first angle data, the second angle data and the third angle data, distance data of the first position point relative to a rotation central shaft of the rotation motor and length data of the bucket, the arm and the movable arm, coordinate data of a first position point, a second position point, a third position point and a fourth position point where tooth tips of the bucket are located in a preset reference coordinate system are calculated respectively;

constructing a real-time pose model of the excavator according to the coordinate data of the first position point, the second position point, the third position point and the fourth position point in the reference coordinate system;

and controlling the display to display the real-time pose model of the excavator.

According to a specific implementation manner of the present disclosure, a horizontal axis of the boarding walking motor in the reference horizontal plane is coplanar with the first position point, the second position point, the third position point and the fourth position point;

the step of calculating coordinate data of a first point, a second point, a third point, and a fourth point where a tooth tip of the bucket is located in a preset reference coordinate system, based on the first angle data, the second angle data, and the third angle data, distance data of the first point from a center axis of rotation of the rotation motor, and length data of the bucket, the arm, and the boom, respectively, includes:

establishing the reference coordinate system by taking a horizontal central axis of the upper vehicle walking motor in the reference horizontal plane as a horizontal axis, taking a rotation central axis of the rotation motor as a vertical axis and taking an intersection point of the horizontal central axis of the upper vehicle walking motor and the rotation central axis of the rotation motor as an origin;

determining preset scaled distance data according to an actual distance of the first position point relative to a rotation central axis of the rotation motor, and determining preset scaled length data of the bucket, the arm and the movable arm in the reference coordinate system according to actual lengths of the bucket, the arm and the movable arm of the excavator respectively;

according to the first angle data, the second angle data and the third angle data, distance data of the first position point relative to a rotation central shaft of the rotation motor and length data of the bucket, the arm and the movable arm in the reference coordinate system, coordinate data of the first position point, the second position point, the third position point and the fourth position point in the reference coordinate system are calculated respectively;

the step of constructing a real-time pose model of the excavator according to the coordinate data of the first position point, the second position point, the third position point and the fourth position point in the reference coordinate system comprises the following steps:

and constructing a real-time pose model of the excavator relative to the reference coordinate system according to the coordinate data of the first position point, the second position point, the third position point and the fourth position point in the reference coordinate system.

According to a specific implementation manner of the present disclosure, the step of calculating, according to the first angle data, the second angle data, and the third angle data, the distance data of the first position point with respect to the rotation center axis of the rotation motor, and the length data of the bucket, the arm, and the boom in the reference coordinate system, the coordinate data of the first position point, the second position point, the third position point, and the fourth position point in the reference coordinate system includes:

respectively marking a first projection point, a second projection point, a third projection point and a fourth projection point obtained by projecting the first position point, the second position point, the third position point and the fourth position point onto the longitudinal axis on the reference coordinate system;

acquiring length data of a first diagonal line segment, a first transverse line segment and a first longitudinal line segment of the first position point relative to a rotation central shaft of the rotation motor on the reference coordinate system, wherein the first diagonal line segment is a line segment between the first position point and the origin point, the first transverse line segment is a line segment between the first position point and the first projection point, and the first longitudinal line segment is a line segment between the first projection point and the origin point;

and calculating the coordinate data of the first position point, the second position point, the third position point and the fourth position point according to the length data of the first inclined line segment, the first horizontal line segment and the first vertical line segment, the first angle data, the second angle data and the third angle data, and the length data of the bucket, the arm and the movable arm in the reference coordinate system.

According to a specific implementation manner of the present disclosure, the step of calculating coordinate data of the first location point, the second location point, the third location point, and the fourth location point according to the length data of the first diagonal segment, the first horizontal segment, and the first vertical segment, the first angle data, the second angle data, and the third angle data, and the length data of the bucket, the arm, and the boom in the reference coordinate system includes:

calculating coordinate data of the first position point according to the length data of the first diagonal line segment, the first horizontal line segment and the first vertical line segment;

calculating coordinate data of the second position point according to the length data of the first inclined line segment, the first transverse line segment and the first longitudinal line segment, the first angle data and the length data of the movable arm;

calculating coordinate data of the third position point according to the coordinate data of the first position point and the second position point, the second angle data and the third angle data, and the length data of the bucket rod;

and calculating the coordinate data of the fourth position point according to the coordinate data of the third position point and the length data of the bucket.

According to a specific implementation manner of the present disclosure, the step of constructing a real-time pose model of the excavator relative to the reference coordinate system according to coordinate data of the first location point, the second location point, the third location point and the fourth location point in the reference coordinate system includes:

labeling the first, second, third and fourth sites within the reference coordinate system;

marking the bucket, the arm and the boom in the reference coordinate system according to the marked first position point, the marked second position point, the marked third position point and the marked fourth position point and shape parameters of the bucket, the arm and the boom, wherein the shape parameters comprise length data of a straight line shape or contour data of a curve shape;

and constructing a real-time pose model of the excavator according to the bucket, the arm and the movable arm which are marked in the reference coordinate system.

In a second aspect, an embodiment of the present disclosure provides an excavator pose display device, which is applied to a controller of an excavator, where the excavator further includes: the control system comprises an upper vehicle walking motor, a rotary motor, a bucket rod, a movable arm and a cab, wherein a rotary central shaft of the rotary motor is perpendicular to a reference horizontal plane where the upper vehicle walking motor is located, one end of the movable arm is fixedly arranged at a first site close to the rotary central shaft, the other end of the movable arm and one end of the bucket rod are hinged to a second site, the other end of the bucket rod and one end, far away from a tooth tip, of the bucket are hinged to a third site, a first angle sensor is assembled at the first site, a second angle sensor is assembled at the second site, a third angle sensor is assembled at the third site, the first angle sensor, the second angle sensor and the third angle sensor are all in communication connection with the controller, and the controller is in communication connection with a display in the cab; the device comprises:

an obtaining module, configured to obtain first angle data collected by the first angle sensor, second angle data collected by the second angle sensor, and third angle data collected by the third angle sensor;

a calculating module, configured to calculate, according to the first angle data, the second angle data, and the third angle data, distance data of the first location point relative to a rotation central axis of the rotation motor, and length data of the bucket, the arm, and the boom, coordinate data of a fourth location point where a tooth tip of the bucket is located in a preset reference coordinate system, the first location point, the second location point, the third location point, and the fourth location point are respectively calculated;

the modeling module is used for constructing a real-time pose model of the excavator according to coordinate data of the first position point, the second position point, the third position point and the fourth position point in the reference coordinate system;

and the display module is used for controlling the display to display the real-time pose model of the excavator.

According to a specific implementation manner of the present disclosure, a horizontal axis of the boarding walking motor in the reference horizontal plane is coplanar with the first position point, the second position point, the third position point and the fourth position point; the calculation module comprises:

the system establishing sub-module is used for establishing the reference coordinate system by taking a horizontal central axis of the upper vehicle walking motor in the reference horizontal plane as a horizontal axis, taking a rotary central axis of the rotary motor as a vertical axis and taking an intersection point of the horizontal central axis of the upper vehicle walking motor and the rotary central axis of the rotary motor as an origin;

the scaling submodule is used for determining distance data after preset scaling according to the actual distance of the first position point relative to a rotation central shaft of the rotation motor, and respectively determining length data after preset scaling of the bucket, the arm and the movable arm in the reference coordinate system according to the actual lengths of the bucket, the arm and the movable arm of the excavator;

a calculation submodule, configured to calculate, according to the first angle data, the second angle data, and the third angle data, distance data of the first position with respect to a rotation central axis of the rotation motor, and length data of the bucket, the arm, and the boom in the reference coordinate system, coordinate data of the first position, the second position, the third position, and the fourth position in the reference coordinate system, respectively;

the modeling module is specifically configured to:

According to a specific implementation manner of the present disclosure, the calculation sub-module is specifically configured to:

In a third aspect, an embodiment of the present disclosure further provides an excavator, including: the device comprises a controller, an upper vehicle traveling motor, a rotary motor, a bucket rod, a movable arm and a cab, wherein the rotary central shaft of the rotary motor is vertical to the reference horizontal plane where the upper vehicle traveling motor is positioned, one end of the movable arm is fixedly arranged at a first locus close to the rotary central shaft, the other end of the movable arm and one end of the bucket rod are hinged at a second locus, the other end of the bucket rod and one end, far away from the tooth tips, of the bucket are hinged to a third position point, the first position point is provided with a first angle sensor, the second site is equipped with a second angle sensor, the third site is equipped with a third angle sensor, the first angle sensor, the second angle sensor and the third angle sensor are all in communication connection with the controller, the controller is in communication connection with a display in the cockpit, and the controller is configured to execute the excavator pose display method according to any one of the first aspect.

In a fourth aspect, the disclosed embodiments also provide a computer-readable storage medium storing computer instructions for causing a computer to execute the excavator pose display method according to any one of the first aspect.

According to the excavator posture display method and device and the excavator applied by the excavator posture display method and device, based on the principle that relative included angles of main working devices such as a bucket, an arm and a movable arm of the excavator can change in the working process, angle sensors are additionally arranged at the hinged position of the bucket and the arm, the hinged position of the arm and the movable arm and the hinged position of a rotation central shaft of a rotation motor, and coordinate data of each key point are calculated by combining fixed assembly points of the movable arm and length data of each working device, so that a real-time posture model of the excavator in the working process is obtained, and display of a display in a cab is controlled. Therefore, the display in the cockpit can visually and accurately display the pose of the excavator, a driver in the cockpit can accurately know the real-time pose of the excavator under the condition that the driver is not influenced by dust particles in the environment, the working posture of the excavator is accurately regulated and controlled, safety accidents caused by misoperation can be effectively avoided, and the operation safety of the excavator is improved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.

Fig. 1 is a schematic flow chart illustrating an excavator pose displaying method according to an embodiment of the present disclosure;

FIG. 2 is a schematic structural diagram of an excavator provided by the embodiment of the disclosure;

fig. 3 is a schematic diagram illustrating a real-time pose model of an excavator according to an excavator pose display method provided by an embodiment of the present disclosure;

FIG. 4 is a process diagram of an excavator pose display method provided by an embodiment of the disclosure;

fig. 5 shows a block diagram of modules of an excavator pose display device provided by an embodiment of the disclosure.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.

Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.

Referring to fig. 1, a flow chart of an excavator pose display method provided by the embodiment of the disclosure is shown, and the excavator pose display method provided by the embodiment of the disclosure is applied to a controller of an excavator. As shown in fig. 2, the excavator 200 may further include: upper traveling motor 201, swing motor 202, bucket 203, arm 204, boom 205, and a cabin (not shown in fig. 2), the rotation center axis 2021 of the rotation motor 202 is perpendicular to the reference horizontal plane where the boarding traveling motor 201 is located, one end of the boom 205 is fixedly disposed at a first position C near the rotation center axis 2021, the other end of the movable arm 205 is hinged to one end of the arm 204 at a second position B, the other end of the arm 204 is hinged to the end of the bucket 203 remote from the tips of the teeth at a third location a, said first site C being equipped with a first angle sensor, said second site B being equipped with a second angle sensor, and the third position C is provided with a third angle sensor, the first angle sensor, the second angle sensor and the third angle sensor are in communication connection with the controller, and the controller is in communication connection with a display in the cockpit.

As shown in fig. 1, the method mainly comprises the following steps:

s101, acquiring first angle data acquired by the first angle sensor, second angle data acquired by the second angle sensor and third angle data acquired by the third angle sensor;

as shown in fig. 2, the excavator mainly includes a support device for supporting the excavator on a reference horizontal surface such as a working ground, and a work device for performing an excavating work of the excavator on the support device. The supporting device generally includes an upper vehicle traveling motor on an upper vehicle floor that supports the excavator to be fixed and movable on a reference horizontal plane, and a revolving motor of a revolving center that is provided on the upper vehicle motor and is perpendicular to a center line of the upper vehicle traveling motor in the reference horizontal plane. The working devices generally comprise a movable arm, a bucket rod and a bucket which are connected in sequence, adjacent working devices are rotatably connected through an electric control hinge assembly, and rotation control of the working devices is controlled by a controller of the excavator and is not described in detail. It should be noted that a fixed shaft may extend from the vicinity of the rotation central shaft, one end of the fixed shaft, which is far away from the rotation central shaft, is a first point, and the movable arm is hinged to the first point. The first point is relatively fixed with respect to the central axis of revolution, and the distance between the first point and the central axis of revolution is also known and fixed.

In this embodiment, a first angle sensor is mounted at a first position where a movable arm is hinged to a rotation central shaft, and is used for acquiring angle data of the movable arm relative to the rotation central shaft, and the angle data is defined as first angle data; assembling a second angle sensor at a second position point where the movable arm is hinged with the bucket rod, wherein the second angle sensor is used for acquiring angle data of the bucket rod relative to the movable arm or relative to the rotary central shaft and is defined as second angle data; and a third angle sensor is assembled at a third position point where the arm is hinged with the bucket, and is used for acquiring angle data of the bucket relative to the arm or relative to the rotation central shaft, and the third angle data is defined as third angle data. In addition, the point where the tip of the bucket is located can be defined as a fourth point.

It should be noted that, considering that the movable arm, the bucket rod and the bucket are all working devices with a certain thickness, in order to facilitate calculation and improve accuracy of calculation of pose related parameters, a center line of the tooth tip, a center line of the bucket rod and a center line of the movable arm are all set to be coplanar with center lines of the rotation center shaft and the upper vehicle traveling motor in a reference horizontal plane, a common plane can be defined as a reference tangential plane, a relative included angle measured by the angle sensor is an included angle of an adjacent working device in the reference tangential plane, a reference coordinate system based on which coordinate calculation is subsequently performed is also a reference coordinate system established in the reference tangential plane, and details are not repeated later.

S102, calculating coordinate data of a first position point, a second position point, a third position point and a fourth position point where the tooth tips of the bucket are located in a preset reference coordinate system according to the first angle data, the second angle data and the third angle data, distance data of the first position point relative to a rotation central axis of the rotation motor and length data of the bucket, the arm and the movable arm;

the first angle data, the second angle data and the third angle data which are obtained according to the steps are all changed angle data when the adjacent working devices are hinged. The first position point of the movable arm hinged with the rotary central shaft is fixed, and the distance data of the first position point relative to the rotary central shaft is also known determined data. Further, the length data of the work implement itself, such as the bucket, arm, and boom, is also known data that is fixed and not changed during the work of the excavator.

As can be seen from the above, the known fixed data at least includes: distance data of the first position point with respect to a rotation center axis of the rotation motor, and length data of the bucket, the arm, and the boom. The measured data of the variation then comprises at least: first angle data, second angle data, and third angle data.

According to the possible geometrical relationship of the bucket, the arm and the movable arm in the reference coordinate system and a known geometrical calculation formula, a corresponding coordinate calculation method can be selected to obtain coordinate data of the first position point to the fourth position point in the reference coordinate system. Alternative coordinate calculation methods include, but are not limited to: and calculating relative coordinate data of other working devices relative to the reference basis by taking a certain working device as the reference basis, or calculating relative coordinate data of other working devices relative to the supporting device by taking the supporting device as the reference basis.

S103, constructing a real-time pose model of the excavator according to coordinate data of the first position point, the second position point, the third position point and the fourth position point in the reference coordinate system;

and after coordinate data of the first to fourth points in the reference coordinate system are obtained through calculation according to the steps, the length data and the structural shape of the working devices such as the bucket, the movable arm and the arm are combined, and then a real-time pose model corresponding to the current working time of the excavator can be constructed. The specific real-time pose model can be as shown in fig. 2, that is, the first position point to the fourth position point of the excavator are determined, and the real-time pose model of the excavator is specifically shown according to other key nodes or a preset working device structure. Of course, the real-time pose model can also be simplified as shown in fig. 3, that is, the real-time pose model of the excavator is simply illustrated by only the first to fourth points and the line of the working device, which is not limited.

And S104, controlling the display to display the real-time pose model of the excavator.

After the real-time pose model of the excavator is obtained according to the steps, the graphic parameters corresponding to the real-time pose model of the excavator can be sent to a display in a cockpit, and the display is controlled to display the real-time pose model, so that the real-time pose model can be displayed in a two-dimensional image mode. It should be noted that, considering that the pose of the working device of the excavator may change constantly during the working process, the relevant angle data may be continuously and periodically collected, the coordinate data of each key point may be calculated, and the determined latest real-time pose model may be updated to the display, so that the display presents the pose of the excavator in a continuous animation simulation manner, and a driver in the cockpit can conveniently grasp the latest pose state of the excavator in real time.

In the excavator pose display method provided by the embodiment of the disclosure, the angle sensors are additionally arranged at the hinged position of the bucket and the bucket rod, the hinged position of the bucket rod and the movable arm and the hinged position of the rotation central shaft of the movable arm and the rotation motor, and then the coordinate data of each key point is calculated by combining the fixed assembly point of the movable arm and the length data of each working device, so that a real-time pose model of the excavator in the working process is obtained and the display in a driving cabin is controlled to display. Therefore, a driver in the cockpit can accurately know the real-time pose of the excavator under the condition of not being influenced by dust particles in the environment, the working posture of the excavator is accurately regulated and controlled, safety accidents caused by misoperation can be effectively avoided, and the operation safety of the excavator is improved.

Based on the above embodiments, the calculation process of the coordinate data of each position point will be further defined below with reference to the specific embodiments.

According to a specific implementation of the present disclosure, a horizontal axis of the boarding travel motor within the reference horizontal plane is defined to be coplanar with the first, second, third, and fourth locations. Step S102 is to calculate, according to the first angle data, the second angle data, and the third angle data, distance data of the first position with respect to a rotation center axis of the rotation motor, and length data of the bucket, the arm, and the boom, coordinate data of a fourth position at which a tooth tip of the bucket is located in a preset reference coordinate system, where the coordinate data includes:

step S103, constructing a real-time pose model of the excavator according to the coordinate data of the first, second, third, and fourth points in the reference coordinate system, including:

In the embodiment, a reference coordinate system is established based on the supporting device of the excavator, which remains relatively unchanged during the operation process, so as to calculate the posture parameters of the working device, which dynamically changes during the operation process. Therefore, the pose parameters of all the working devices are determined by the same reference coordinate system, the relative error is less, and the calculation precision is higher.

Specifically, as shown in fig. 3, the reference coordinate system XOY is established with the horizontal central axis of the upper vehicle traveling motor in the reference horizontal plane as a horizontal axis X, the rotation central axis of the rotation motor as a vertical axis Y, and an intersection point of the horizontal central axis of the upper vehicle traveling motor and the rotation central axis of the rotation motor as an origin. Correspondingly, when the pose calculation is carried out, the coordinate data of each key point in the coordinate system are calculated according to the reference coordinate system.

It should be noted that, considering that the actual size of the excavator is large, when the pose parameter is calculated, the preset scaling may be performed to reduce the calculation amount, and the display in the cockpit is also facilitated. Specifically, known data used in the calculation process, such as actual lengths of the bucket, the arm and the boom, are subjected to the same preset scaling to obtain corresponding length data, and the scaled length data are used for calculating corresponding pose parameters. For example, the distance between two points on the boom BC is 2000mm, and the 2000 may be converted into a unit length which can be recognized by a program, for example, 0 to 1.

Further, according to a specific implementation manner of the present disclosure, the step of calculating, according to the first angle data, the second angle data, and the third angle data, the distance data of the first position point from the swing center axis of the swing motor, and the length data of the bucket, the arm, and the boom in the reference coordinate system, the coordinate data of the first position point, the second position point, the third position point, and the fourth position point in the reference coordinate system includes:

In the embodiment, the projection points corresponding to the key points are respectively marked in the reference coordinate system, a plurality of triangles are formed by the projection points, the longitudinal axis of the reference coordinate system and the connecting line between each key point and the origin, and the coordinates of each key point can be calculated according to the trigonometric function.

In a specific implementation, the step of calculating coordinate data of the first location point, the second location point, the third location point, and the fourth location point according to the length data of the first diagonal segment, the first horizontal segment, and the first vertical segment, the first angle data, the second angle data, and the third angle data, and the length data of the bucket, the arm, and the boom in the reference coordinate system includes:

The above calculation process will be specifically explained below with reference to fig. 2 to 4. When the pose data of the excavator during operation are counted, sensor parameters need to be initialized, coordinate calibration is carried out, angle data collected by an angle sensor are sent to a controller in real time through a CAN (controller area network) bus in the working process, and the controller converts the measured angle values and the measured rod length values into node coordinates after scaling in equal proportion. And then sending the coordinate data to a built-in component of the display for dynamic display.

Specifically, a first angle sensor is mounted at a first position C, and is used for measuring an included angle D1 of the boom relative to the longitudinal axis OY, a projection point of the first position C on the OY is C1, and an extension line of the boom intersects with the OY at a point D. And a second angle sensor is arranged at a second position B and used for measuring an included angle E1 of the arm relative to the longitudinal axis OY, the projection point of the second position B on the OY is B1, and the extension line of the arm and the OY intersect at the point E. And a third angle sensor is arranged at a third position A and is used for measuring third angle data F1 of the bucket relative to the longitudinal axis OY, the projection point of the third position A on the OY is A1, and the extension line of the bucket and the OY intersect at F. The fourth point a is the tip of the bucket, and the projected point on the vertical axis OY is a 1.

As shown in fig. 3, when solving for coordinate data of key sites or key nodes, the known parameters include: line segment CC1, line segment OC1, angle O1, angle D1, angle E1, angle F1, and pole length aA, pole length AB, and pole length BC.

Firstly, the process of solving the coordinate data of the key site B point comprises the following steps:

segment Ca1 ═ segment CC1/sin (D1);

according to the principle of similar triangle, the line segment Ca 1/line segment Ba1 is line segment CC 1/line segment BB 1;

segment BB1 ═ segment Ca1 ═ segment Ba 1/segment Ca 1;

and the number of the first and second groups,

segment C1a1 ═ segment CC1/tan (D1);

according to a similar triangle, the line segment C1a 1/line segment a1B1 is line segment CC 1/line segment BB 1;

segment C1a 1-segment a1B 1-segment CC 1/segment BB 1;

segment B1C 1-segment a1B 1-segment C1a 1;

segment OB1 ═ segment B1C1+ segment OC 1;

the coordinates of B are (line BB1, line OB1) ([ (line BC) × sin (D1) + line CC1], [ (line BC) × Cos (D1) + line OC1 ]).

Secondly, the process of solving the coordinate data of the point A comprises the following steps:

according to the similar triangle principle, the line BB 1/line AA1 is the line BE/line AE;

line BB 1/line BE ═ sin (E1);

segment AA1 (BB 1) segment AE/segment BE (AE 1) segment AE sin;

the ordinate of B is the ordinate of a + line segment (AB) × cos (E1);

the ordinate of a is [ segment BC × Cos (D1) + segment OC1] -segment AB × Cos (E1);

the coordinates of a are (line AA1, line AO) ([ line AB × sin (E1) + line CC1+ line BC × sin (D1) ], line BC) × cos (D1) + line OC 1-line AB × cos (E1)).

In addition, the process of solving the coordinate data of the point a comprises the following steps:

segment AA1 ═ segment AA1+ segment A1a 1;

segment aO is segment Oa 1;

the coordinates of a are ([ line aA × sin (F1) + line AB × sin (E1) + line CC1+ line BC × sin (D1) ], [ (line BC) × Cos (D1) + line OC 1-line AB × Cos (E1) — line aA × Cos (F1) ]).

Therefore, the coordinate data of each key point can be accurately calculated, and the real-time pose modeling can be conveniently carried out according to the pose data.

According to another specific embodiment of the disclosure, the process of constructing the real-time pose model is further defined. Specifically, the step of constructing a real-time pose model of the excavator relative to the reference coordinate system according to the coordinate data of the first position point, the second position point, the third position point and the fourth position point in the reference coordinate system may include:

The controller controls the corresponding angle sensor to collect the angle data in real time, coordinate values of key nodes such as the bucket, the bucket rod and the movable arm, length data and relative positions of the working device after proportional scaling are defined in advance, and coordinate calculation can be carried out. The coordinate data of the four key points can be calculated, and then the real-time pose model is constructed according to the preset shape parameters of each working device, namely, each working device is simplified into a straight line, and the real-time pose model can be constructed in an auxiliary manner by combining curve-shaped contour data of other key nodes and the like on the excavator working device. The specific calculation process will be described below from these two points, respectively.

In the first aspect, coordinate data of each key node is determined after four key sites are determined. Specifically, the calculation may be performed according to the node allocation manner shown in table 1:

TABLE 1

On the basis of the above calculation process, coordinate data of each key node also needs to be calculated, and the specific process includes:

and initializing parameters of all key nodes, and scaling in equal proportion to obtain length data. For example, the lengths of the line segment BC, the line segment AB and the line segment aA are respectively set to be 3.5, 2.0 and 1.5 (unit length), the line segment CC1\ line segment OC1\ angle O1\ angle D1\ angle E1\ angle F1 is respectively 0.39\1.09\1.02\21 \68 \43 \56 °, the a coordinate (4.86,0.83), the B coordinate (3.51, 2.28) and the C coordinate (0.39, 1.02).

The initialized coordinates of all nodes at this time are set as:

a bucket: a (6.11, 0), b (5.88, 1.25), c (5.38, 1.46), d (5.08, 1.45), e (5.05, 1.3), f (4.82, 1.19), g (4.8, 0.74), h (5.56, 0.6), i (5.93, 0.33)

A bucket rod: a1(4.89, 0.87), b1(3.79, 2.7), c1(3.29, 2.76), d1(3.6, 2.02), e1(4.83, 0.78)

A movable arm: a2(3.53, 2.25), b2(3.19, 2.39), c2(1.45, 2.27), d2(0.42, 1.28), e2(0.33, 1.05), f2(0.44, 1.01), g2(1.57, 1.93), h2(3.51, 2.23)

The bucket nodes a, b, c, d, e, f, g, h, and i rotate around point a (x, y) — (4.86,0.83), and the rotation angle is f 1.

For example, if the initial node a (x0, y0) rotates around the point a ((x, y)) by f1 equal to 30 degrees, and then the coordinate value after the rotation is calculated as a1(x1, y1), then:

x1＝(x0-x)*cos(f1)-(y0-y)*sin(f1)+x；

＝(6.11-4.86)*cos(30)-(0-0.83)*sin(30)+4.86＝6.35；

y1＝(x0-x)*sin(f1)+(y0-y)*cos(f1)+y＝(6.11-4.86)*sin(30)+(0-0.83)*cos(30)+0.83＝0.736；

in the same way, coordinate values of the nodes b, c, d, e, f, g, h and i after rotating around the point A can be obtained;

the coordinate values of the nodes a1, B1, c1, d1 and e1 after rotating around the node B can be obtained in the same way;

the coordinate values of the nodes a2, b2, C2, d2, e2, f2, g2 and h21 after rotating around the C rotation node can be obtained in the same way.

Therefore, after the coordinate data of the key points and the coordinate data of each key node on the working device are obtained through calculation, the key points and the key nodes are marked in the reference coordinate system according to the coordinate data of the key points and the key nodes, all the points in the reference coordinate system are connected in sequence, and then the real-time pose model of the excavator at the current moment can be formed, and as shown in fig. 2, the implementation pose model can be displayed in a display.

On the other hand, the embodiment provides a simplified scheme for constructing the model in real time. That is, after the pose data of the key points are determined, the key points are only marked in the reference coordinate system, and the simplified real-time pose model can be formed by connecting the adjacent key points, as shown in fig. 3, and is displayed on a display in the cockpit. The scheme has less calculation amount, and fewer elements can accurately display the pose of the main working device of the excavator.

In conclusion, the angle sensor is additionally arranged at the key point of the working device, the data are transmitted back to the display screen through the CAN bus by establishing a coordinate system when the excavator works and calculating the coordinates of the key point, the display screen displays the working posture of the excavator in real time, an operator CAN conveniently master the posture of the excavator working device under the complex working conditions with low visibility, and a visual auxiliary means is provided for the working safety of the excavator.

Corresponding to the above method embodiment, referring to fig. 5, a block diagram of an excavator pose display apparatus 500 provided by an embodiment of the present disclosure is shown, and the excavator pose display apparatus is applied to a controller of an excavator. As shown in fig. 2, the excavator may further include: the hydraulic excavator comprises an upper automobile walking motor, a rotary motor, a bucket, a boom, a movable arm and a cab, wherein a rotary central shaft of the rotary motor is perpendicular to a plane of the upper automobile walking motor, one end of the movable arm is fixedly arranged at a first site close to the rotary central shaft, the other end of the movable arm and one end of the boom are hinged at a second site, the other end of the boom and one end, far away from a tooth point, of the bucket are hinged at a third site, a first angle sensor is assembled at the first site, a second angle sensor is assembled at the second site, a third angle sensor is assembled at the third site, the first angle sensor, the second angle sensor and the third angle sensor are in communication connection with a controller, and the controller is in communication connection with a display in the cab. As shown in fig. 5, the excavator pose display apparatus 500 mainly includes:

an obtaining module 501, configured to obtain first angle data collected by the first angle sensor, second angle data collected by the second angle sensor, and third angle data collected by the third angle sensor;

a calculating module 502, configured to calculate, according to the first angle data, the second angle data, and the third angle data, length data of the first position point relative to a rotation central axis of the rotation motor, and length data of the bucket, the arm, and the boom, coordinate data of a fourth position point where a tooth tip of the bucket is located in a preset reference coordinate system, the first position point, the second position point, the third position point, and the tooth tip of the bucket, respectively;

the modeling module 503 is configured to construct a real-time pose model of the excavator according to coordinate data of the first position, the second position, the third position and the fourth position in the reference coordinate system;

and the display module 504 is used for controlling the display to display the real-time pose model of the excavator.

According to a specific implementation manner of the present disclosure, a horizontal axis of the boarding walking motor in the reference horizontal plane is coplanar with the first position point, the second position point, the third position point and the fourth position point; the calculation module 502 includes:

the modeling module 503 is specifically configured to:

With continued reference to fig. 2, embodiments of the present disclosure also provide an excavator, including: the device comprises an upper vehicle traveling motor, a rotary motor, a bucket rod, a movable arm and a cab, wherein the rotary central shaft of the rotary motor is vertical to the plane of the upper vehicle traveling motor, one end of the movable arm is fixedly arranged at a first locus close to the rotary central shaft, the other end of the movable arm and one end of the bucket rod are hinged at a second locus, the other end of the bucket rod and one end, far away from the tooth tips, of the bucket are hinged to a third position point, the first position point is provided with a first angle sensor, the second site is equipped with a second angle sensor, the third site is equipped with a third angle sensor, the first angle sensor, the second angle sensor and the third angle sensor are all in communication connection with the controller, the controller is in communication connection with a display in the cockpit, and the controller is used for executing the excavator pose display method in the embodiment.

In addition, the embodiment of the disclosure also provides a computer-readable storage medium, which stores computer instructions for causing the computer to execute the excavator pose display method according to the foregoing method embodiment.

In summary, according to the excavator posture display method and device provided by the embodiments of the present disclosure and the excavator applied thereto, based on the principle that the relative included angles of the main working devices of the excavator, such as the bucket, the arm, and the boom, change during the working process, the angle sensors are additionally disposed at the hinged position of the bucket and the arm, the hinged position of the arm and the boom, and the hinged position of the boom and the revolving shaft of the revolving motor, and then the coordinate data of the key point is calculated by combining the fixed assembly point of the boom and the fixed length data of the working device, so as to obtain the real-time posture model of the excavator during the working process and control the display in the cockpit to display. Therefore, the display in the cockpit can visually and accurately display the pose of the excavator, a driver in the cockpit can accurately know the pose of the excavator under the condition that the display is not influenced by dust particles in the environment, the working posture of the excavator is accurately regulated and controlled, safety accidents caused by misoperation can be effectively avoided, and the operation safety of the excavator is improved.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.

Claims

1. The excavator pose display method is applied to a controller of an excavator, and the excavator further comprises the following steps: the control system comprises an upper vehicle walking motor, a rotary motor, a bucket rod, a movable arm and a cab, wherein a rotary central shaft of the rotary motor is perpendicular to a reference horizontal plane where the upper vehicle walking motor is located, one end of the movable arm is fixedly arranged at a first site close to the rotary central shaft, the other end of the movable arm and one end of the bucket rod are hinged to a second site, the other end of the bucket rod and one end, far away from a tooth tip, of the bucket are hinged to a third site, a first angle sensor is assembled at the first site, a second angle sensor is assembled at the second site, a third angle sensor is assembled at the third site, the first angle sensor, the second angle sensor and the third angle sensor are all in communication connection with the controller, and the controller is in communication connection with a display in the cab; the method comprises the following steps:

2. The method of claim 1, wherein a horizontal axis of the upper car travel motor within the reference horizontal plane is coplanar with the first, second, third, and fourth locations;

3. The method according to claim 2, wherein the step of calculating coordinate data of the first position, the second position, the third position, and the fourth position within the reference coordinate system based on the first angle data, the second angle data, and the third angle data, distance data of the first position with respect to a swing center axis of the swing motor, and length data of the bucket, the arm, and the boom in the reference coordinate system, respectively, comprises:

4. The method of claim 3, wherein the step of calculating coordinate data for the first location, the second location, the third location, and the fourth location from length data for the first diagonal segment, the first lateral segment, and the first longitudinal segment, the first angle data, the second angle data, and the third angle data, and length data for the bucket, the stick, and the boom in the reference coordinate system, respectively, comprises:

5. The method according to any one of claims 2 to 4, wherein the step of constructing a real-time pose model of the excavator with respect to the reference coordinate system based on coordinate data of the first, second, third and fourth positions within the reference coordinate system comprises:

6. The excavator pose display device is applied to a controller of an excavator, and the excavator further comprises: the control system comprises an upper vehicle walking motor, a rotary motor, a bucket rod, a movable arm and a cab, wherein a rotary central shaft of the rotary motor is perpendicular to a reference horizontal plane where the upper vehicle walking motor is located, one end of the movable arm is fixedly arranged at a first site close to the rotary central shaft, the other end of the movable arm and one end of the bucket rod are hinged to a second site, the other end of the bucket rod and one end, far away from a tooth tip, of the bucket are hinged to a third site, a first angle sensor is assembled at the first site, a second angle sensor is assembled at the second site, a third angle sensor is assembled at the third site, the first angle sensor, the second angle sensor and the third angle sensor are all in communication connection with the controller, and the controller is in communication connection with a display in the cab; the device comprises:

7. The apparatus of claim 6, wherein a horizontal axis of the upper car travel motor in the reference horizontal plane is coplanar with the first, second, third, and fourth locations; the calculation module comprises:

the modeling module is specifically configured to:

8. The apparatus of claim 7, wherein the computation submodule is specifically configured to:

9. An excavator, comprising: the device comprises a controller, an upper vehicle traveling motor, a rotary motor, a bucket rod, a movable arm and a cab, wherein the rotary central shaft of the rotary motor is vertical to the reference horizontal plane where the upper vehicle traveling motor is positioned, one end of the movable arm is fixedly arranged at a first locus close to the rotary central shaft, the other end of the movable arm and one end of the bucket rod are hinged at a second locus, the other end of the bucket rod and one end, far away from the tooth tips, of the bucket are hinged to a third position point, the first position point is provided with a first angle sensor, the second site is equipped with a second angle sensor, the third site is equipped with a third angle sensor, the first angle sensor, the second angle sensor and the third angle sensor are all in communication connection with the controller, the controller is in communication with a display in the cockpit, and is configured to execute the excavator pose display method according to any one of claims 1 to 5.

10. A computer-readable storage medium characterized in that the computer-readable storage medium stores computer instructions for causing a computer to execute the excavator pose display method of any one of the preceding claims 1 to 5.