CN114045893B - Excavator bucket tooth tip positioning method and device and excavator - Google Patents
Excavator bucket tooth tip positioning method and device and excavator Download PDFInfo
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- CN114045893B CN114045893B CN202111241445.5A CN202111241445A CN114045893B CN 114045893 B CN114045893 B CN 114045893B CN 202111241445 A CN202111241445 A CN 202111241445A CN 114045893 B CN114045893 B CN 114045893B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F1/00—General working methods with dredgers or soil-shifting machines
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
Abstract
The invention provides a method and a device for positioning the tooth tip of a bucket of an excavator and the excavator, wherein the method comprises the following steps: determining a coordinate conversion matrix between a vehicle body coordinate system and a world coordinate system based on vehicle body posture information of the excavator; determining relative displacement between a bucket tooth tip and a bucket fulcrum in a vehicle body coordinate system based on a boom inclination angle, an arm inclination angle and a bucket inclination angle of the excavator, and a boom length, an arm length and a bucket length of the excavator; determining the relative displacement between the bucket tooth tip and the movable arm fulcrum in the world coordinate system based on the relative displacement between the bucket tooth tip and the movable arm fulcrum in the vehicle body coordinate system and a coordinate conversion matrix; the real-time position of the bucket tooth tip in the world coordinate system is determined based on the relative displacement between the bucket tooth tip and the boom pivot point in the world coordinate system, and the real-time position of the boom pivot point in the world coordinate system. The method, the device and the excavator provided by the invention have the advantages that the construction precision is improved, and the construction efficiency is improved.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a method and a device for positioning the tip of a bucket tooth of an excavator and the excavator.
Background
With the rapid development of infrastructure construction, clients have increasingly higher requirements on the construction quality of operating the excavator for construction work. The position of the tooth tip of the bucket of the excavator is obtained to guide and construct the excavating operation, so that the construction precision and the construction quality can be improved.
In the prior art, the position of the bucket tooth tip of the excavator is usually obtained by visual observation of constructors, and the constructors cannot continuously and accurately know the accurate position of the bucket tooth tip due to insufficient lighting conditions or environmental shielding, so that the construction cannot be accurately guided, the construction precision is poor, and the efficiency is low.
Disclosure of Invention
The invention provides a method and a device for positioning a bucket tooth tip of an excavator and the excavator, which are used for solving the technical problems that the bucket tooth tip is required to be positioned manually, construction cannot be guided accurately, construction precision is poor and efficiency is low in the prior art.
The invention provides a method for positioning the tip of a bucket tooth of an excavator, which comprises the following steps:
determining a coordinate conversion matrix between a vehicle body coordinate system and a world coordinate system based on vehicle body posture information of the excavator;
determining relative displacement between a bucket tooth tip and a bucket fulcrum in the vehicle body coordinate system based on a boom inclination angle, an arm inclination angle, and a bucket inclination angle of the excavator, and a boom length, an arm length, and a bucket length of the excavator;
Determining the relative displacement between the bucket tooth tip and the movable arm fulcrum in the world coordinate system based on the relative displacement between the bucket tooth tip and the movable arm fulcrum in the vehicle body coordinate system and the coordinate conversion matrix;
the real-time position of the bucket tooth tip in the world coordinate system is determined based on the relative displacement between the bucket tooth tip and the boom fulcrum in the world coordinate system and the real-time position of the boom fulcrum in the world coordinate system.
The method for positioning the bucket tooth tip of the excavator, provided by the invention, further comprises the following steps:
when the excavator performs rotary motion, determining relative displacement between the bucket tooth tip and the rotary center before rotary motion based on the real-time position of the rotary center of the excavator in the world coordinate system and the real-time position of the bucket tooth tip in the world coordinate system before rotary motion;
determining the relative displacement between the bucket tooth tip and the rotation center after the rotation movement based on the relative displacement between the bucket tooth tip and the rotation center before the rotation movement and the rotation angle change value of the excavator in the rotation movement;
and determining the real-time position of the bucket tooth tip in the world coordinate system after the rotary motion based on the real-time position of the rotary center in the world coordinate system and the relative displacement between the bucket tooth tip and the rotary center after the rotary motion.
According to the excavator bucket tooth point positioning method provided by the invention, the relative displacement between the bucket tooth point and the bucket fulcrum in the vehicle body coordinate system is determined based on the movable arm inclination angle, the bucket arm inclination angle and the bucket inclination angle of the excavator, and the movable arm length, the bucket arm length and the bucket length of the excavator, and the method comprises the following steps:
constructing a movable arm coordinate system, a bucket rod coordinate system, a bucket coordinate system and a bucket tooth tip coordinate system based on the D-H model;
determining a first transformation matrix from a boom coordinate system to an arm coordinate system based on the boom inclination angle;
determining a second transformation matrix from the arm coordinate system to the bucket coordinate system based on the arm inclination angle and the boom length;
determining a third transformation matrix from the bucket coordinate system to the bucket tooth tip coordinate system based on the bucket inclination angle and the arm length;
a fourth transformation matrix of the boom coordinate system to the bucket tip coordinate system is determined based on the first, second, and third transformation matrices to determine a relative displacement between the bucket tip and the boom pivot point in the body coordinate system.
According to the excavator bucket tooth point positioning method provided by the invention, the movable arm coordinate system takes a movable arm pivot point as an origin, the bucket rod coordinate system takes a bucket rod pivot point as an origin, the bucket coordinate system takes a bucket rod pivot point as an origin, and the bucket tooth point coordinate system takes a bucket tooth point as an origin; the swing arm pivot point is a pivot point of a swing arm relative to a swing platform of the excavator, the bucket lever pivot point is a pivot point of a bucket lever relative to the swing arm, and the bucket pivot point is a pivot point of a bucket relative to the bucket lever.
According to the excavator bucket tooth tip positioning method provided by the invention, the movable arm inclination angle is the included angle between the movable arm fulcrum and the horizontal plane where the straight line determined by the bucket rod fulcrum and the movable arm fulcrum are located;
the bucket rod inclination angle is an included angle between a straight line determined by the movable arm fulcrum and the bucket rod fulcrum and a straight line determined by the bucket rod fulcrum and the bucket fulcrum;
the bucket inclination angle is an included angle between a straight line determined by the bucket rod fulcrum and the bucket fulcrum and a straight line determined by the bucket fulcrum and the bucket tooth tip;
the length of the movable arm is the linear distance between the movable arm fulcrum and the bucket rod fulcrum; the length of the bucket rod is the linear distance between the bucket rod fulcrum and the bucket fulcrum; the length of the bucket is the linear distance between the bucket fulcrum and the bucket tooth tip;
the body attitude information includes pitch angle, yaw angle, and roll angle of the excavator in a world coordinate system.
According to the excavator bucket tooth point positioning method provided by the invention, the real-time position of the movable arm fulcrum in the world coordinate system is determined based on the following steps:
and determining the real-time position of the movable arm pivot in a world coordinate system based on the real-time position acquired by the GNSS receiver on the excavator and the relative positions of the GNSS receiver and the movable arm pivot on the rotary platform of the excavator.
The invention provides a positioning device for a tooth tip of a bucket of an excavator, which comprises the following components:
the acquisition module is used for acquiring the body posture information of the excavator, and the inclination angle of a movable arm, the inclination angle of a bucket rod and the inclination angle of a bucket of the excavator;
the control module is used for determining a coordinate conversion matrix between a vehicle body coordinate system and a world coordinate system based on the vehicle body posture information of the excavator;
the control module is also used for determining the relative displacement between the bucket tooth tip and the bucket fulcrum in the vehicle body coordinate system based on the movable arm inclination angle, the bucket rod inclination angle and the bucket inclination angle of the excavator and the movable arm length, the bucket rod length and the bucket length of the excavator; the system is used for determining the relative displacement between the bucket tooth tip and the movable arm fulcrum in the world coordinate system based on the relative displacement between the bucket tooth tip and the movable arm fulcrum in the vehicle body coordinate system and the coordinate conversion matrix;
the control module is further configured to determine a real-time position of the bucket tip in the world coordinate system based on a relative displacement between the bucket tip and the boom pivot in the world coordinate system and a real-time position of the boom pivot in the world coordinate system.
The invention provides an excavator, which comprises the excavator bucket tooth tip positioning device.
The invention provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the excavator bucket tooth tip positioning method when executing the program.
The present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the excavator bucket tooth positioning method.
According to the excavator bucket tooth point positioning method, the excavator bucket tooth point positioning device and the excavator, the coordinate conversion matrix between the vehicle body coordinate system and the world coordinate system is determined according to the vehicle body posture information of the excavator, the relative displacement between the bucket tooth point and the movable arm pivot point in the vehicle body coordinate system is determined according to the movable arm inclination angle, the bucket rod inclination angle and the bucket inclination angle of the excavator as well as the movable arm length, the bucket rod length and the bucket length of the excavator, the relative displacement between the bucket tooth point and the movable arm pivot point in the vehicle body coordinate system is converted from the vehicle body coordinate system to the world coordinate system according to the coordinate conversion matrix, the real-time position of the movable arm pivot point in the world coordinate system is combined, and the real-time position of the bucket tooth point in the world coordinate system is determined, so that the real-time position of the bucket tooth point can be continuously and accurately obtained, the on-site measurement and check of a constructor are not needed, the construction operation can be accurately guided, the construction precision is improved, and the construction efficiency is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for positioning a tooth tip of an excavator bucket provided by the present invention;
FIG. 2 is a schematic representation of the calculation of the relative displacement between the bucket tooth tip and the boom pivot point provided by the present invention;
FIG. 3 is a schematic illustration of a calculation of bucket tilt angle provided by the present invention;
FIG. 4 is a schematic view of the structure of the excavator bucket tooth point positioning device provided by the invention;
FIG. 5 is a schematic view of an excavator according to the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Reference numerals:
310: a bucket rod; 320: a bucket;
330: a first link; 340: a second link;
350, a bucket cylinder; 400: a bucket tooth tip positioning device of the excavator;
410: a conversion matrix determining unit; 420: a relative displacement determination unit;
430: a relative displacement conversion unit; 440: bucket tooth tip positioning unit;
500: an excavator; 610: a processor;
620: a communication interface; 630: a memory;
640: a communication bus; a: a swing arm fulcrum;
l: a bucket rod fulcrum; d: bucket fulcrum;
c: bucket tooth tips; o: a center of rotation;
g: a first link fulcrum; e: a connection point;
f: and a second connecting rod pivot.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic flow chart of a method for positioning a tooth tip of an excavator bucket according to the present invention, as shown in fig. 1, the method includes:
step 110, determining a coordinate transformation matrix between a vehicle body coordinate system and a world coordinate system based on the vehicle body posture information of the excavator.
Specifically, an excavator generally includes a traveling mechanism, a rotating platform, a boom, an arm, a bucket, and the like. The tooth tip is located at the end of the bucket and is in direct contact with the material being excavated.
The movable arm pivot point is a connection point of the movable arm and the rotary platform and is also a pivot point of the movable arm relative to the rotary platform. The arm fulcrum is a connection point of the arm and the boom, and is also a pivot point of the arm relative to the boom. The bucket fulcrum is the point of attachment of the bucket to the stick and is also the pivot point of the bucket relative to the stick.
The world coordinate system is a three-dimensional space coordinate system established by taking the center of the earth as a reference point. The Real-time position of any point on the excavator can be represented in a world coordinate system and can be obtained by a differential GPS locator, an RTK (Real-time differential) locator or a BDS (BeiDou Navigation Satellite System, beidou satellite navigation system) locator.
The vehicle body coordinate system is a three-dimensional space coordinate system established according to the vehicle body structure of the excavator. For example, the front-rear direction of the excavator body is taken as the direction of the X axis, the left-right direction of the excavator body is taken as the direction of the Y axis, the direction of the Z axis is parallel to the rotation axis of the rotation platform of the excavator, and the origin of the coordinate system can select the rotation center of the excavator or the movable arm pivot. In this embodiment, a boom pivot point is described as an origin of a vehicle body coordinate system.
And determining a coordinate conversion matrix between the vehicle body coordinate system and the world coordinate system according to the vehicle body posture information of the excavator. The coordinate transformation matrix is used for transforming points in the vehicle body coordinate system into the world coordinate system for representation.
Step 120, determining a relative displacement between the bucket tooth tip and the bucket fulcrum in the vehicle body coordinate system based on the boom inclination angle, the arm inclination angle, and the bucket inclination angle of the excavator, and the boom length, the arm length, and the bucket length of the excavator.
Specifically, the inclination angle of the movable arm is an included angle between a straight line determined by the movable arm fulcrum and the bucket rod fulcrum and a horizontal plane where the movable arm fulcrum is located, and is used for measuring the opening angle of the movable arm during excavating operation. The dip angle of the bucket rod is an included angle between a straight line determined by the movable arm pivot and the bucket rod pivot and a straight line determined by the bucket rod pivot, and is used for measuring the opening angle of the bucket rod during excavating operation. The bucket inclination angle is the included angle between the straight line determined by the bucket rod fulcrum and the bucket fulcrum and the straight line determined by the bucket fulcrum and the bucket tooth tip. The inclination angle can change at any time in the process of excavating operation and can be obtained by direct measurement of an inclination angle sensor or indirect calculation according to a measurement result.
The boom length is the linear distance between the boom fulcrum and the arm fulcrum. The length of the bucket rod is the linear distance between the bucket rod fulcrum and the bucket fulcrum. The bucket length is the linear distance between the bucket fulcrum and the bucket tooth tip. Since the shape and dimensions of the boom, stick and bucket are all fixed, the length is a fixed value and can be obtained from excavator manufacturer data or measurements.
During an excavating operation, the boom, stick, and bucket all move in the same plane, e.g., when the plane of the rotary platform coincides with the horizontal plane, the boom, stick, and bucket are in the same vertical plane. Because the position of the movable arm pivot point is fixed in the vehicle body coordinate system, the movable arm length, the bucket rod length and the bucket length are all fixed lengths, and at the moment, the relative displacement between the bucket tooth tip and the movable arm pivot point in the vehicle body coordinate system can be obtained through solving according to the movable arm inclination angle, the bucket rod inclination angle and the bucket inclination angle. This relative displacement is used to indicate the change in position of the bucket tooth tip relative to the boom pivot point.
And 130, determining the relative displacement between the bucket tooth tip and the movable arm pivot point in the world coordinate system based on the relative displacement between the bucket tooth tip and the movable arm pivot point in the vehicle body coordinate system and the coordinate conversion matrix.
Specifically, the relative displacement between the bucket tooth tip and the boom fulcrum in the vehicle body coordinate system may be converted into the world coordinate system according to the coordinate conversion matrix.
Step 140, determining the real-time position of the bucket tooth tip in the world coordinate system based on the relative displacement between the bucket tooth tip and the boom pivot point in the world coordinate system and the real-time position of the boom pivot point in the world coordinate system.
Specifically, the real-time position of the bucket tooth tip in the world coordinate system can be obtained by adding the real-time position of the boom fulcrum in the world coordinate system and the relative displacement between the bucket tooth tip and the boom fulcrum in the world coordinate system.
According to the excavator bucket tooth tip positioning method, the coordinate conversion matrix between the vehicle body coordinate system and the world coordinate system is determined according to the vehicle body posture information of the excavator, the relative displacement between the bucket tooth tip and the movable arm pivot point in the vehicle body coordinate system is determined according to the movable arm inclination angle, the bucket rod inclination angle and the bucket inclination angle of the excavator, the movable arm length, the bucket rod length and the bucket length of the excavator, and then the relative displacement between the bucket tooth tip and the movable arm pivot point is converted from the vehicle body coordinate system to the world coordinate system according to the coordinate conversion matrix, and the real-time position of the bucket tooth tip in the world coordinate system is determined according to the real-time position of the movable arm pivot point in the world coordinate system.
Based on the above embodiment, step 140 includes:
determining a relative displacement between the bucket tooth tip and the center of rotation before the rotational movement based on a real-time position of the center of rotation of the excavator in the world coordinate system and a real-time position of the bucket tooth tip before the rotational movement in the world coordinate system when the excavator performs the rotational movement;
determining the relative displacement between the bucket tooth tip and the rotation center after the rotation movement based on the relative displacement between the bucket tooth tip and the rotation center before the rotation movement and the rotation angle change value of the excavator in the rotation movement;
the real-time position of the bucket tooth tip in the world coordinate system after the rotary motion is determined based on the real-time position of the rotary center in the world coordinate system and the relative displacement between the bucket tooth tip and the rotary center after the rotary motion.
Specifically, the motion of the excavator may be decoupled, and divided into a joint operation and a swing operation. The joint movement is movement generated by operating joints such as a boom, an arm, and a bucket. The turning motion refers to a motion generated by operating a turning platform of the excavator, and at this time, the respective joints are kept unchanged in posture. Because the data refreshing frequency of the positioning device on the excavator for acquiring the real-time position through GPS and the like is low, the requirement of bucket real-time positioning cannot be met in the rotation operation.
The rotation angle sensor can be arranged at the rotating shaft of the rotation center of the excavator, and the real-time positioning of the bucket tooth tip can be realized in a GPS positioning period in an auxiliary mode due to the fact that the data refreshing frequency of the rotation angle sensor is higher.
When the excavator performs the rotary motion, the rotary angle omega of the excavator before the rotary motion can be obtained according to the rotary angle sensor 0 . The real-time position of the rotation center O of the excavator in a world coordinate system before and after the rotation movement is O GPS No change occurs. The real-time position of the bucket tooth tip C in the world coordinate system before the rotary motion isAt this time, a relative displacement +.A relative displacement between the tip C of the bucket and the center of rotation O before the turning motion can be obtained>The method comprises the following steps:
the moment before the rotary motion is 0, the moment after the rotary motion is t, and the rotary angle of the excavator is omega t The swing angle change value ω of the excavator in the swing motion is:
ω＝ω t -ω 0
relative displacement between the bucket tooth tip C and the centre of rotation O after a rotary movementCan be based on the rotation angle variation value omega and the relative displacement between the bucket tooth tip C and the rotation center O before the rotation movement>The result is expressed as:
wherein Z is a unit vector of a Z axis in a vehicle body coordinate system, and T is a vector transposition operation symbol.
From the real-time position O of the centre of rotation O in the world coordinate system GPS And the relative displacement between the bucket tooth tip C and the center of rotation O after the rotary motionDetermining the real-time position of the bucket tooth tip C in the world coordinate system after a pivoting movementExpressed by the formula:
according to the method for positioning the bucket tooth tip of the excavator, when the excavator performs rotary motion, the real-time position of the bucket tooth tip can be solved by utilizing the rotary angle, so that the positioning error caused by untimely GPS signal refreshing is improved, the construction precision is improved, and the construction efficiency is improved.
Based on any of the above embodiments, step 120 includes:
constructing a movable arm coordinate system, a bucket rod coordinate system, a bucket coordinate system and a bucket tooth tip coordinate system based on the D-H model;
determining a first transformation matrix from a boom coordinate system to an arm coordinate system based on the boom inclination angle;
determining a second transformation matrix from the arm coordinate system to the bucket coordinate system based on the arm inclination angle and the boom length;
determining a third transformation matrix from the bucket coordinate system to the bucket tooth tip coordinate system based on the bucket inclination angle and the arm length;
a fourth transformation matrix of the boom coordinate system to the bucket tip coordinate system is determined based on the first, second, and third transformation matrices to determine a relative displacement between the bucket tip and the boom pivot point in the body coordinate system.
Specifically, the interconnected relationship of the boom, arm and bucket of the excavator essentially constitutes a spatially open link structure, wherein the boom, arm and bucket are links and the boom fulcrum, arm fulcrum, bucket fulcrum and bucket tip are joints. Therefore, a D-H (Denavit-Hartenberg) parametric model of the forward kinematics of the robot can be used to calculate the pose, i.e., position and posture, of the bucket tip of the excavator in the body coordinate system. In this embodiment, a boom coordinate system, an arm coordinate system, a bucket coordinate system, and a bucket tooth tip coordinate system are established based on a D-H parameter method, respectively.
The movable arm coordinate system takes a movable arm pivot as an origin, the bucket rod coordinate system takes a bucket rod pivot as an origin, the bucket coordinate system takes a bucket rod pivot as an origin, and the bucket tooth point coordinate system takes a bucket tooth point as an origin; the boom fulcrum is a pivot point of the boom relative to a rotating platform of the excavator, the arm fulcrum is a pivot point of the arm relative to the boom, and the bucket fulcrum is a pivot point of the bucket relative to the arm.
Specifically, fig. 2 is a schematic diagram of calculation of relative displacement between a bucket tooth tip and a boom pivot point, and as shown in fig. 2, a boom coordinate system using a boom pivot point a as an origin, an arm coordinate system using an arm pivot point L as an origin, and a bucket tooth tip coordinate system using a bucket pivot point D as an origin are established by using a D-H modeling method, wherein the center of rotation of the excavator is O. Due to the movable arm, the bucket rod and the bucket The same plane, therefore, the positional changes on the X-axis (perpendicular to the plane in which the boom, stick, and bucket lie) of the boom coordinate system, stick coordinate system, bucket coordinate system, and bucket tooth tip coordinate system are all zero and are not shown in the figure. For the boom coordinate system, the connecting line of the boom fulcrum A and the arm fulcrum L is taken as Y 1 An axis perpendicular to Y in the plane of the movable arm, the bucket arm and the bucket 1 The direction of the axis is Z 1 A shaft. For the arm coordinate system, the line between the arm pivot L and the bucket pivot D is Y 2 An axis perpendicular to Y in the plane of the movable arm, the bucket arm and the bucket 2 The direction of the axis is Z 2 A shaft. Regarding the bucket coordinate system, the connecting line of the bucket fulcrum D and the bucket tooth tip C is taken as Y 3 An axis perpendicular to Y in the plane of the movable arm, the bucket arm and the bucket 3 The direction of the axis is Z 3 A shaft. The Y-axis and Z-axis of the bucket tooth coordinate system lie in the planes of the boom, stick, and bucket, and are not shown in the figures.
θ 1 Is the inclination angle of the movable arm, theta 2 For the inclination angle of the arm, theta 3 Is the bucket tilt angle. Further, for convenience of description, the boom length is denoted as L 1 The arm length is denoted as L 2 Bucket length is denoted L 3 。
According to the inclination angle theta of the movable arm 1 Determining a first transformation matrix R from a boom coordinate system to an arm coordinate system AL Expressed by the formula:
according to the dip angle theta of the bucket rod 2 And boom length L 1 Determining a second transformation matrix R from the arm coordinate system to the bucket coordinate system LD Expressed by the formula:
according to the inclination angle theta of the bucket 3 And arm length L 2 Determining the bucket coordinate system to the bucket tooth point seatThird transformation matrix R of standard system DC Expressed by the formula:
a first transformation matrix R from a boom coordinate system to an arm coordinate system AL Second transformation matrix R from arm coordinate system to bucket coordinate system LD Third transformation matrix R from bucket coordinate system to bucket tooth tip coordinate system DC Fourth transformation matrix R for determining boom coordinate system to bucket tooth tip coordinate system AC Expressed by the formula:
R AC ＝R AL ·R LD ·R DC
fourth transformation matrix R from boom coordinate system to bucket tooth tip coordinate system AC The relative displacement AC between the bucket tooth tip C and the movable arm pivot point A in the vehicle body coordinate system is determined, and is expressed as follows:
AC＝R AC ·[0 L 3 0 1] T
correspondingly, the relative displacement AC between the bucket tooth tip C and the movable arm pivot point A in the world coordinate system is determined according to the relative displacement AC between the bucket tooth tip C and the movable arm pivot point A in the vehicle body coordinate system and the coordinate conversion matrix I between the vehicle body coordinate system and the world coordinate system GPS Expressed by the formula:
AC GPS ＝I·AC
according to the relative displacement AC between the bucket tooth tip C and the movable arm pivot point A in the world coordinate system GPS And the real-time position A of the boom fulcrum A in the world coordinate system GPS Determining the real-time position C of the bucket tip in the world coordinate system GPS Expressed by the formula:
C GPS ＝AC GPS +A GPS ＝I·AC+A GPS
the relative displacement AL between the arm pivot L and the movable arm pivot A in the vehicle body coordinate system and the real-time position L of the arm pivot L in the world coordinate system can be obtained by solving GPS Expressed by the formula:
AL＝R AL ·[0 L 1 0 1] T
L GPS ＝I·AL+A GPS
likewise, the relative displacement AD between the bucket fulcrum D and the boom fulcrum A in the vehicle body coordinate system and the real-time position D of the bucket fulcrum D in the world coordinate system can be obtained GPS Expressed by the formula:
AD＝R AD ·[0 L 2 0 1] T
D GPS ＝I·AD+A GPS
the invention also provides an embodiment of the bucket inclination angle theta 3 Is determined by the method.
Specifically, fig. 3 is a schematic diagram of calculation of a bucket inclination angle according to the present invention, and as shown in fig. 3, the bucket inclination angle includes an arm 310, a bucket 320, a first link 330, a second link 340, and a bucket cylinder 350. Bucket tilt angle θ 3 Shown in fig. 3 as +.ldc. Wherein the lengths of the first link 330 and the second link 340 are fixed.
The first link swing angle EGD is an angle between a straight line GD defined by the first link pivot G and the bucket pivot D and a straight line GE where the first link 330 is located. The first link swing angle +.egd can be obtained by a magnetic encoder disposed at the first link pivot point G. Wherein, the first link fulcrum G is a pivot point between the first link and the arm.
The first angle GDE is the angle between the line GD defined by the first link pivot G and the bucket pivot D and the line ED defined by the connection point E and the bucket pivot D. Wherein the connection point E is a pivot point between the first and second links and the bucket cylinder 350.
The second angle FDE is the angle between the line FD defined by the second link pivot point F and the bucket pivot point D and the line ED defined by the connection point E and the bucket pivot point D. Wherein the second link fulcrum F is a pivot point between the second link and the bucket.
The third angle +.GDL is the angle between the line GD defined by the first link pivot G and the bucket pivot D and the line DL defined by the bucket pivot D and the arm pivot L.
The fourth angle FDC is the angle between the line FD defined by the second link pivot point F and the bucket pivot point D and the line CD defined by the bucket tooth tip C and the bucket pivot point D.
Since the triangle formed by the arm pivot L, the first link pivot G and the bucket pivot D is fixed, the third angle +.gdl is constant and can be obtained by measurement. Meanwhile, the triangle formed by the bucket tooth tip C, the second connecting rod pivot F and the bucket pivot D is also fixed, so that the fourth included angle FDC is also constant and can be obtained through calculation. In addition, the distance between the first link fulcrum G and the bucket fulcrum D is also fixed. The distance between the second link pivot point F and the bucket pivot point D is also fixed.
Because the connecting point E is a movable point relative to the bucket fulcrum D, the first included angle GDE and the second included angle FDE can be changed, and the first link swing angle EGD and the trigonometric function relation are needed to be calculated.
Knowing the length of the first link 330, the distance between the first link pivot point G and the bucket pivot point D, and the first link swing angle +.egd, the distance between the connection point E and the bucket pivot point D can be found from a trigonometric function in the triangle GDE.
The first angle GDE may be found in the triangle GDE according to a trigonometric function according to the length of the first link 330, the distance between the first link pivot point G and the bucket pivot point D, and the distance between the connection point E and the bucket pivot point D.
The second angle FDE may be obtained in the triangle FDE according to a trigonometric function according to the length of the second link 340, the distance between the second link pivot point F and the bucket pivot point D, and the distance between the connection point E and the bucket pivot point D.
Determining a bucket inclination angle LDC according to a first included angle GDE, a second included angle FDE, a third included angle GDL and a fourth included angle FDC, wherein the bucket inclination angle LDC is expressed as follows:
∠LDC＝2π-∠GDE-∠FDE-∠GDL-∠FDC
based on any of the above embodiments, the body attitude information includes a pitch angle, a yaw angle, and a roll angle of the excavator in a world coordinate system.
Specifically, the body posture information of the body posture information includes yaw angle (yaw), roll angle (roll), and pitch angle (pitch). The inclination sensor can be installed on the excavator to acquire the vehicle body posture information. In addition, a GNSS (Global Navigation Satellite System ) main receiver and a GNSS auxiliary receiver can be installed on a rotary platform of the excavator, and a yaw angle can be determined according to positioning signals received by the main receiver and the auxiliary receiver.
In the excavator body coordinate system defined above, the pitch angle (pitch) is an angle rotated about the X-axis, the roll angle (roll) is an angle rotated about the Y-axis, and the yaw angle (yaw) is an angle rotated about the Z-axis.
The coordinate transformation matrix I between the vehicle body coordinate system and the world coordinate system can be determined according to the pitch angle, the yaw angle and the roll angle:
based on any of the above embodiments, the real-time position of the boom fulcrum in the world coordinate system is determined based on the steps of:
and determining the real-time position of the movable arm pivot in the world coordinate system based on the real-time position acquired by the GNSS receiver on the excavator and the relative position of the GNSS receiver and the movable arm pivot on the excavator rotating platform.
Since the positions of the GNSS receiver and the boom pivot point on the swing platform are fixed, the mounting position of the GNSS receiver and the relative position of the boom pivot point on the excavator swing platform are determined and can be measured.
Based on any of the above embodiments, fig. 4 is a schematic structural diagram of an excavator bucket tooth point positioning device according to the present invention, and as shown in fig. 4, an excavator bucket tooth point positioning device 400 includes:
the acquisition module is used for acquiring the body posture information of the excavator, and the inclination angle of a movable arm, the inclination angle of a bucket rod and the inclination angle of a bucket of the excavator;
and a control module including a conversion matrix determining unit 410, a relative displacement determining unit 420, a relative displacement converting unit 430, a bucket tooth tip positioning unit 440;
wherein, the transformation matrix determining unit 410 is configured to determine a coordinate transformation matrix between a vehicle body coordinate system and a world coordinate system based on vehicle body posture information of the excavator;
a relative displacement determining unit 420 for determining a relative displacement between a bucket tooth tip and a bucket fulcrum in a vehicle body coordinate system based on a boom inclination angle, an arm inclination angle, and a bucket inclination angle of the excavator, and a boom length, an arm length, and a bucket length of the excavator;
a relative displacement conversion unit 430 for determining a relative displacement between the bucket tooth tip and the boom fulcrum in the world coordinate system based on the relative displacement between the bucket tooth tip and the boom fulcrum in the vehicle body coordinate system and the coordinate conversion matrix;
The bucket tooth positioning unit 440 is configured to determine a real-time position of the bucket tooth in the world coordinate system based on a relative displacement between the bucket tooth and the boom fulcrum in the world coordinate system and a real-time position of the boom fulcrum in the world coordinate system.
According to the excavator bucket tooth point positioning device, the coordinate conversion matrix between the vehicle body coordinate system and the world coordinate system is determined according to the vehicle body posture information of the excavator, the relative displacement between the bucket tooth point and the movable arm pivot point in the vehicle body coordinate system is determined according to the movable arm inclination angle, the bucket rod inclination angle and the bucket inclination angle of the excavator, and the movable arm length, the bucket rod length and the bucket length of the excavator, and further the relative displacement between the bucket tooth point and the movable arm pivot point is converted from the vehicle body coordinate system to the world coordinate system according to the coordinate conversion matrix, and the real-time position of the movable arm pivot point in the world coordinate system is combined to determine the real-time position of the bucket tooth point in the world coordinate system, so that the real-time position of the bucket tooth point can be continuously and accurately obtained, the on-site measurement and viewing of constructors are not needed, the construction operation is accurately guided, the construction precision is improved, and the construction efficiency is improved.
Based on any of the above embodiments, further comprising:
the control module further comprises a rotary positioning unit, which is used for determining the relative displacement between the bucket tooth tip and the rotary center before the rotary motion based on the real-time position of the rotary center of the excavator in the world coordinate system and the real-time position of the bucket tooth tip before the rotary motion in the world coordinate system when the excavator performs the rotary motion;
determining the relative displacement between the bucket tooth tip and the rotation center after the rotation movement based on the relative displacement between the bucket tooth tip and the rotation center before the rotation movement and the rotation angle change value of the excavator in the rotation movement;
the real-time position of the bucket tooth tip in the world coordinate system after the rotary motion is determined based on the real-time position of the rotary center in the world coordinate system and the relative displacement between the bucket tooth tip and the rotary center after the rotary motion.
Based on any of the above embodiments, the relative displacement determining unit is specifically configured to:
constructing a movable arm coordinate system, a bucket rod coordinate system, a bucket coordinate system and a bucket tooth tip coordinate system based on the D-H model;
determining a first transformation matrix from a boom coordinate system to an arm coordinate system based on the boom inclination angle;
determining a second transformation matrix from the arm coordinate system to the bucket coordinate system based on the arm inclination angle and the boom length;
Determining a third transformation matrix from the bucket coordinate system to the bucket tooth tip coordinate system based on the bucket inclination angle and the arm length;
a fourth transformation matrix of the boom coordinate system to the bucket tip coordinate system is determined based on the first, second, and third transformation matrices to determine a relative displacement between the bucket tip and the boom pivot point in the body coordinate system.
Based on any of the above embodiments, the boom coordinate system takes the boom fulcrum as an origin, the arm coordinate system takes the arm fulcrum as an origin, the bucket coordinate system takes the arm fulcrum as an origin, and the bucket tooth point coordinate system takes the bucket tooth point as an origin; the boom fulcrum is a pivot point of the boom relative to a rotating platform of the excavator, the arm fulcrum is a pivot point of the arm relative to the boom, and the bucket fulcrum is a pivot point of the bucket relative to the arm.
Based on any one of the embodiments, the swing arm inclination angle is an included angle between a straight line determined by the swing arm fulcrum and the arm fulcrum and a horizontal plane where the swing arm fulcrum is located;
the dip angle of the bucket rod is an included angle between a straight line determined by the movable arm fulcrum and the bucket rod fulcrum and a straight line determined by the bucket rod fulcrum;
the bucket inclination angle is an included angle between a straight line determined by the bucket rod fulcrum and the bucket fulcrum and a straight line determined by the bucket fulcrum and the bucket tooth tip;
The length of the movable arm is the linear distance between the movable arm fulcrum and the bucket rod fulcrum; the length of the bucket rod is the linear distance between the bucket rod fulcrum and the bucket fulcrum; the length of the bucket is the linear distance between the bucket fulcrum and the bucket tooth tip;
the body attitude information includes pitch angle, yaw angle and roll angle of the excavator in the world coordinate system.
Based on any of the above embodiments, the real-time position of the boom fulcrum in the world coordinate system is determined based on the steps of:
the real-time position of the boom pivot point in the world coordinate system is determined based on the real-time position acquired by the GNSS receiver on the excavator and the relative positions of the GNSS receiver and the boom pivot point on the slewing platform of the excavator.
Based on any of the above embodiments, fig. 5 is a schematic structural diagram of an excavator provided by the present invention, and as shown in fig. 5, an excavator 500 includes an excavator bucket tooth point positioning device 400.
Specifically, the excavator provided by the embodiment of the invention can be a diesel power excavator, an electric excavator or a working machine comprising an excavating component and capable of achieving an excavating function.
Based on any of the above embodiments, fig. 6 is a schematic structural diagram of an electronic device provided by the present invention, and as shown in fig. 6, the electronic device may include: processor (Processor) 610, communication interface (Communications Interface) 620, memory (Memory) 630, and communication bus (Communications Bus) 640, wherein Processor 610, communication interface 620, memory 630 complete communication with each other through communication bus 640. The processor 610 may invoke logic commands in the memory 630 to perform the following method:
Determining a coordinate conversion matrix between a vehicle body coordinate system and a world coordinate system based on vehicle body posture information of the excavator; determining relative displacement between a bucket tooth tip and a bucket fulcrum in a vehicle body coordinate system based on a boom inclination angle, an arm inclination angle and a bucket inclination angle of the excavator, and a boom length, an arm length and a bucket length of the excavator; determining the relative displacement between the bucket tooth tip and the movable arm fulcrum in the world coordinate system based on the relative displacement between the bucket tooth tip and the movable arm fulcrum in the vehicle body coordinate system and a coordinate conversion matrix; the real-time position of the bucket tooth tip in the world coordinate system is determined based on the relative displacement between the bucket tooth tip and the boom pivot point in the world coordinate system, and the real-time position of the boom pivot point in the world coordinate system.
In addition, the logic commands in the memory 630 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in the form of a software product stored in a storage medium, comprising several commands for causing a computer device (which may be 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The processor in the electronic device provided by the embodiment of the invention can call the logic instruction in the memory to realize the method, and the specific implementation mode is consistent with the implementation mode of the method, and the same beneficial effects can be achieved, and the detailed description is omitted here.
Embodiments of the present invention also provide a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above embodiments, for example, comprising:
determining a coordinate conversion matrix between a vehicle body coordinate system and a world coordinate system based on vehicle body posture information of the excavator; determining relative displacement between a bucket tooth tip and a bucket fulcrum in a vehicle body coordinate system based on a boom inclination angle, an arm inclination angle and a bucket inclination angle of the excavator, and a boom length, an arm length and a bucket length of the excavator; determining the relative displacement between the bucket tooth tip and the movable arm fulcrum in the world coordinate system based on the relative displacement between the bucket tooth tip and the movable arm fulcrum in the vehicle body coordinate system and a coordinate conversion matrix; the real-time position of the bucket tooth tip in the world coordinate system is determined based on the relative displacement between the bucket tooth tip and the boom pivot point in the world coordinate system, and the real-time position of the boom pivot point in the world coordinate system.
When the computer program stored on the non-transitory computer readable storage medium provided by the embodiment of the present invention is executed, the above method is implemented, and the specific implementation manner of the method is consistent with the implementation manner of the foregoing method, and the same beneficial effects can be achieved, which is not repeated herein.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of positioning a bucket tooth tip of an excavator, comprising:
determining a coordinate conversion matrix between a vehicle body coordinate system and a world coordinate system based on vehicle body posture information of the excavator;
determining relative displacement between a bucket tooth tip and a bucket fulcrum in the vehicle body coordinate system based on a boom inclination angle, an arm inclination angle, and a bucket inclination angle of the excavator, and a boom length, an arm length, and a bucket length of the excavator;
Determining the relative displacement between the bucket tooth tip and the movable arm fulcrum in the world coordinate system based on the relative displacement between the bucket tooth tip and the movable arm fulcrum in the vehicle body coordinate system and the coordinate conversion matrix;
determining a real-time position of the bucket tooth tip in a world coordinate system based on a relative displacement between the bucket tooth tip and a boom fulcrum in the world coordinate system and a real-time position of the boom fulcrum in the world coordinate system;
wherein the real-time position of the boom fulcrum in the world coordinate system is determined based on the steps of:
determining a real-time position of the boom fulcrum in a world coordinate system based on a real-time position acquired by a GNSS receiver on the excavator and a relative position of the GNSS receiver and the boom fulcrum on a rotating platform of the excavator;
when the excavator performs rotary motion, determining relative displacement between the bucket tooth tip and the rotary center before rotary motion based on the real-time position of the rotary center of the excavator in the world coordinate system and the real-time position of the bucket tooth tip in the world coordinate system before rotary motion;
determining the relative displacement between the bucket tooth tip and the rotation center after the rotation movement based on the relative displacement between the bucket tooth tip and the rotation center before the rotation movement and the rotation angle change value of the excavator in the rotation movement;
And determining the real-time position of the bucket tooth tip in the world coordinate system after the rotary motion based on the real-time position of the rotary center in the world coordinate system and the relative displacement between the bucket tooth tip and the rotary center after the rotary motion.
2. The excavator bucket tooth tip positioning method of claim 1 wherein the determining of the relative displacement between the bucket tooth tip and the bucket fulcrum in the body coordinate system based on the boom inclination angle, the stick inclination angle, and the bucket inclination angle of the excavator, and the boom length, the stick length, and the bucket length of the excavator comprises:
constructing a movable arm coordinate system, a bucket rod coordinate system, a bucket coordinate system and a bucket tooth tip coordinate system based on the D-H model;
determining a first transformation matrix from a boom coordinate system to an arm coordinate system based on the boom inclination angle;
determining a second transformation matrix from the arm coordinate system to the bucket coordinate system based on the arm inclination angle and the boom length;
determining a third transformation matrix from the bucket coordinate system to the bucket tooth tip coordinate system based on the bucket inclination angle and the arm length;
a fourth transformation matrix of the boom coordinate system to the bucket tip coordinate system is determined based on the first, second, and third transformation matrices to determine a relative displacement between the bucket tip and the boom pivot point in the body coordinate system.
3. The method for positioning a bucket tip of an excavator according to claim 2, wherein,
the movable arm coordinate system takes a movable arm pivot as an origin, the bucket arm coordinate system takes a bucket arm pivot as an origin, the bucket coordinate system takes a bucket pivot as an origin, and the bucket tooth point coordinate system takes a bucket tooth point as an origin; the swing arm pivot point is a pivot point of a swing arm relative to a swing platform of the excavator, the bucket lever pivot point is a pivot point of a bucket lever relative to the swing arm, and the bucket pivot point is a pivot point of a bucket relative to the bucket lever.
4. The method for positioning a tooth tip of a bucket of an excavator according to claim 3, wherein the boom inclination angle is an angle between a straight line defined by the boom fulcrum and the arm fulcrum and a horizontal plane in which the boom fulcrum is located;
the bucket rod inclination angle is an included angle between a straight line determined by the movable arm fulcrum and the bucket rod fulcrum and a straight line determined by the bucket rod fulcrum and the bucket fulcrum;
the bucket inclination angle is an included angle between a straight line determined by the bucket rod fulcrum and the bucket fulcrum and a straight line determined by the bucket fulcrum and the bucket tooth tip;
The length of the movable arm is the linear distance between the movable arm fulcrum and the bucket rod fulcrum; the length of the bucket rod is the linear distance between the bucket rod fulcrum and the bucket fulcrum; the length of the bucket is the linear distance between the bucket fulcrum and the bucket tooth tip;
the body attitude information includes pitch angle, yaw angle, and roll angle of the excavator in a world coordinate system.
5. A bucket tooth tip positioning device for an excavator, comprising:
the acquisition module is used for acquiring the body posture information of the excavator, and the inclination angle of a movable arm, the inclination angle of a bucket rod and the inclination angle of a bucket of the excavator;
the control module is used for determining a coordinate conversion matrix between a vehicle body coordinate system and a world coordinate system based on the vehicle body posture information of the excavator;
the control module is also used for determining the relative displacement between the bucket tooth tip and the bucket fulcrum in the vehicle body coordinate system based on the movable arm inclination angle, the bucket rod inclination angle and the bucket inclination angle of the excavator and the movable arm length, the bucket rod length and the bucket length of the excavator; the system is used for determining the relative displacement between the bucket tooth tip and the movable arm fulcrum in the world coordinate system based on the relative displacement between the bucket tooth tip and the movable arm fulcrum in the vehicle body coordinate system and the coordinate conversion matrix;
The control module is further used for determining the real-time position of the bucket tooth tip in the world coordinate system based on the relative displacement between the bucket tooth tip and the movable arm fulcrum in the world coordinate system and the real-time position of the movable arm fulcrum in the world coordinate system;
wherein the real-time position of the boom fulcrum in the world coordinate system is determined based on the steps of:
determining a real-time position of the boom fulcrum in a world coordinate system based on a real-time position acquired by a GNSS receiver on the excavator and a relative position of the GNSS receiver and the boom fulcrum on a rotating platform of the excavator;
the control module further comprises a rotary positioning unit, wherein the rotary positioning unit is used for determining the relative displacement between the bucket tooth tip and the rotary center before the rotary motion based on the real-time position of the rotary center of the excavator in the world coordinate system and the real-time position of the bucket tooth tip before the rotary motion in the world coordinate system when the rotary motion is carried out on the excavator;
determining the relative displacement between the bucket tooth tip and the rotation center after the rotation movement based on the relative displacement between the bucket tooth tip and the rotation center before the rotation movement and the rotation angle change value of the excavator in the rotation movement;
And determining the real-time position of the bucket tooth tip in the world coordinate system after the rotary motion based on the real-time position of the rotary center in the world coordinate system and the relative displacement between the bucket tooth tip and the rotary center after the rotary motion.
6. An excavator comprising the excavator bucket tooth tip positioning device of claim 5.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor performs the steps of the method for positioning the tip of the bucket of an excavator according to any one of claims 1 to 4 when the program is executed.
8. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method of positioning a bucket tip of an excavator according to any one of claims 1 to 4.
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| CN202111241445.5A CN114045893B (en) | 2021-10-25 | 2021-10-25 | Excavator bucket tooth tip positioning method and device and excavator |
| PCT/CN2022/127290 WO2023072044A1 (en) | 2021-10-25 | 2022-10-25 | Excavator bucket teeth tip positioning method and apparatus, and excavator |
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| CN202111241445.5A CN114045893B (en) | 2021-10-25 | 2021-10-25 | Excavator bucket tooth tip positioning method and device and excavator |
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| CN114045893B (en) * | 2021-10-25 | 2023-09-22 | 上海华兴数字科技有限公司 | Excavator bucket tooth tip positioning method and device and excavator |
| CN115126020A (en) * | 2022-04-14 | 2022-09-30 | 网易（杭州）网络有限公司 | Excavator control method and device |
| CN115030247B (en) * | 2022-05-27 | 2023-10-31 | 三一重机有限公司 | Boom pose information correction method and device and excavator |
| CN115288218A (en) * | 2022-07-28 | 2022-11-04 | 中联重科股份有限公司 | Method for controlling arm support, excavator, storage medium and processor |
| CN115795580B (en) * | 2023-02-10 | 2023-05-26 | 安徽省（水利部淮河水利委员会）水利科学研究院（安徽省水利工程质量检测中心站） | Intelligent excavation construction management system based on cloud computing |
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| DE112014000091B4 (en) * | 2014-05-14 | 2016-11-24 | Komatsu Ltd. | Calibration system and calibration procedure for an excavator |
| CN107905275B (en) * | 2017-11-15 | 2020-08-25 | 山东天星北斗信息科技有限公司 | Digitlization auxiliary construction system of excavator and auxiliary construction method thereof |
| CN107740448A (en) * | 2017-11-30 | 2018-02-27 | 南京工业大学 | A kind of unmanned automatic excavating is quick-witted can construction system |
| CN108643277B (en) * | 2018-05-21 | 2021-03-09 | 山东天星北斗信息科技有限公司 | Excavator position information service system and method based on GNSS-SINS and displacement sensor |
| CN110409528B (en) * | 2019-07-25 | 2022-03-08 | 中国航空工业集团公司西安飞行自动控制研究所 | Automatic control device and method for track of excavator bucket and computer readable storage medium |
| CN110565711A (en) * | 2019-09-20 | 2019-12-13 | 太原科技大学 | Track control system and track planning method for backhoe hydraulic excavator |
| CN112095710A (en) * | 2020-09-16 | 2020-12-18 | 上海三一重机股份有限公司 | Excavator pose display method and device and excavator applying same |
| CN114045893B (en) * | 2021-10-25 | 2023-09-22 | 上海华兴数字科技有限公司 | Excavator bucket tooth tip positioning method and device and excavator |
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