CN115126020A - Excavator control method and device - Google Patents

Excavator control method and device Download PDF

Info

Publication number
CN115126020A
CN115126020A CN202210392337.6A CN202210392337A CN115126020A CN 115126020 A CN115126020 A CN 115126020A CN 202210392337 A CN202210392337 A CN 202210392337A CN 115126020 A CN115126020 A CN 115126020A
Authority
CN
China
Prior art keywords
included angle
bucket
arm
angle
small arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210392337.6A
Other languages
Chinese (zh)
Inventor
陈广大
陈赢峰
范长杰
胡志鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Netease Hangzhou Network Co Ltd
Original Assignee
Netease Hangzhou Network Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Netease Hangzhou Network Co Ltd filed Critical Netease Hangzhou Network Co Ltd
Priority to CN202210392337.6A priority Critical patent/CN115126020A/en
Publication of CN115126020A publication Critical patent/CN115126020A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The application discloses a method and a device for controlling an excavator, wherein the method comprises the following steps: in response to receiving a bucket locking instruction at a first time point, obtaining a locked first included angle of a plane where an upper edge of a bucket is located relative to the ground; in response to the fact that the large arm and/or the small arm of the excavator are controlled to be in a motion state at a second time point, a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm are obtained; calculating to obtain a fourth included angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space transformation matrix from the coordinate system of the plane of the upper edge of the bucket to the ground coordinate system; and controlling the bucket to move based on the fourth included angle. By using the method, the problem that the stability and the accuracy of the excavator in the operation and control process cannot be guaranteed due to the dependence on manual work when the posture of the bucket is kept unchanged in the prior art can be solved.

Description

Excavator control method and device
Technical Field
The application relates to the technical field of automation control, in particular to an excavator control method. The application also relates to an excavator control device, an electronic device and a computer readable storage medium.
Background
When an excavator completes complicated operations, combined control of a large arm, a small arm and a bucket is usually required, such as ditching, leveling and slope and the like, wherein the condition of the bucket is kept unchanged during the operations, for example, the bottom of the bucket and the ground are required to be kept horizontal during the leveling push-shovel operations, and the upper edge of the bucket and the ground are required to be kept horizontal during the loading operations, so that materials in the bucket cannot be spilled. In the operation, in order to keep the posture of the excavator bucket unchanged, the large arm, the small arm and the excavator bucket need to be controlled simultaneously to work in a cooperative mode, and in the operation, an excavator operator needs to have higher skill and experience, so that the operation process of the excavator depends on manual work, and the stability and the accuracy of the operation process cannot be guaranteed.
Disclosure of Invention
The embodiment of the application provides an excavator control method, an excavator control device, electronic equipment and a computer readable storage medium, and aims to solve the problem that in the prior art, when the posture of a bucket is kept unchanged, the stability and accuracy of an excavator control process cannot be guaranteed due to manual work.
The embodiment of the application provides an excavator control method, which is applied to a control device of an excavator and comprises the following steps:
in response to receiving a bucket locking instruction at a first time point, obtaining a locked first included angle of a plane where an upper edge of a bucket is located relative to the ground;
in response to the fact that the large arm and/or the small arm of the excavator are controlled to be in a motion state at a second time point, a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm are obtained;
calculating and obtaining a fourth included angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space transformation matrix from a coordinate system of the plane of the upper edge of the bucket to a ground coordinate system;
and controlling the bucket to move based on the fourth included angle.
Optionally, the obtaining a locked first included angle of the upper edge of the bucket relative to the ground includes:
responding to a bucket locking instruction received at a first time point, and obtaining a first initial included angle a between a large arm and a horizontal plane, a second initial included angle b between a small arm and the horizontal plane and a third initial included angle c between a plane where an upper edge of a bucket is located and the horizontal plane through induction based on tilt sensors respectively arranged on the large arm, the small arm and the bucket;
calculating and obtaining a first target included angle a1 between the large arm and the ground, a second target included angle b1 between the small arm and the large arm and a third target included angle c1 between the upper edge of the bucket and the small arm at the first time point based on the first initial included angle a, the second initial included angle b, the third initial included angle c and a conversion equation constructed in advance, wherein the conversion equation represents the following conversion relationship between the initial included angle and the target included angle: a1 ═ k-a; b1 ═ a-b + m; c1 is b-c + n, wherein k, m and n are constants calibrated in advance;
and solving a space transformation matrix from a coordinate system of a plane on which the bucket is located to a ground coordinate system based on the length of the large arm, the length of the small arm, the first target included angle, the second target included angle and the third target included angle, and extracting the first included angle from the solved space transformation matrix.
Optionally, at the first time point, the spatial transformation matrix is: tg ═ T (AB, a1) × T (BC, b1) × T (0, c1), where T (x, y) is the 4x4 spatial rotation matrix, AB is the length of the large arm, and BC is the length of the small arm.
Optionally, at the second time point, the spatial transformation matrix is represented as: tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), where T (x, y) represents a 4x4 spatial rotation matrix, AB is the length of the big arm, BC is the length of the small arm, a2 is the second angle of the big arm with respect to the ground at the second point in time, b2 is the third angle between the small arm and the big arm at the second point in time, and c2 represents the fourth angle between the plane on the bucket along which the solution is to be made and the small arm.
Optionally, the calculating, based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle, and a spatial transformation matrix from a coordinate system of a plane where the upper edge of the bucket is located to a ground coordinate system, to obtain a fourth included angle between the plane where the upper edge of the bucket is located and the small arm includes:
substituting the length AB of the large arm, the length BC of the small arm, the second included angle a2, and the third included angle b2 into a spatial transformation matrix Tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), solving a pitch angle Tg0 of Tg as a locked first included angle, and solving a fourth included angle c2 between a plane along which the bucket is located and the small arm to obtain T (0, c2) ═ T (0, c2) as a solved value -1 (BC,b2)*T -1 (AB, a2) × Tg and recover c2 from the solved T (0, c2) matrix.
Optionally, the obtaining a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm includes:
the second included angle a2 and the third included angle b2 are calculated by adopting the following conversion relation: k-a for a2, a-b + m for b 2; the angle sensor comprises a large arm, a small arm and a bucket, wherein a and b are respectively a first initial included angle between the large arm and the horizontal plane and a second initial included angle between the small arm and the horizontal plane, which are obtained by the induction of the tilt angle sensors arranged on the large arm, the small arm and the bucket, and k and m are constants calibrated in advance.
Optionally, the obtaining a second included angle of the large arm with respect to the ground and a third included angle between the small arm and the large arm includes:
and receiving a second included angle and a third included angle sent by the excavator operating terminal, wherein the second included angle and the third included angle are target included angles obtained by the excavator operating terminal based on the estimation of the motion states of the large arm and the small arm.
Optionally, the receiving a bucket locking command at the first time point includes:
and receiving the bucket locking instruction sent by the excavator operation terminal at the first time point.
Optionally, the controlling the movement of the bucket based on the fourth angle includes:
and controlling the bucket to reach the position of the fourth included angle by using a pid control algorithm.
The embodiment of the present application further provides an excavator control device, the device includes:
the first included angle obtaining unit is used for responding to a bucket locking instruction received at a first time point and obtaining a locked first included angle of the upper edge of the bucket relative to the ground;
the second and third included angle acquisition units are used for responding to the control of the large arm and/or the small arm of the excavator to be in a motion state at a second time point, and acquiring a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm;
the fourth included angle calculating unit is used for calculating and obtaining a fourth included angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space transformation matrix from a coordinate system of the plane of the upper edge of the bucket to a ground coordinate system;
and the bucket motion control unit is used for controlling the motion of the bucket based on the fourth included angle.
The embodiment of the application also provides an electronic device, which comprises a processor and a memory; wherein the memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the above-described method.
Embodiments of the present application also provide a computer-readable storage medium having one or more computer instructions stored thereon, where the computer instructions are executed by a processor to implement the above-mentioned method.
Compared with the prior art, the embodiment of the application has the following advantages:
according to the excavator control method provided by the embodiment of the application, a locked first included angle of the upper edge of the excavator bucket relative to the ground is obtained in response to the fact that the excavator bucket locking instruction is received at a first time point; in response to the fact that the upper arm and/or the lower arm of the excavator are controlled to be in a motion state at a second time point, a second included angle of the upper arm relative to the ground and a third included angle between the lower arm and the upper arm are obtained; calculating to obtain a fourth included angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space transformation matrix from the coordinate system of the plane of the upper edge of the bucket to the ground coordinate system; and controlling the bucket to move based on the fourth included angle. According to the method, after a first locked included angle of a plane where an upper edge of a bucket is located relative to the ground is obtained, a fourth included angle between the plane where the upper edge of the bucket is located and a small arm is obtained through conversion matrix calculation based on the first included angle and measurement data such as the length of the large arm, the length of the small arm, the second included angle and the third included angle, the fourth included angle can represent the position relation of the bucket relative to the small arm in real time, and the bucket is controlled to move through the position relation, so that the bucket can move in a posture which is unchanged relative to the ground. By using the method, the excavator can have more stability and accuracy in the operation process under the complex operation scene of keeping the posture of the excavator bucket unchanged.
Drawings
FIG. 1 is a flow chart of an excavator control method provided in a first embodiment of the present application;
FIG. 1-A is a schematic structural diagram of an excavator provided by the embodiments of the present application;
FIG. 1-B is a schematic view of various parts of an excavator according to an embodiment of the present disclosure;
1-C is a schematic view of an excavator operating terminal provided by the embodiment of the application;
fig. 2 is a block diagram of a unit of an excavator control apparatus according to a second embodiment of the present application;
fig. 3 is a schematic logical structure diagram of an electronic device according to a third embodiment of the present application.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of implementation in many different ways than those herein set forth and of similar import by those skilled in the art without departing from the spirit of this application and is therefore not limited to the specific implementations disclosed below.
It should be noted that the terms "first", "second", third "and the like in the various parts of the embodiments and drawings of this application are used for distinguishing similar objects and not necessarily for describing a particular order or sequence. Such data may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented in other sequences than those illustrated or described herein. The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the automatic control process of the excavator, in order to meet the operation requirement aiming at a complex operation scene and enable the excavator to have more stability and accuracy in the operation process under the complex operation scene of keeping the posture of the excavator bucket unchanged, the application provides a control method of the excavator, an excavator control method device corresponding to the method, electronic equipment capable of implementing the method and a computer readable storage medium. The following provides embodiments for detailed description of the above method, apparatus, electronic device, and computer-readable storage medium.
A first embodiment of the present application provides an excavator control method, and an application subject of the method may be a control device of an excavator. Fig. 1 is a flowchart of an excavator control method according to a first embodiment of the present application, and the excavator control method according to the present embodiment is described in detail below with reference to fig. 1. The following description refers to embodiments for the purpose of illustrating the principles of the methods, and is not intended to be limiting in actual use.
As shown in fig. 1, the excavator control method provided in this embodiment includes the following steps:
s101, in response to receiving a bucket locking instruction at a first time point, obtaining a locked first included angle of a plane where an upper edge of a bucket is located relative to the ground.
As shown in fig. 1-a, the maneuvering process of the excavator arm requires controlling four mechanisms: the boom (also called a boom), the boom (also called a forearm), the bucket (also called a bucket) and the rotation angle of the cabin, and the control process of the excavator is mainly described in this embodiment by taking the boom, the forearm and the bucket as control objects.
The method comprises the steps of obtaining a first locked included angle of a plane of an upper edge (at a bucket opening) of a bucket relative to the ground when receiving a bucket locking instruction at a first time point, for example, when an operator controls the excavator by using an excavator operation terminal (as shown in figure 1-C), when the attitude of the bucket is required to be kept unchanged in intelligent operation (for example, the bottom and the ground of the bucket are required to be kept horizontal during flat push shovel operation, and the upper edge of the bucket is required to be kept horizontal to the ground during loading operation, so that materials in the bucket cannot be spilled out), starting a bucket locking function through the excavator operation terminal (as shown in figure 1-C, two bucket locking key modes are arranged on a remote control basis of a large arm, a small arm, a cabin, the bucket and a left and right crawler tracks, the bucket can be locked by clicking a Y key, pressing an A key to lock the bucket, the bucket is automatically unlocked by loosening the key A, so that an operator can conveniently select whether to lock the bucket when operating the excavator. And under the condition of not locking the bucket, an operator can control the rotation direction and speed of the bucket by operating the right rocker to move up and down, and under the condition of locking the bucket, the operator can also control the motion of the bucket by operating the right rocker, and meanwhile, the program automatically releases the bucket locking. ) Then, the excavator operation terminal transmits a bucket locking command to the control device of the excavator implementing the main body of the present embodiment, and the control device of the excavator receives the bucket locking command transmitted from the excavator operation terminal, the bucket locking command being used for instructing the posture of the bucket to be kept unchanged.
In this embodiment, the locked first angle of the upper edge of the bucket with respect to the ground can be obtained in particular as follows:
responding to a bucket locking instruction received at a first time point, and obtaining a first initial included angle a between a large arm and a horizontal plane, a second initial included angle b between a small arm and the horizontal plane and a third initial included angle c between a plane where an upper edge of a bucket is located and the horizontal plane through induction based on tilt sensors respectively arranged on the large arm, the small arm and the bucket;
based on the first initial included angle a, the second initial included angle B, the third initial included angle c and a conversion equation constructed in advance, a first target included angle a1 between the large arm and the ground, a second target included angle B1 between the small arm and the large arm and a third target included angle c1 between the plane where the upper edge of the bucket is located and the small arm are calculated and obtained at the first time point (as shown in fig. 1-B), wherein the conversion equation represents the following conversion relationship between the initial included angle and the target included angle: a1 ═ k-a; b1 ═ a-b + m; c1 is b-c + n, where k, m, n are pre-calibrated constants related to the mounting attitude of the boom and bucket sensors, respectively. Specifically, k is related to the included angle between the installation plane of the big arm sensor and the AB straight line, m is related to the included angle between the installation plane of the small arm sensor and the BC straight line, and n is related to the included angle between the installation plane of the bucket sensor and the upper edge plane of the bucket.
Solving a space transformation matrix from a coordinate system of a plane on which the bucket is located to a ground coordinate system based on the length of the large arm, the length of the small arm, the first target included angle, the second target included angle and the third target included angle, and extracting the first included angle atan (m) from the solved space transformation matrix 13 /m 33 ) Where atan is the arctan function, m 13 And m 33 The first row and the third column of elements and the third row and the third column of elements of the solved spatial transformation matrix are respectively.
In this embodiment, at the first time point, the spatial transformation matrix is: tg ═ T (AB, a1) × T (BC, b1) × T (0, c1), where AB is the length of the large arm, BC is the length of the small arm, and T (x, y) is a 4x4 spatial rotation matrix, in the following specific form:
Figure RE-GDA0003794996640000061
and S102, responding to the fact that the large arm and/or the small arm of the excavator are controlled to be in a motion state at a second time point, and acquiring a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm.
After the first locked included angle of the upper edge of the bucket relative to the ground is obtained through the steps, the step is used for obtaining a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm when the large arm or the small arm of the excavator is controlled to be in a motion state at a second time point or the large arm and the small arm are simultaneously controlled to be in the motion state.
In this embodiment, the second included angle of the large arm with respect to the ground and the third included angle between the small arm and the large arm can be obtained by the following two ways:
in the first mode, the second included angle a2 and the third included angle b2 are obtained by calculating the following conversion relationship: a2 ═ k-a, b2 ═ a-b + m; the angle sensor comprises a large arm, a small arm and a bucket, wherein a and b are respectively a first initial included angle between the large arm and the horizontal plane and a second initial included angle between the small arm and the horizontal plane, which are obtained by the induction of the tilt angle sensors arranged on the large arm, the small arm and the bucket, and k and m are constants calibrated in advance.
And a second included angle and a third included angle which are sent by the excavator operating terminal are received, and the second included angle and the third included angle are target included angles which are obtained by the excavator operating terminal based on the estimated motion states of the large arm and the small arm. The operation terminal can control the small arm tail end C point to move in space or respectively control the large arm and the small arm to rotate. In the first case, the planning program can find the target angle that the big arm and the small arm need to reach according to the target position that the terminal point C needs to move. For the second case, the operation terminal directly sends the angle change of the big arm and the small arm, and the target angle that the big arm and the small arm need to reach can be obtained according to the angle change.
And S103, calculating to obtain a fourth included angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space conversion matrix from the coordinate system of the plane of the upper edge of the bucket to the ground coordinate system.
After the locked first included angle of the upper edge of the bucket relative to the ground is obtained, the second included angle of the large arm relative to the ground and the third included angle between the small arm and the large arm are obtained, the step is used for calculating and obtaining the fourth included angle between the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space transformation matrix from a coordinate system of the upper edge of the bucket to a ground coordinate system.
In this embodiment, at the second time point, the spatial transformation matrix is represented as: tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), where AB is the length of the big arm, BC is the length of the small arm, a2 is the second angle of the big arm with respect to the ground at the second point in time, b2 is the third angle between the small arm and the big arm at the second point in time, c2 represents the fourth angle between the plane on the bucket to be solved and the small arm, and T (x, y) is a 4x4 spatial rotation matrix, and the specific form is as follows:
Figure RE-GDA0003794996640000071
the above calculating, based on the length of the big arm, the length of the small arm, the first included angle, the second included angle, the third included angle, and a space transformation matrix from a coordinate system of a plane where the upper edge of the bucket is located to a ground coordinate system, to obtain the fourth included angle between the plane where the upper edge of the bucket is located and the small arm specifically means: substituting the length AB of the large arm, the length BC of the small arm, the second included angle a2, and the third included angle b2 into a spatial transformation matrix Tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), solving a pitch angle Tg0 of Tg as a locked first included angle, and solving a fourth included angle c2 between a plane along which the bucket is located and the small arm to obtain T (0, c2) ═ T (0, c2) as a solved value -1 (BC,b2)*T -1 (AB, a2) Tg, where the matrix T -1 The matrix is an inverse matrix of T, and c2 can be recovered from the solved T (0, c2) matrix.
And S104, controlling the movement of the excavator bucket based on the fourth included angle.
After the fourth included angle between the plane where the upper edge of the bucket is located and the small arm is obtained through calculation in the above steps, the step is used for controlling the motion of the bucket based on the fourth included angle, and specifically comprises the following steps: and controlling the bucket to reach a position corresponding to the fourth included angle by using a pid position control algorithm.
After a locked first included angle of a plane on which an upper edge of a bucket is located relative to the ground is obtained by using the excavator control method provided by the embodiment of the application, a fourth included angle between the plane on which the upper edge of the bucket is located and the small arm is obtained through conversion matrix calculation based on the first included angle and measurement data such as the length of the large arm, the length of the small arm, the second included angle, the third included angle and the like, the fourth included angle can represent the position relationship of the bucket relative to the small arm in real time, and the bucket can move in a posture which is unchanged relative to the ground by controlling the bucket to move through the position relationship. By using the method, the excavator can have more stability and accuracy in the operation process under the complex operation scene of keeping the posture of the excavator unchanged.
The above first embodiment provides an excavator control method, and correspondingly, the second embodiment of the present application also provides an excavator control device, which can be applied to a control system of an excavator in a software or hardware manner to execute excavator control work. Since the device embodiments are substantially similar to the method embodiments and therefore are described relatively simply, reference may be made to the corresponding description of the method embodiments provided above for details of relevant technical features, and the following description of the device embodiments is merely illustrative.
Referring to fig. 2, the embodiment is understood, and fig. is a block diagram of a unit of an excavator control device provided in the embodiment, as shown in fig. 2, the excavator control device provided in the embodiment includes:
a first included angle obtaining unit 201, configured to, in response to receiving a bucket locking instruction at a first time point, obtain a locked first included angle of a plane where an upper edge of a bucket is located with respect to the ground;
a second and third included angle obtaining unit 202, configured to obtain a second included angle of the boom with respect to the ground and a third included angle between the boom and the boom in response to the boom and/or the boom of the excavator being controlled to be in a moving state at a second time point;
a fourth included angle calculating unit 203, configured to calculate and obtain a fourth included angle between the plane where the upper edge of the bucket is located and the forearm based on the length of the upper arm, the length of the forearm, the first included angle, the second included angle, the third included angle, and a spatial transformation matrix from a coordinate system of the plane where the upper edge of the bucket is located to a ground coordinate system;
and a bucket motion control unit 204 for controlling the bucket motion based on the fourth angle.
Optionally, the obtaining a locked first included angle of the upper edge of the bucket with respect to the ground includes:
responding to a bucket locking instruction received at a first time point, and obtaining a first initial included angle a between a large arm and a horizontal plane, a second initial included angle b between a small arm and the horizontal plane and a third initial included angle c between a plane where an upper edge of a bucket is located and the horizontal plane through induction based on tilt sensors respectively arranged on the large arm, the small arm and the bucket;
calculating and obtaining a first target included angle a1 between the large arm and the ground, a second target included angle b1 between the small arm and the large arm and a third target included angle c1 between the upper edge of the bucket and the small arm at the first time point based on the first initial included angle a, the second initial included angle b, the third initial included angle c and a conversion equation constructed in advance, wherein the conversion equation represents the following conversion relationship between the initial included angle and the target included angle: a1 ═ k-a; b1 ═ a-b + m; c1 is b-c + n, wherein k, m and n are constants calibrated in advance;
and solving a space transformation matrix from a coordinate system of a plane on which the bucket is located to a ground coordinate system based on the length of the large arm, the length of the small arm, the first target included angle, the second target included angle and the third target included angle, and extracting the first included angle from the solved space transformation matrix.
Optionally, at the first time point, the spatial transformation matrix is: tg ═ T (AB, a1) × T (BC, b1) × T (0, c1), where T (x, y) is the 4x4 spatial rotation matrix, AB is the length of the large arm, and BC is the length of the small arm.
Optionally, at the second time point, the spatial transformation matrix is expressed as: tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), where T (x, y) is a 4x4 spatial rotation matrix, AB is the length of the big arm, BC is the length of the small arm, a2 is the second angle of the big arm with respect to the ground at the second point in time, b2 is the third angle between the small arm and the big arm at the second point in time, and c2 characterizes the fourth angle between the plane on the bucket along which the solution is to be made and the small arm.
Optionally, the calculating, based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle, and a spatial transformation matrix from a coordinate system of a plane where the upper edge of the bucket is located to a ground coordinate system, to obtain a fourth included angle between the plane where the upper edge of the bucket is located and the small arm includes:
substituting the length AB of the large arm, the length BC of the small arm, the second included angle a2, and the third included angle b2 into a spatial transformation matrix Tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), solving a pitch angle Tg0 of Tg as a locked first included angle, and solving a fourth included angle c2 between a plane along which the bucket is located and the small arm to obtain T (0, c2) ═ T (0, c2) as a solved value -1 (BC,b2)*T -1 (AB, a2) × Tg and recover c2 from the solved T (0, c2) matrix.
Optionally, the obtaining a second included angle of the large arm with respect to the ground and a third included angle between the small arm and the large arm includes:
the second included angle a2 and the third included angle b2 are calculated by adopting the following conversion relation: k-a for a2, a-b + m for b 2; the angle sensor comprises a large arm, a small arm and a bucket, wherein a and b are respectively a first initial included angle between the large arm and the horizontal plane and a second initial included angle between the small arm and the horizontal plane, which are obtained by the induction of the tilt angle sensors arranged on the large arm, the small arm and the bucket, and k and m are constants calibrated in advance.
Optionally, the obtaining a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm includes:
and receiving a second included angle and a third included angle which are sent by the excavator operating terminal, wherein the second included angle and the third included angle are target included angles which are estimated and obtained by the excavator operating terminal based on the motion states of the big arm and the small arm.
Optionally, the receiving a bucket locking command at the first time point includes:
and receiving the bucket locking instruction sent by the excavator operation terminal at the first time point.
Optionally, the controlling the movement of the bucket based on the fourth angle includes:
and controlling the bucket to reach the position of the fourth included angle by using a pid control algorithm.
By using the control device of the excavator, the excavator can have more stability and accuracy in the operation process under the complex operation scene of keeping the posture of the excavator unchanged.
In the embodiments described above, a method and an apparatus are provided, and in addition, a third embodiment of the present application also provides an electronic device, which is basically similar to the method embodiment and therefore is described relatively simply, and the details of the related technical features need to be referred to the corresponding description of the method embodiment provided above, and the following description of the electronic device embodiment is only illustrative. The embodiment of the electronic equipment is as follows:
please refer to fig. 3 for understanding the present embodiment, fig. 3 is a schematic diagram of a logic structure of the electronic device according to the present embodiment.
As shown in fig. 3, the electronic device provided in this embodiment includes: a processor 301 and a memory 302;
the memory 302 is used for storing computer instructions for executing the game scene display method, and when the computer instructions are read and executed by the processor 301, the following operations are executed: in response to receiving a bucket locking instruction at a first time point, obtaining a locked first included angle of a plane where an upper edge of a bucket is located relative to the ground;
in response to the fact that the large arm and/or the small arm of the excavator are controlled to be in a motion state at a second time point, a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm are obtained;
calculating and obtaining a fourth included angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space conversion matrix from a coordinate system of the plane of the upper edge of the bucket to a ground coordinate system;
and controlling the bucket to move based on the fourth included angle.
Optionally, obtaining a first locked angle of the upper edge of the bucket relative to the ground includes:
responding to a bucket locking instruction received at a first time point, and obtaining a first initial included angle a between a large arm and a horizontal plane, a second initial included angle b between a small arm and the horizontal plane and a third initial included angle c between a plane where an upper edge of a bucket is located and the horizontal plane through induction based on tilt sensors respectively arranged on the large arm, the small arm and the bucket;
based on the first initial included angle a, the second initial included angle b, the third initial included angle c and a conversion equation constructed in advance, a first target included angle a1 between the large arm and the ground, a second target included angle b1 between the small arm and the large arm and a third target included angle c1 between the plane where the upper edge of the bucket is located and the small arm are calculated and obtained at the first time point, wherein the conversion equation represents the following conversion relation between the initial included angle and the target included angle: a1 ═ k-a; b1 ═ a-b + m; c1 is b-c + n, wherein k, m and n are constants calibrated in advance;
and solving a space transformation matrix from a coordinate system of a plane on which the bucket is located to a ground coordinate system based on the length of the large arm, the length of the small arm, the first target included angle, the second target included angle and the third target included angle, and extracting the first included angle from the solved space transformation matrix.
Optionally, at the first time point, the spatial transformation matrix is: tg ═ T (AB, a1) × T (BC, b1) × T (0, c1), where T (x, y) is the 4x4 spatial rotation matrix, AB is the length of the large arm and BC is the length of the small arm.
Optionally, at the second time point, the spatial transformation matrix is represented as: tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), where T (x, y) represents a 4x4 rotation matrix consisting of x displacement in the Z axis direction and y pitch angle, AB represents the length of the large arm, BC represents the length of the small arm, a2 represents the second angle between the large arm and the ground at the second time point, b2 represents the third angle between the small arm and the large arm at the second time point, and c2 represents the fourth angle between the plane on the bucket to be solved and the small arm.
Optionally, calculating a fourth included angle between the plane of the upper edge of the bucket and the forearm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle, and a space transformation matrix from a coordinate system of the plane of the upper edge of the bucket to a ground coordinate system, includes:
substituting the length AB of the large arm, the length BC of the small arm, the second included angle a2 and the third included angle b2 into a spatial transformation matrix Tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), wherein a pitch angle Tg0 of Tg is a locked first included angle, and solving is performed by using a fourth included angle c2 between a plane on which the bucket is located and the small arm as a solved value, so as to obtain T (0, c2) ═ T (0, c2) -1 (BC,b2)*T -1 (AB, a2) × Tg and recover c2 from the solved T (0, c2) matrix.
Optionally, the obtaining a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm includes: the second included angle a2 and the third included angle b2 are calculated by adopting the following conversion relation: a2 ═ k-a, b2 ═ a-b + m; the angle sensor comprises a large arm, a small arm and a bucket, wherein a and b are respectively a first initial included angle between the large arm and the horizontal plane and a second initial included angle between the small arm and the horizontal plane, which are obtained by the induction of the tilt angle sensors arranged on the large arm, the small arm and the bucket, and k and m are constants calibrated in advance.
Optionally, the obtaining a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm includes: and receiving a second included angle and a third included angle sent by the excavator operating terminal, wherein the second included angle and the third included angle are target included angles obtained by the excavator operating terminal based on the estimation of the motion states of the large arm and the small arm.
Optionally, the receiving a bucket locking command at the first time point includes:
and receiving the bucket locking instruction sent by the excavator operation terminal at the first time point.
Optionally, the controlling the movement of the bucket based on the fourth angle includes:
and controlling the bucket to reach the position of the fourth included angle by using a pid control algorithm.
Compared with the existing mode, the electronic equipment provided by the embodiment can ensure that the excavator has more stability and accuracy in the operation process under the complex operation scene of keeping the posture of the excavator unchanged.
In the above embodiments, a method, an apparatus and an electronic device are provided, and furthermore, a fourth embodiment of the present application also provides a computer-readable storage medium for implementing the above method. The embodiments of the computer-readable storage medium provided in the present application are described relatively simply, and for relevant portions, reference may be made to the corresponding descriptions of the above method embodiments, and the embodiments described below are merely illustrative.
The present embodiment provides a computer readable storage medium having stored thereon computer instructions, which when executed by a processor, implement the steps of: in response to receiving a bucket locking instruction at a first time point, obtaining a locked first included angle of a plane where an upper edge of a bucket is located relative to the ground;
responding to the fact that the large arm and the small arm of the excavator are controlled to be in a motion state at a second time point, and acquiring a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm;
calculating and obtaining a fourth included angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space conversion matrix from a coordinate system of the plane of the upper edge of the bucket to a ground coordinate system;
and controlling the bucket to move based on the fourth included angle.
Optionally, the obtaining a locked first included angle of the upper edge of the bucket relative to the ground includes: responding to a bucket locking instruction received at a first time point, and obtaining a first initial included angle a between a large arm and a horizontal plane, a second initial included angle b between a small arm and the horizontal plane and a third initial included angle c between a plane where an upper edge of a bucket is located and the horizontal plane through induction based on tilt sensors respectively arranged on the large arm, the small arm and the bucket; calculating and obtaining a first target included angle a1 between the large arm and the ground, a second target included angle b1 between the small arm and the large arm and a third target included angle c1 between the upper edge of the bucket and the small arm at the first time point based on the first initial included angle a, the second initial included angle b, the third initial included angle c and a conversion equation constructed in advance, wherein the conversion equation represents the following conversion relationship between the initial included angle and the target included angle: a1 ═ k-a; b1 ═ a-b + m; c1 is b-c + n, wherein k, m and n are constants calibrated in advance; and solving a space transformation matrix from a coordinate system of a plane on which the bucket is located to a ground coordinate system based on the length of the large arm, the length of the small arm, the first target included angle, the second target included angle and the third target included angle, and extracting the first included angle from the solved space transformation matrix.
Optionally, at the first time point, the spatial transformation matrix is: tg ═ T (AB, a1) × T (BC, b1) × T (0, c1), where T (x, y) is the 4x4 spatial rotation matrix, AB is the length of the large arm, and BC is the length of the small arm.
Optionally, at the second time point, the spatial transformation matrix is represented as: tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), where T (x, y) represents a 4x4 spatial rotation matrix, AB is the length of the big arm, BC is the length of the small arm, a2 is the second angle of the big arm with respect to the ground at the second point in time, b2 is the third angle between the small arm and the big arm at the second point in time, and c2 represents the fourth angle between the plane on the bucket along which the solution is to be made and the small arm.
Optionally, the coordinate system based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and the plane on which the upper edge of the bucket is located reaches the groundCalculating a fourth included angle between the plane where the upper edge of the bucket is located and the small arm by using a space conversion matrix of a surface coordinate system, wherein the fourth included angle comprises the following steps: substituting the length AB of the large arm, the length BC of the small arm, the second included angle a2, and the third included angle b2 into a spatial transformation matrix Tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), solving a pitch angle Tg0 of Tg as a locked first included angle, and solving a fourth included angle c2 between a plane along which the bucket is located and the small arm to obtain T (0, c2) ═ T (0, c2) as a solved value -1 (BC,b2)*T -1 (AB, a2) × Tg and recover c2 from the solved T (0, c2) matrix.
Optionally, the obtaining a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm includes: the second included angle a2 and the third included angle b2 are calculated by adopting the following conversion relation: a2 ═ k-a, b2 ═ a-b + m; the angle sensor comprises a large arm, a small arm and a bucket, wherein a and b are respectively a first initial included angle between the large arm and the horizontal plane and a second initial included angle between the small arm and the horizontal plane, which are obtained by the induction of the tilt angle sensors arranged on the large arm, the small arm and the bucket, and k and m are constants calibrated in advance.
Optionally, the obtaining a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm includes: and receiving a second included angle and a third included angle sent by the excavator operating terminal, wherein the second included angle and the third included angle are target included angles obtained by the excavator operating terminal based on the estimation of the motion states of the large arm and the small arm.
Optionally, the receiving a bucket locking command at the first time point includes:
and receiving the bucket locking instruction sent by the excavator operation terminal at the first time point.
Optionally, the controlling the motion of the bucket based on the fourth included angle includes:
and controlling the bucket to reach the position of the fourth included angle by using a pid control algorithm.
By executing the computer instructions stored on the computer-readable storage medium provided by the embodiment, the operation process of the excavator under the complex operation scene of keeping the posture of the excavator bucket unchanged can be more stable and accurate.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
1. Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
2. As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make variations and modifications without departing from the spirit and scope of the present application, therefore, the scope of the present application should be determined by the claims that follow.

Claims (12)

1. An excavator control method applied to a control device of an excavator, comprising:
in response to receiving a bucket locking instruction at a first time point, obtaining a locked first included angle of a plane where an upper edge of a bucket is located relative to the ground;
in response to the fact that the upper arm and/or the lower arm of the excavator are/is controlled to be in a motion state at a second time point, a second included angle of the upper arm relative to the ground and a third included angle between the lower arm and the upper arm are obtained;
calculating and obtaining a fourth included angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space transformation matrix from a coordinate system of the plane of the upper edge of the bucket to a ground coordinate system;
and controlling the bucket to move based on the fourth included angle.
2. The method of claim 1, wherein said obtaining a locked first angle of the upper edge of the bucket relative to the ground comprises:
responding to a bucket locking instruction received at a first time point, and obtaining a first initial included angle a between a large arm and a horizontal plane, a second initial included angle b between a small arm and the horizontal plane and a third initial included angle c between a plane where an upper edge of a bucket is located and the horizontal plane through induction based on tilt sensors respectively arranged on the large arm, the small arm and the bucket;
based on the first initial included angle a, the second initial included angle b, the third initial included angle c and a conversion equation constructed in advance, a first target included angle a1 between the large arm and the ground, a second target included angle b1 between the small arm and the large arm and a third target included angle c1 between the plane where the upper edge of the bucket is located and the small arm are calculated and obtained at the first time point, wherein the conversion equation represents the following conversion relation between the initial included angle and the target included angle: a1 ═ k-a; b1 ═ a-b + m; c1 is b-c + n, wherein k, m and n are constants calibrated in advance;
and solving a space transformation matrix from a coordinate system of a plane on which the bucket is located to a ground coordinate system based on the length of the large arm, the length of the small arm, the first target included angle, the second target included angle and the third target included angle, and extracting the first included angle from the solved space transformation matrix.
3. The method of claim 2, wherein at the first time point, the spatial transformation matrix is:
Tg＝T(AB，a1)*T(BC，b1)*T(0，c1)；
where AB is the length of the big arm, BC is the length of the small arm, and T (x, y) is the 4x4 spatial rotation matrix.
4. The method of claim 1, wherein at the second point in time, the spatial transformation matrix is represented as: tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), where T (x, y) is a 4x4 spatial rotation matrix, AB is the length of the big arm, BC is the length of the small arm, a2 is the second angle of the big arm with respect to the ground at the second point in time, b2 is the third angle between the small arm and the big arm at the second point in time, and c2 characterizes the fourth angle between the plane on the bucket along which the solution is to be solved and the small arm.
5. The method of claim 4, wherein the calculating a fourth angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first angle, the second angle, the third angle, and a spatial transformation matrix from a coordinate system of the plane of the upper edge of the bucket to a ground coordinate system comprises:
length AB of the large armThe length BC of the small arm, the second included angle a2 and the third included angle b2 are substituted into a space transformation matrix Tg ═ T (AB, a2) × T (BC, b2) × T (0, c2), a pitch angle Tg0 of Tg is a locked first included angle, solving is carried out by taking a fourth included angle c2 between a plane where the upper edge of the bucket is located and the small arm as a solved value, and T (0, c2) ═ T is obtained -1 (BC，b2)*T -1 (AB, a2) × Tg and recover c2 from the solved T (0, c2) matrix.
6. The method of claim 4, wherein obtaining a second angle of the large arm relative to the ground and a third angle between the small arm and the large arm comprises:
the second included angle a2 and the third included angle b2 are calculated by adopting the following conversion relation: k-a for a2, a-b + m for b 2; the angle sensor comprises a large arm, a small arm and a bucket, wherein a and b are respectively a first initial included angle between the large arm and the horizontal plane and a second initial included angle between the small arm and the horizontal plane, which are obtained by the induction of the tilt angle sensors arranged on the large arm, the small arm and the bucket, and k and m are constants calibrated in advance.
7. The method of claim 4, wherein obtaining the second angle of the large arm relative to the ground and/or the third angle between the small arm and the large arm comprises:
and receiving a second included angle and a third included angle sent by the excavator operating terminal, wherein the second included angle and the third included angle are target included angles obtained by the excavator operating terminal based on the estimation of the motion states of the large arm and the small arm.
8. The method of claim 1, wherein receiving a bucket locking command at a first point in time comprises:
and receiving the bucket locking instruction sent by the excavator operation terminal at the first time point.
9. The method of claim 1, wherein said controlling said bucket movement based on said fourth angle comprises:
and controlling the bucket to reach a position corresponding to the fourth included angle by using a pid position control algorithm.
10. An excavator control apparatus, the apparatus comprising:
the first included angle obtaining unit is used for responding to the receiving of a bucket locking instruction at a first time point and obtaining a locked first included angle of a plane where the upper edge of the bucket is located relative to the ground;
the second and third included angle acquisition units are used for responding to the control that the large arm and/or the small arm of the excavator are controlled to be in a motion state at a second time point, and acquiring a second included angle of the large arm relative to the ground and a third included angle between the small arm and the large arm;
the fourth included angle calculating unit is used for calculating and obtaining a fourth included angle between the plane of the upper edge of the bucket and the small arm based on the length of the large arm, the length of the small arm, the first included angle, the second included angle, the third included angle and a space transformation matrix from a coordinate system of the plane of the upper edge of the bucket to a ground coordinate system;
and the bucket motion control unit is used for controlling the motion of the bucket based on the fourth included angle.
11. An electronic device comprising a processor and a memory; wherein the content of the first and second substances,
the memory is to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method of any one of claims 1-9.
12. A computer-readable storage medium having stored thereon one or more computer instructions for execution by a processor to perform the method of any one of claims 1-9.
CN202210392337.6A 2022-04-14 2022-04-14 Excavator control method and device Pending CN115126020A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210392337.6A CN115126020A (en) 2022-04-14 2022-04-14 Excavator control method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210392337.6A CN115126020A (en) 2022-04-14 2022-04-14 Excavator control method and device

Publications (1)

Publication Number Publication Date
CN115126020A true CN115126020A (en) 2022-09-30

Family

ID=83376941

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210392337.6A Pending CN115126020A (en) 2022-04-14 2022-04-14 Excavator control method and device

Country Status (1)

Country Link
CN (1) CN115126020A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0626073A (en) * 1992-07-08 1994-02-01 Yutani Heavy Ind Ltd Automatic control method for construction machine
CN107882103A (en) * 2017-10-26 2018-04-06 南京工业大学 A kind of excavator 3 d pose is shown and Remote Automatic Control System
CN109296019A (en) * 2018-11-08 2019-02-01 北京拓疆者智能科技有限公司 Digger arm motion control method, system and device
CN109440854A (en) * 2018-10-18 2019-03-08 南京天辰礼达电子科技有限公司 A method of calculating bucket point and large arm shaft core position relationship
CN113107044A (en) * 2021-04-21 2021-07-13 立澈(上海)自动化有限公司 Method and device for determining position of bucket of excavator and electronic equipment
CN113266047A (en) * 2021-06-23 2021-08-17 山东交通学院 Excavator construction quality real-time monitoring system and method
CN114045893A (en) * 2021-10-25 2022-02-15 上海华兴数字科技有限公司 Excavator bucket tooth point positioning method and device and excavator

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0626073A (en) * 1992-07-08 1994-02-01 Yutani Heavy Ind Ltd Automatic control method for construction machine
CN107882103A (en) * 2017-10-26 2018-04-06 南京工业大学 A kind of excavator 3 d pose is shown and Remote Automatic Control System
CN109440854A (en) * 2018-10-18 2019-03-08 南京天辰礼达电子科技有限公司 A method of calculating bucket point and large arm shaft core position relationship
CN109296019A (en) * 2018-11-08 2019-02-01 北京拓疆者智能科技有限公司 Digger arm motion control method, system and device
CN113107044A (en) * 2021-04-21 2021-07-13 立澈(上海)自动化有限公司 Method and device for determining position of bucket of excavator and electronic equipment
CN113266047A (en) * 2021-06-23 2021-08-17 山东交通学院 Excavator construction quality real-time monitoring system and method
CN114045893A (en) * 2021-10-25 2022-02-15 上海华兴数字科技有限公司 Excavator bucket tooth point positioning method and device and excavator

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
张正兵;陈进;李晓娜;: "基于正铲液压挖掘机挖掘轨迹的机构运动学分析", 机械, no. 05, 25 May 2008 (2008-05-25), pages 9 - 12 *

Similar Documents

Publication Publication Date Title
US9144907B2 (en) Control synchronization for high-latency teleoperation
KR102202558B1 (en) Three-dimensional reconstruction method and apparatus for material pile, electronic device, and computer-readable medium
JP5854655B2 (en) A method for evaluating the horizontal speed of drones, especially drones capable of hovering flight under autopilot
Dellaert et al. Fast image-based tracking by selective pixel integration
US10140765B2 (en) Staged camera traversal for three dimensional environment
EP2684651A2 (en) Robot system, robot, robot control device, robot control method, and robot control program
US11346495B2 (en) Control method for non-orthogonal gimbal, gimbal thereof, and storage device
JP6430661B2 (en) Stable platform and tracking control system and method thereof
CN109544702B (en) Three-dimensional transformation processing method, three-dimensional transformation processing device, electronic equipment and storage medium
CN109903326A (en) Method and apparatus for determining the rotation angle of engineering mechanical device
JP7197550B2 (en) Route tracking method and system based on visual localization and odometry
CN112884840A (en) Visual positioning method, device, equipment and storage medium
CN113124872A (en) Robot positioning navigation method and device, terminal equipment and robot
CN108513652A (en) The control method and device of holder
CN115126020A (en) Excavator control method and device
JP7210429B2 (en) Method, Apparatus and Robotic Apparatus, and Computer Storage Medium for Improving Robustness of Visual Inertial Odometry Systems
Corke Vision-based control
JP2009260564A (en) Mobile object image tracking apparatus
CN112743544A (en) Target positioning method, system and medium based on snake-shaped robot meandering gait
CN111704036A (en) Lifting equipment alignment system and method
CN109613935A (en) A kind of overall view monitoring method, system, equipment and storage medium
CN111265866B (en) Control method and device of virtual camera, electronic equipment and storage medium
CN112991449A (en) AGV positioning and mapping method, system, device and medium
JP2021070149A (en) Robot control system, robot control device, robot control method and program
CN109671117A (en) The space-location method and device of virtual reality interactive device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination