CN116335232A - Determination method and device for excavator bucket joint information and electronic equipment - Google Patents
Determination method and device for excavator bucket joint information and electronic equipment Download PDFInfo
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Abstract
The application provides a method and a device for determining excavator bucket joint information and electronic equipment, wherein a first inclination sensor is arranged on a small arm of an excavator; a second inclination sensor is arranged on a designated connecting rod at the joint of the bucket connected with the forearm; designating the connecting rod as any one of four connecting rods at the joint of the excavator; acquiring a first current angle measured by a first inclination angle sensor and a second current angle measured by a second inclination angle sensor; determining current bucket joint information of the excavator according to the sensor measurement value and the bucket calibration parameter of the excavator, which is acquired in advance; the bucket calibration parameters include: length parameters and angle parameters; current bucket joint information includes: current joint angle. According to the excavator bucket joint information acquisition method, the excavator bucket joint information can be accurately determined through the data acquired by the inclination angle sensor arranged on the small arm of the excavator and the first connecting rod at the excavator bucket joint and the calibration parameters acquired in advance, and the requirement of replacing the excavator bucket is met.
Description
Technical Field
The application relates to the technical field of machinery, in particular to a method and a device for determining excavator bucket joint information and electronic equipment.
Background
The automatic or semi-automatic operation of the excavator needs to obtain real-time information of the angle and the angular speed of the excavator joint through the sensor, and the prior art scheme is mainly divided into a scheme of reforming the excavator joint structure and pasting an inclination sensor. The reconstruction of the bucket joint structure can bring greater reconstruction cost, and meanwhile, the disassembly and maintenance or the replacement of the sensor are inconvenient, and the support of manufacturers is needed. The solution of attaching the tilt sensor to the excavator components is popular in the industry because of its low hardware modification costs and ease of operation.
At present, the pasting position of the inclination sensor is mainly divided into two types, namely directly pasting on the surface of the excavator bucket and pasting on the joint connecting rod of the excavator bucket, and the scheme of pasting the inclination sensor on the excavator bucket can easily obtain the attitude information of the excavator bucket, but because the excavator bucket needs to frequently interact and collide with the construction environment, the inclination sensor pasted on the excavator bucket is easily damaged. Meanwhile, due to the requirements of different operation types, the excavator can possibly replace the bucket type, so that the scheme of directly sticking the inclination angle sensor on the bucket to measure the real-time data of the angle and the angular speed of the inclination angle sensor does not meet the requirement of bucket replacement.
Unlike other joint structures of the excavator, the excavator joint is a complex four-bar linkage pushing structure, wherein a plurality of parameters are involved, and the relation between the readings of the inclination angle sensor and the information of the excavator joint can be established. The scheme that the inclination angle sensor is directly stuck to the joint connecting rod of the excavator bucket does not have an accurate calibration mode at present.
Disclosure of Invention
The utility model provides a determining method, device and electronic equipment of excavator bucket joint information, through the data that sets up on the forearm of excavator and the inclination sensor on the first connecting rod of bucket joint department gathered and the calibration parameter that acquires in advance, can accurately confirm bucket joint information to satisfy the demand of changing the bucket.
In a first aspect, an embodiment of the present application provides a method for determining excavator bucket joint information, where a first tilt sensor is installed on a forearm of an excavator; a second inclination sensor is arranged on a designated connecting rod at the joint of the bucket connected with the forearm; designating the connecting rod as any one of four connecting rods at the joint of the excavator; the method comprises the following steps: acquiring a first current angle measured by a first inclination angle sensor and a second current angle measured by a second inclination angle sensor; determining current bucket joint information of the excavator according to the first current angle, the second current angle and the bucket calibration parameters of the excavator, which are acquired in advance; wherein, bucket calibration parameters include: length parameters and angle parameters; the length parameters comprise the lengths respectively corresponding to the four connecting rods at the joint of the excavator bucket; the angle parameters include: a first calibration angle and a second calibration angle; current bucket joint information includes: current joint angle.
In a preferred embodiment of the present application, a third inclination sensor is mounted on the surface of the bucket; before the step of obtaining the first current angle and the first current angular velocity measured by the first inclination sensor and the second current angle and the second current angular velocity measured by the second inclination sensor, the method further comprises: acquiring a plurality of groups of sensor data; each set of sensor data includes: a first angle corresponding to the first inclination angle sensor, a second angle corresponding to the second inclination angle sensor and a third angle corresponding to the third inclination angle sensor; optimally solving an objective function according to a plurality of groups of sensor data and an optimization algorithm, and determining bucket calibration parameters of the excavator; wherein the objective function includes: minimizing the sum of the joint angular deviation and the joint angular velocity deviation; the joint angle deviation comprises a square of a difference between the first joint angle and the second joint angle; the joint angular velocity deviation comprises a square of a difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the plurality of groups of sensor data; the second joint angle, the second joint angular velocity are determined based on the first angle, the third angle in the plurality of sets of sensor data.
In a preferred embodiment of the present application, the specified link is a rotatable link connecting the bucket cylinder and the forearm; the first angle calculation formula corresponding to the first joint angle is as follows:
wherein alpha (theta) 1 ,θ 2 ) A first joint angle representing an excavator bucket; DE represents the length of a given link; EF represents the length of a rotatable connecting rod connecting the bucket cylinder and the bucket; AF represents the length of the non-rotatable link on the bucket; AD denotes the length of the non-rotatable link on the forearm; k represents a first calibration angle; m represents a second calibration angle; θ 1 Representing a first angle measured by a first tilt sensor; θ 2 Representing a second angle measured by a second tilt sensor;
the first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by deriving a first angle and a second angle in the first angular calculation formula; the first angular velocity calculation type represents the corresponding relation between the joint angular velocity and the first angular velocity measured by the first inclination sensor and the second angular velocity measured by the second inclination sensor.
In a preferred embodiment of the present application, the determining process of the first angle calculation formula is as follows:
obtaining a first expression of the joint angle according to the four-bar model diagram; the first expression is as follows:
α(θ 1 ,θ 2 )＝∠CAB＝2π-∠CAD-∠DAE-∠EAF-∠FAB；
Wherein 2pi— CAD- < fab=k;
determining a second expression according to the cosine law; the second expression is as follows:
wherein,,
∠EDA＝θ 2 -θ 1 +m；
substituting the second expression into the first expression to obtain a first angle calculation formula.
In a preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:
α(θ 1 ,θ 3 )＝θ 3 -θ 1 +n；
wherein alpha (theta) 1 ,θ 3 ) Representing a second joint angle determined based on the first angle and the third angle; θ 3 Representing a third angle measured by a third tilt sensor; n represents a fixed constant parameter;
the second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by deriving a third angle and the first angle in the second angle calculation formula, and the second angular velocity calculation formula is as follows:
In a preferred embodiment of the present application, the step of determining the bucket calibration parameter of the excavator by optimally solving the objective function according to the plurality of sets of sensor data and the optimization algorithm further includes: acquiring a measured value corresponding to a length parameter in the bucket calibration parameters; and substituting the measured values and the multiple groups of sensor data into an objective function at the same time to perform optimization solution, and determining an optimal solution corresponding to the angle parameters.
In a preferred embodiment of the present application, the step of determining the current bucket joint information of the excavator according to the first current angle, the second current angle and the pre-acquired bucket calibration parameter of the excavator includes: substituting the first current angle, the second current angle and the bucket calibration parameter into the first angle calculation formula to obtain the current joint angle of the bucket.
In a preferred embodiment of the present application, the current excavator joint information further includes: current joint angular velocity; the method further comprises the steps of: acquiring a first current angular velocity measured by a first inclination sensor and a second current angular velocity measured by a second inclination sensor; substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the excavator bucket.
In a second aspect, an embodiment of the present application further provides a device for determining information about a joint of an excavator bucket, where a first tilt sensor is installed on a forearm of the excavator; a second inclination sensor is arranged on a designated connecting rod at the joint of the bucket connected with the forearm; designating the connecting rod as any one of four connecting rods at the joint of the excavator; the device comprises: the measured value acquisition module is used for acquiring a first current angle measured by the first inclination angle sensor and a second current angle measured by the second inclination angle sensor; the information determining module is used for determining current bucket joint information of the excavator according to the first current angle, the second current angle and the bucket calibration parameters of the excavator, which are acquired in advance; wherein, bucket calibration parameters include: length parameters and angle parameters; the length parameters comprise the lengths respectively corresponding to the four connecting rods at the joint of the excavator bucket; the angle parameters include: a first calibration angle and a second calibration angle; current bucket joint information includes: current joint angle.
In a third aspect, embodiments of the present application further provide an electronic device, including a processor and a memory, where the memory stores computer executable instructions executable by the processor, where the processor executes the computer executable instructions to implement the method according to the first aspect.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium storing computer-executable instructions that, when invoked and executed by a processor, cause the processor to implement the method of the first aspect.
In the method and the device for determining the excavator bucket joint information and the electronic equipment provided by the embodiment of the application, a first inclination sensor is arranged on a small arm of the excavator; a second inclination sensor is arranged on a designated connecting rod at the joint of the bucket connected with the forearm; designating the connecting rod as any one of four connecting rods at the joint of the excavator; firstly, a first current angle measured by a first inclination angle sensor and a second current angle measured by a second inclination angle sensor are obtained; then acquiring bucket calibration parameters of the excavator; the bucket calibration parameters include: length parameters and angle parameters; the length parameters comprise the lengths respectively corresponding to the four connecting rods at the joint of the excavator bucket; the angle parameters include: a first calibration angle and a second calibration angle; finally, determining current excavator joint information of the excavator according to the first current angle, the second current angle and the calibration parameters; current bucket joint information includes: current joint angle. In this application embodiment, through the data that set up on the forearm of excavator and the inclination sensor that the excavator joint department appointed on the connecting rod gathered and the calibration parameter that acquires in advance, can accurately confirm excavator joint information to satisfy the demand of changing the excavator.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for determining excavator bucket joint information according to an embodiment of the present disclosure;
FIG. 2 is a flowchart of a calibration parameter determination process in a method for determining excavator bucket joint information according to an embodiment of the present application;
FIG. 3 is a schematic illustration of the installation of an inclination sensor and a structure of an excavator bucket joint according to an embodiment of the present disclosure;
FIG. 4 is a schematic representation of a fitted bucket joint angle as a function of bucket and forearm tilt sensor readings provided in an embodiment of the present application;
FIG. 5 is a schematic diagram of a functional relationship between the angular velocity of a test bucket joint and the angular and angular velocity readings of the bucket and forearm tilt sensor according to an embodiment of the present disclosure;
FIG. 6 is a block diagram of an apparatus for determining excavator bucket joint information according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
At present, the following two modes are available for acquiring excavator bucket information:
first kind: the inclination angle sensor is directly stuck on the excavator bucket. Because the excavator is required to frequently interact and collide with the construction environment, the inclination angle sensor stuck on the excavator is easy to damage. Meanwhile, due to the requirements of different operation types, the excavator can possibly replace the type of the excavator bucket, so that the scheme of directly sticking the inclination angle sensor on the excavator bucket to measure the real-time data of the angle and the angular speed of the excavator bucket is not very robust.
Second kind: the inclination angle sensor is stuck at the connecting rod of the excavator bucket. This approach requires complex angle and angular velocity conversion equations, and no complete bucket joint angle and angular velocity conversion equations are presented. Meanwhile, the existing parameter determination method is characterized in that parameters of an equation are determined by measuring the length and the included angle of each connecting rod, the operation process is troublesome and inaccurate, or the parameters are obtained in cooperation with excavator manufacturers, and the threshold is high.
Based on this, the embodiment of the application provides a determination method, a device and electronic equipment for excavator bucket joint information, which can accurately determine the bucket joint information through data acquired by tilt angle sensors arranged on a small arm of an excavator and a designated connecting rod at the bucket joint and calibration parameters acquired in advance, and meet the requirement of bucket replacement.
For the convenience of understanding the present embodiment, a detailed description will be given of a method for determining excavator bucket joint information disclosed in the embodiments of the present application.
FIG. 1 is a flowchart of a method for determining joint information of an excavator bucket according to an embodiment of the present application, where a first tilt sensor is mounted on a forearm of the excavator; a second inclination sensor is arranged on a designated connecting rod at the joint of the bucket connected with the forearm; the designated connecting rod is any one of four connecting rods at the joint of the excavator bucket; the method specifically comprises the following steps:
step S102, a first current angle measured by a first inclination angle sensor and a second current angle measured by a second inclination angle sensor are obtained.
The inclination sensor is also called an inclinometer, a level gauge and an inclinometer, is often used for measuring horizontal angle change of the system, and can acquire angular velocity corresponding to the angle change at the same time, so that the first current angle and the second current angle can be acquired through the inclination sensor arranged on the small arm of the excavator and the first connecting rod at the joint of the excavator;
Step S104, determining current bucket joint information of the excavator according to the first current angle, the second current angle and the bucket calibration parameters of the excavator, which are acquired in advance;
wherein, bucket calibration parameters include: length parameters and angle parameters; the length parameters comprise the lengths respectively corresponding to the four connecting rods at the joint of the excavator bucket; the angle parameters include: a first calibration angle and a second calibration angle; current bucket joint information includes: current joint angle.
The first calibration angle is an angle constant of the excavator bucket and the connecting rod in the current state, and the second calibration angle is an angle constant when the positions of the first inclination sensor and the second inclination sensor are fixed, specifically an angle constant related to an included angle between the second inclination sensor and the connecting rod and an included angle between the first inclination sensor and the forearm. Under the condition that a third inclination angle sensor is arranged on the surface of the bucket, the bucket calibration parameters can be calculated and determined through multiple groups of data acquired by the three inclination angle sensors. The specific calibration process is described later.
In the method for determining excavator bucket joint information, a first current angle and a second current angle are obtained through inclination angle sensors arranged on a small arm of an excavator and on a first connecting rod at a bucket joint; then, the excavator bucket joint information can be accurately determined by utilizing the sensor data and the acquired bucket calibration parameters, such as the length parameters and the angle parameters, and in the mode, the sensor is not arranged on the surface of the excavator bucket, so that the requirement of bucket replacement can be met.
The embodiment of the application also provides another method for determining excavator bucket joint information, which is realized on the basis of the embodiment; the embodiment focuses on the process of acquiring calibration parameters and the process of determining the joint information of the bucket.
Referring to fig. 2, the process of obtaining the bucket calibration parameters is as follows:
in order to calibrate length parameters and angle parameters, a third inclination sensor is arranged on the surface of the excavator bucket;
step S202, acquiring a plurality of groups of sensor data; each set of sensor data includes: a first angle corresponding to the first inclination angle sensor, a second angle corresponding to the second inclination angle sensor and a third angle corresponding to the third inclination angle sensor;
step S204, optimally solving an objective function according to a plurality of groups of sensor data and an optimization algorithm, and determining bucket calibration parameters of the excavator;
wherein the objective function includes: minimizing the sum of the joint angular deviation and the joint angular velocity deviation; the method comprises the following steps:
wherein,,
the joint angle deviation includes a first joint angle alpha (theta 1 ,θ 2 ) Angle alpha (theta) to the second joint 1 ,θ 3 ) Is the square of the difference of (2); the joint angular velocity deviation includes a first joint angular velocity
Angular velocity of the second joint->
Is the square of the difference of (2); first joint angle alpha (theta 1 ,θ 2 ) First joint angular velocity->
Based on a first angle θ in multiple sets of sensor data 1 Second angle theta 2 Determining; second joint angle alpha (theta) 1 ,θ 3 ) Second joint angular velocity->
Based on a first angle θ in multiple sets of sensor data 1 Third angle theta 3 And (5) determining.
The following describes in detail the calculation modes of the first joint angle, the second joint angle, the first joint angular velocity, and the second joint angular velocity:
as shown in the model diagram of four-bar linkage of the excavator in fig. 3, the excavator bucket joint is composed of four bars AD, DE, EF, AF, the cylinder pushes the DE bar to rotate to cause the rotation of the bucket rotating shaft a point, the rotation angle and the angular velocity of the rotating shaft a, that is, the bucket joint information, are expected to be measured in real time by installing the inclination sensor, in this embodiment, in addition to installing the first inclination sensor S1 on the small arm of the excavator to measure the angle and the angular velocity of the small arm relative to the ground plane, installing the second inclination sensor S2 on the bar DE, and installing the third inclination sensor S3 on the surface of the bucket.
In a preferred embodiment of the present application, the first angle calculation formula corresponding to the first joint angle is as follows:
wherein alpha (theta) 1 ,θ 2 ) Represented by a first angle theta 1 Second angle theta 2 The determined first joint angle of the excavator bucket; DE represents the length of a given link; EF represents the length of a rotatable connecting rod connecting the bucket cylinder and the bucket; AF represents the length of the non-rotatable link on the bucket; AD denotes the length of the non-rotatable link on the forearm; k represents a first calibration angle; m represents a second calibration angle; θ 1 Representing a first angle measured by a first tilt sensor; θ 2 Representing a second angle measured by a second tilt sensor.
From the above, it can be seen that the angle α of the rotation axis A at the joint of the bucket is related to the lengths of the four connecting rods AD, DE, EF, AF and the angle parameters k, m, and the values of these six parameters are calibrated according to the angle measurement values (θ 1 ,θ 2 ) The angle α of the rotation axis a is calculated in real time. Meanwhile, the angular speed of the rotating shaft A can be obtained by deriving the above method
Angular velocity measurements (ω) with tilt sensors S1 and S2 1 ,ω 2 ) Is the relation of (a), namely:
wherein,,
representing the first joint angular velocity. I.e. a first angular velocity corresponding to the first joint angular velocityThe calculation formula is obtained by deriving a first angle and a second angle in the first angle calculation formula; the first angular velocity calculation type represents the corresponding relation between the joint angular velocity and the first angular velocity measured by the first inclination sensor and the second angular velocity measured by the second inclination sensor.
In a preferred embodiment of the present application, the determining process of the first angle calculation formula is as follows:
(1) Obtaining a first expression of the joint angle according to the four-bar model diagram; the first expression is as follows:
α(θ 1 ,θ 2 )＝∠CAB＝2π-∠CAD-∠DAE-∠EAF-∠FAB；
wherein 2pi— CAD- < fab=k;
wherein alpha (theta) 1 ,θ 2 ) A first joint angle representing an excavator bucket; k is one of the fixed parameters that need to be calibrated. θ 1 ,θ 2 The included angles of the coordinate axes of the first inclination angle sensor and the second inclination angle sensor and the ground plane are respectively represented, S2 and DE are not necessarily parallel, the inclination angle sensor only needs to be rigidly connected to DE, that is to say, the difference between the reading of the inclination angle sensor and the included angle between DE and the horizontal plane is fixed at a certain angle.
(2) Determining a second expression according to the cosine law; the second expression is as follows:
wherein,,
∠EDA＝θ 2 -θ 1 +m；
wherein, m is the difference value of the included angle between the angle EDA and the two inclination sensors (the first inclination sensor and the second inclination sensor), which is one of fixed parameters to be calibrated. Because the direction of the second tilt sensor S2 and the angle of the difference DE are fixed (rigid adhesion), and the direction of the first tilt sensor S1 and the angle of the difference DA are fixed (S1 is rigidly adhered to the forearm and DA is also fixed on the forearm), the angles EDA and S1 and S2 are different by a certain fixed angle m.
(3) Substituting the second expression into the first expression to obtain a first angle calculation formula.
In a preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:
α(θ 1 ,θ 3 )＝θ 3 -θ 1 +n；
wherein alpha (theta) 1 ,θ 3 ) Representing a second joint angle determined based on the first angle and the third angle; θ 3 Representing a third angle measured by a third tilt sensor; n represents a fixed constant parameter; because S3 and bucket rigid connection, so S3' S direction and AB direction difference fixed contained angle, S1 and forearm rigid connection, so S1 direction and CA direction difference fixed contained angle. So that the included angle CAB of the rotating shaft A is equal to the angle difference of S3-S1 plus a fixed offset angle n; n can be obtained by manually adjusting the calculated bucket posture and the actual bucket posture through the observation sensor, for example, the bucket can be placed on the horizontal ground, and the calculated bucket posture can be adjusted to be horizontal through the adjustment of n.
The second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by deriving a third angle and the first angle in the second angle calculation formula, and the second angular velocity calculation formula is as follows:
In a preferred embodiment of the present application, the step of determining the bucket calibration parameter of the excavator by optimally solving the objective function according to the multiple sets of sensor data and the optimization algorithm further includes: acquiring a measured value corresponding to a length parameter in the bucket calibration parameters; and substituting the measured values and the multiple groups of sensor data into an objective function at the same time to perform optimization solution, and determining an optimal solution corresponding to the angle parameters.
In specific implementation, since there may be a plurality of minimum values of the objective function, the value of the parameter AD, DE, EF, AF may be measured first, and the random gradient descent method may be performed based on the initial value of the parameter AD, DE, EF, AF to perform optimization solution.
In a preferred embodiment of the present application, the step of determining the current bucket joint information of the excavator according to the first current angle, the second current angle and the pre-acquired bucket calibration parameter of the excavator includes:
substituting the first current angle, the second current angle and the bucket calibration parameter into the first angle calculation formula to obtain the current joint angle of the bucket.
In a preferred embodiment, the current excavator joint information further includes: current joint angular velocity; the method further comprises the steps of: acquiring a first current angular velocity measured by a first inclination sensor and a second current angular velocity measured by a second inclination sensor; substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the excavator bucket.
As shown in fig. 4, for the comparison of the joint angle values solved based on the length and angle parameters of the four links AD, DE, EF, AF that are calibrated, with the joint angle values measured by the bucket sensor S3, it can be seen that the angle function curves with six parameters and the measured joint angle scatter height coincide. Meanwhile, as shown in fig. 5, the joint angular velocity value solved according to the length and angle parameters of the four calibrated connecting rods AD, DE, EF, AF is compared with the joint angular velocity value measured by the bucket sensor S3, and the difference between the joint angular velocity value and the joint angular velocity value is very small, which illustrates the solving accuracy of the calibration method and the deduction accuracy of the kinematic relationship.
According to the method for determining the excavator bucket joint information, the angle and angular speed conversion equation of the excavator bucket is deduced, and a set of accurate and convenient calibration method is provided. The calibration method does not need complex manual operation, does not have errors caused by manual measurement, can accurately solve the four-bar linkage kinematic equation parameters of the excavator, and is favorable for improving the automatic operation precision of the excavator. Meanwhile, the inclination angle sensor is stuck to the position of the bucket connecting rod and does not need to be stuck to the surface of the bucket, so that the bucket angle and angular velocity measuring method is convenient for replacing bucket parts in automatic operation.
Based on the method embodiment, the embodiment of the application also provides a determination device for the excavator bucket joint information, wherein a first inclination angle sensor is arranged on a small arm of the excavator; a second inclination sensor is arranged on a designated connecting rod at the joint of the bucket connected with the forearm; designating the connecting rod as any one of four connecting rods at the joint of the excavator; referring to fig. 6, the apparatus includes: a measured value obtaining module 62, configured to obtain a first current angle measured by the first inclination sensor and a second current angle measured by the second inclination sensor; the information determining module 64 is configured to determine current bucket joint information of the excavator according to the first current angle, the second current angle, and a previously acquired bucket calibration parameter of the excavator; wherein, bucket calibration parameters include: length parameters and angle parameters; the length parameters comprise the lengths respectively corresponding to the four connecting rods at the joint of the excavator bucket; the angle parameters include: a first calibration angle and a second calibration angle; current bucket joint information includes: current joint angle.
In a preferred embodiment of the present application, a third inclination sensor is mounted on the surface of the bucket; the device further comprises: the calibration module is used for acquiring a plurality of groups of sensor data; each set of sensor data includes: a first angle corresponding to the first inclination angle sensor, a second angle corresponding to the second inclination angle sensor and a third angle corresponding to the third inclination angle sensor; optimally solving an objective function according to a plurality of groups of sensor data and an optimization algorithm, and determining bucket calibration parameters of the excavator; wherein the objective function includes: minimizing the sum of the joint angular deviation and the joint angular velocity deviation; the joint angle deviation comprises a square of a difference between the first joint angle and the second joint angle; the joint angular velocity deviation comprises a square of a difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the plurality of groups of sensor data; the second joint angle, the second joint angular velocity are determined based on the first angle, the third angle in the plurality of sets of sensor data.
In a preferred embodiment of the present application, the specified link is a rotatable link connecting the bucket cylinder and the forearm; the first angle calculation formula corresponding to the first joint angle is as follows:
wherein alpha (theta) 1 ,θ 2 ) A first joint angle representing an excavator bucket; DE represents the length of a given link; EF represents the length of a rotatable connecting rod connecting the bucket cylinder and the bucket; AF represents the length of the non-rotatable link on the bucket; AD denotes the length of the non-rotatable link on the forearm; k represents a first calibration angle; m represents a second calibration angle; θ 1 Representing a first angle measured by a first tilt sensor; θ 2 Representing a second angle measured by a second tilt sensor;
the first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by deriving a first angle and a second angle in the first angular calculation formula; the first angular velocity calculation type represents the corresponding relation between the joint angular velocity and the first angular velocity measured by the first inclination sensor and the second angular velocity measured by the second inclination sensor.
In a preferred embodiment of the present application, the determining process of the first angle calculation formula is as follows:
obtaining a first expression of the joint angle according to the four-bar model diagram; the first expression is as follows:
α(θ 1 ,θ 2 )＝∠CAB＝2π-∠CAD-∠DAE-∠EAF-∠FAB；
Wherein 2pi— CAD- < fab=k;
determining a second expression according to the cosine law; the second expression is as follows:
wherein,,
∠EDA＝θ 2 -θ 1 +m；
substituting the second expression into the first expression to obtain a first angle calculation formula.
In a preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:
α(θ 1 ,θ 3 )＝θ 3 -θ 1 +n；
wherein alpha (theta) 1 ,θ 3 ) Representing a second joint angle determined based on the first angle and the third angle; θ 3 Representing a third angle measured by a third tilt sensor; n represents a fixed constant parameter;
the second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by deriving a third angle and the first angle in the second angle calculation formula, and the second angular velocity calculation formula is as follows:
In a preferred embodiment of the present application, the calibration module is further configured to: acquiring a measured value corresponding to a length parameter in the bucket calibration parameters; and substituting the measured values and the multiple groups of sensor data into an objective function at the same time to perform optimization solution, and determining an optimal solution corresponding to the angle parameters.
In a preferred embodiment of the present application, the information determining module 64 is configured to substitute the first current angle, the second current angle, and the bucket calibration parameter into the first angle calculation formula to obtain the current joint angle of the bucket.
In a preferred embodiment of the present application, the information determining module 64 is configured to obtain a first current angular velocity measured by the first tilt sensor and a second current angular velocity measured by the second tilt sensor; substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the excavator bucket.
The device provided in the embodiments of the present application has the same implementation principle and technical effects as those of the foregoing method embodiments, and for a brief description, reference may be made to corresponding matters in the foregoing method embodiments where no reference is made to the description of the embodiments of the device.
The embodiment of the present application further provides an electronic device, as shown in fig. 7, which is a schematic structural diagram of the electronic device, where the electronic device includes a processor 71 and a memory 70, the memory 70 stores computer executable instructions that can be executed by the processor 71, and the processor 71 executes the computer executable instructions to implement the following steps:
Acquiring a first current angle measured by a first inclination angle sensor and a second current angle measured by a second inclination angle sensor; determining current bucket joint information of the excavator according to the first current angle, the second current angle and the bucket calibration parameters of the excavator, which are acquired in advance; wherein, bucket calibration parameters include: length parameters and angle parameters; the length parameters comprise the lengths respectively corresponding to the four connecting rods at the joint of the excavator bucket; the angle parameters include: a first calibration angle and a second calibration angle; current bucket joint information includes: current joint angle.
In a preferred embodiment of the present application, a third inclination sensor is mounted on the surface of the bucket; before the step of obtaining the first current angle and the first current angular velocity measured by the first inclination sensor and the second current angle and the second current angular velocity measured by the second inclination sensor, the method further comprises: acquiring a plurality of groups of sensor data; each set of sensor data includes: a first angle corresponding to the first inclination angle sensor, a second angle corresponding to the second inclination angle sensor and a third angle corresponding to the third inclination angle sensor; optimally solving an objective function according to a plurality of groups of sensor data and an optimization algorithm, and determining bucket calibration parameters of the excavator; wherein the objective function includes: minimizing the sum of the joint angular deviation and the joint angular velocity deviation; the joint angle deviation comprises a square of a difference between the first joint angle and the second joint angle; the joint angular velocity deviation comprises a square of a difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the plurality of groups of sensor data; the second joint angle, the second joint angular velocity are determined based on the first angle, the third angle in the plurality of sets of sensor data.
In a preferred embodiment of the present application, the specified link is a rotatable link connecting the bucket cylinder and the forearm; the first angle calculation formula corresponding to the first joint angle is as follows:
wherein alpha (theta) 1 ,θ 2 ) A first joint angle representing an excavator bucket; DE represents the length of a given link; EF represents the length of a rotatable connecting rod connecting the bucket cylinder and the bucket; AF represents the length of the non-rotatable link on the bucket; AD denotes the length of the non-rotatable link on the forearm; k represents a first calibration angle; m represents a second calibration angle; θ 1 Representing a first angle measured by a first tilt sensor; θ 2 Representing a second angle measured by a second tilt sensor;
the first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by deriving a first angle and a second angle in the first angular calculation formula; the first angular velocity calculation type represents the corresponding relation between the joint angular velocity and the first angular velocity measured by the first inclination sensor and the second angular velocity measured by the second inclination sensor.
In a preferred embodiment of the present application, the determining process of the first angle calculation formula is as follows:
obtaining a first expression of the joint angle according to the four-bar model diagram; the first expression is as follows:
α(θ 1 ,θ 2 )＝∠CAB＝2π-∠CAD-∠DAE-∠EAF-∠FAB；
Wherein 2pi— CAD- < fab=k;
determining a second expression according to the cosine law; the second expression is as follows:
wherein,,
∠EDA＝θ 2 -θ 1 +m；
substituting the second expression into the first expression to obtain a first angle calculation formula.
In a preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:
α(θ 1 ,θ 3 )＝θ 3 -θ 1 +n；
wherein alpha (theta) 1 ,θ 3 ) Representing a second joint angle determined based on the first angle and the third angle; θ 3 Representing a third angle measured by a third tilt sensor; n represents a fixed constant parameter;
the second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by deriving a third angle and the first angle in the second angle calculation formula, and the second angular velocity calculation formula is as follows:
In a preferred embodiment of the present application, the step of determining the bucket calibration parameter of the excavator by optimally solving the objective function according to the plurality of sets of sensor data and the optimization algorithm further includes: acquiring a measured value corresponding to a length parameter in the bucket calibration parameters; and substituting the measured values and the multiple groups of sensor data into an objective function at the same time to perform optimization solution, and determining an optimal solution corresponding to the angle parameters.
In a preferred embodiment of the present application, the step of determining the current bucket joint information of the excavator according to the first current angle, the second current angle and the pre-acquired bucket calibration parameter of the excavator includes: substituting the first current angle, the second current angle and the bucket calibration parameter into the first angle calculation formula to obtain the current joint angle of the bucket.
In a preferred embodiment of the present application, the current excavator joint information further includes: current joint angular velocity; the method further comprises the steps of: acquiring a first current angular velocity measured by a first inclination sensor and a second current angular velocity measured by a second inclination sensor; substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the excavator bucket.
According to the electronic equipment provided by the embodiment of the application, the current bucket joint information of the excavator bucket can be accurately known according to the angle and angular speed conversion equation of the excavator bucket and the accurate and convenient calibration method. The calibration process does not need complex manual operation, does not have errors caused by manual measurement, can accurately solve the four-bar linkage kinematic equation parameters of the excavator, and is favorable for improving the automatic operation precision of the excavator. Meanwhile, the inclination angle sensor is stuck to the position of the bucket connecting rod and does not need to be stuck to the surface of the bucket, so that the bucket angle and angular velocity measuring method is convenient for replacing bucket parts in automatic operation.
In the embodiment shown in fig. 7, the electronic device further comprises a bus 72 and a communication interface 73, wherein the processor 71, the communication interface 73 and the memory 70 are connected by the bus 72.
The memory 70 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and the at least one other network element is achieved via at least one communication interface 73 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc. Bus 72 may be an ISA (Industry Standard Architecture ) bus, PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The bus 72 may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one bi-directional arrow is shown in FIG. 7, but not only one bus or type of bus.
The processor 71 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 71. The processor 71 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory and the processor 71 reads the information in the memory and in combination with its hardware performs the steps of the method of the previous embodiment.
Embodiments also provide a computer readable storage medium storing computer executable instructions that, when invoked and executed by a processor, cause the processor to perform the method steps of:
acquiring a first current angle measured by a first inclination angle sensor and a second current angle measured by a second inclination angle sensor; determining current bucket joint information of the excavator according to the first current angle, the second current angle and the bucket calibration parameters of the excavator, which are acquired in advance; wherein, bucket calibration parameters include: length parameters and angle parameters; the length parameters comprise the lengths respectively corresponding to the four connecting rods at the joint of the excavator bucket; the angle parameters include: a first calibration angle and a second calibration angle; current bucket joint information includes: current joint angle.
In a preferred embodiment of the present application, a third inclination sensor is mounted on the surface of the bucket; before the step of obtaining the first current angle and the first current angular velocity measured by the first inclination sensor and the second current angle and the second current angular velocity measured by the second inclination sensor, the method further comprises: acquiring a plurality of groups of sensor data; each set of sensor data includes: a first angle corresponding to the first inclination angle sensor, a second angle corresponding to the second inclination angle sensor and a third angle corresponding to the third inclination angle sensor; optimally solving an objective function according to a plurality of groups of sensor data and an optimization algorithm, and determining bucket calibration parameters of the excavator; wherein the objective function includes: minimizing the sum of the joint angular deviation and the joint angular velocity deviation; the joint angle deviation comprises a square of a difference between the first joint angle and the second joint angle; the joint angular velocity deviation comprises a square of a difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on the first angle and the second angle in the plurality of groups of sensor data; the second joint angle, the second joint angular velocity are determined based on the first angle, the third angle in the plurality of sets of sensor data.
In a preferred embodiment of the present application, the specified link is a rotatable link connecting the bucket cylinder and the forearm; the first angle calculation formula corresponding to the first joint angle is as follows:
wherein alpha (theta) 1 ,θ 2 ) A first joint angle representing an excavator bucket; DE represents the length of a given link; EF represents the length of a rotatable connecting rod connecting the bucket cylinder and the bucket; AF represents the length of the non-rotatable link on the bucket; AD denotes the length of the non-rotatable link on the forearm; k represents a first calibration angle; m represents a second calibration angle; θ 1 Representing a first angle measured by a first tilt sensor; θ 2 Representing a second angle measured by a second tilt sensor;
the first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by deriving a first angle and a second angle in the first angular calculation formula; the first angular velocity calculation type represents the corresponding relation between the joint angular velocity and the first angular velocity measured by the first inclination sensor and the second angular velocity measured by the second inclination sensor.
In a preferred embodiment of the present application, the determining process of the first angle calculation formula is as follows:
obtaining a first expression of the joint angle according to the four-bar model diagram; the first expression is as follows:
α(θ 1 ,θ 2 )＝∠CAB＝2π-∠CAD-∠DAE-∠EAF-∠FAB；
Wherein 2pi— CAD- < fab=k;
determining a second expression according to the cosine law; the second expression is as follows:
wherein,,
∠EDA＝θ 2 -θ 1 +m；
substituting the second expression into the first expression to obtain a first angle calculation formula.
In a preferred embodiment of the present application, the second angle calculation formula corresponding to the second joint angle is as follows:
α(θ 1 ,θ 3 )＝θ 3 -θ 1 +n；
wherein alpha (theta) 1 ,θ 3 ) Representing a second joint angle determined based on the first angle and the third angle; θ 3 Representing a third angle measured by a third tilt sensor; n represents a fixed constant parameter;
the second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by deriving a third angle and the first angle in the second angle calculation formula, and the second angular velocity calculation formula is as follows:
In a preferred embodiment of the present application, the step of determining the bucket calibration parameter of the excavator by optimally solving the objective function according to the plurality of sets of sensor data and the optimization algorithm further includes: acquiring a measured value corresponding to a length parameter in the bucket calibration parameters; and substituting the measured values and the multiple groups of sensor data into an objective function at the same time to perform optimization solution, and determining an optimal solution corresponding to the angle parameters.
In a preferred embodiment of the present application, the step of determining the current bucket joint information of the excavator according to the first current angle, the second current angle and the pre-acquired bucket calibration parameter of the excavator includes: substituting the first current angle, the second current angle and the bucket calibration parameter into the first angle calculation formula to obtain the current joint angle of the bucket.
In a preferred embodiment of the present application, the current excavator joint information further includes: current joint angular velocity; the method further comprises the steps of: acquiring a first current angular velocity measured by a first inclination sensor and a second current angular velocity measured by a second inclination sensor; substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the excavator bucket.
The method, the apparatus and the computer program product of the electronic device provided in the embodiments of the present application include a computer readable storage medium storing program codes, where the instructions included in the program codes may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment and will not be described herein.
The relative steps, numerical expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. 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.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the foregoing examples are merely specific embodiments of the present application, and are not intended to limit the scope of the present application, but the present application is not limited thereto, and those skilled in the art will appreciate that while the foregoing examples are described in detail, the present application is not limited thereto. Any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. The method for determining the excavator bucket joint information is characterized in that a first inclination angle sensor is arranged on a small arm of the excavator; a second inclination sensor is arranged on a designated connecting rod at the joint of the bucket connected with the small arm; the designated connecting rod is any one of four connecting rods at the joint of the excavator bucket; the method comprises the following steps:
Acquiring a first current angle measured by the first inclination angle sensor and a second current angle measured by the second inclination angle sensor;
determining current bucket joint information of the excavator according to the first current angle, the second current angle and the pre-acquired bucket calibration parameters of the excavator;
wherein, the bucket calibration parameters include: length parameters and angle parameters; the length parameters comprise the lengths respectively corresponding to the four connecting rods at the excavator bucket joints; the angle parameters include: a first calibration angle and a second calibration angle; the current bucket joint information includes: current joint angle.
2. The method of claim 1 wherein the bucket surface is equipped with a third tilt sensor; before the step of obtaining the first current angle measured by the first inclination sensor and the second current angle measured by the second inclination sensor, the method further comprises the following steps:
acquiring a plurality of groups of sensor data; each set of said sensor data comprises: a first angle corresponding to the first inclination angle sensor, a second angle corresponding to the second inclination angle sensor and a third angle corresponding to the third inclination angle sensor;
Optimally solving an objective function according to a plurality of groups of sensor data and an optimization algorithm, and determining bucket calibration parameters of the excavator;
wherein the objective function includes: minimizing the sum of the joint angular deviation and the joint angular velocity deviation; the joint angle deviation comprises a square of a difference between the first joint angle and the second joint angle; the joint angular velocity deviation comprises a square of a difference between the first joint angular velocity and the second joint angular velocity; the first joint angle and the first joint angular velocity are determined based on a first angle and a second angle in the plurality of groups of sensor data; the second joint angle, the second joint angular velocity is determined based on the first angle, the third angle in the plurality of sets of sensor data.
3. The method of claim 2, wherein the designated link is a rotatable link connecting the bucket cylinder and the forearm; the first angle calculation formula corresponding to the first joint angle is as follows:
wherein alpha (theta) 1 ,θ 2 ) A first joint angle representing an excavator bucket; DE represents the length of the designated link; EF represents the length of a rotatable connecting rod connecting the bucket cylinder and the bucket; AF represents the length of the non-rotatable link on the bucket; AD denotes the length of the non-rotatable link on the forearm; k represents a first calibration angle; m represents a second calibration angle; θ 1 Representing a first angle measured by the first tilt sensor; θ 2 Representing a second angle measured by the second tilt sensor;
the first angular velocity calculation formula corresponding to the first joint angular velocity is obtained by deriving a first angle and a second angle in the first angular calculation formula; and the first angular velocity calculation type represents the corresponding relation between the joint angular velocity and the first angular velocity measured by the first inclination sensor and the second angular velocity measured by the second inclination sensor.
4. A method according to claim 3, wherein the first angular calculation is determined as follows:
obtaining a first expression of the joint angle according to the four-bar model diagram; the first expression is as follows:
α(θ 1 ,θ 2 )＝∠CAB＝2π-∠CAD-∠DAE-∠EAF-∠FAB；
wherein 2pi— CAD- < fab=k;
determining a second expression according to the cosine law; the second expression is as follows:
wherein,,
∠EDA＝θ 2 -θ 1 +m；
substituting the second expression into the first expression to obtain the first angle calculation formula.
5. A method according to claim 3, wherein the second joint angle corresponds to a second angle calculated as:
α(θ 1 ,θ 3 )＝θ 3 -θ 1 +n；
wherein alpha (theta) 1 ,θ 3 ) Representing a second joint angle determined based on the first angle and the third angle; θ 3 Representing a third angle measured by the third tilt sensor; n represents a fixed constant parameter;
the second angular velocity calculation formula corresponding to the second joint angular velocity is obtained by deriving a third angle and a first angle in the second angle calculation formula, and the second angular velocity calculation formula is as follows:
6. The method of claim 3, wherein the step of determining the bucket calibration parameters for the excavator by optimally solving an objective function based on the plurality of sets of sensor data and an optimization algorithm further comprises:
acquiring a measured value corresponding to a length parameter in the bucket calibration parameters;
substituting the measured values and the multiple groups of sensor data into the objective function at the same time to perform optimization solution, and determining an optimal solution corresponding to the angle parameter.
7. A method according to claim 3, wherein the step of determining current bucket joint information for the excavator based on the first current angle, the second current angle and a pre-obtained bucket calibration parameter for the excavator comprises:
Substituting the first current angle, the second current angle and the bucket calibration parameter into the first angle calculation formula to obtain the current joint angle of the bucket.
8. The method of claim 7, wherein the current bucket joint information further comprises: current joint angular velocity; the method further comprises the steps of:
acquiring a first current angular velocity measured by the first inclination sensor and a second current angular velocity measured by the second inclination sensor;
substituting the first current angular velocity and the second current angular velocity into the first angular velocity calculation formula to obtain the current joint angular velocity of the excavator bucket.
9. The device for determining the excavator bucket joint information is characterized in that a first inclination angle sensor is arranged on a small arm of the excavator; a second inclination sensor is arranged on a designated connecting rod at the joint of the bucket connected with the small arm; the designated connecting rod is any one of four connecting rods at the joint of the excavator bucket; the device comprises:
the measured value acquisition module is used for acquiring a first current angle measured by the first inclination angle sensor and a second current angle measured by the second inclination angle sensor;
The information determining module is used for determining current bucket joint information of the excavator according to the first current angle, the second current angle and the bucket calibration parameters of the excavator, which are acquired in advance; wherein, the bucket calibration parameters include: length parameters and angle parameters; the length parameters comprise the lengths respectively corresponding to the four connecting rods at the excavator bucket joints; the angle parameters include: a first calibration angle and a second calibration angle; the current bucket joint information includes: current joint angle.
10. An electronic device comprising a processor and a memory, the memory storing computer-executable instructions executable by the processor, the processor executing the computer-executable instructions to implement the method of any one of claims 1 to 8.
11. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the method of any one of claims 1 to 8.
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| CN202310313319.9A CN116335232A (en) | 2023-03-28 | 2023-03-28 | Determination method and device for excavator bucket joint information and electronic equipment |
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