CN117349570A - Positioning method, device, equipment and medium for rotation center of excavator - Google Patents
Positioning method, device, equipment and medium for rotation center of excavator Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a medium for positioning a rotation center of an excavator. The method comprises the following steps: when the excavator keeps the vehicle body in a horizontal state, acquiring initial positioning results of a rotation center of the excavator under at least three rotation angles of the rotation platform; if the initial positioning results of the rotation centers are determined to have deviation, taking the expected value of the rotation center as the circle center of the target circle, and taking the initial positioning results of the rotation centers as the edge points of the target circle; according to the circular graph property, calculating to obtain a rotation center expected value according to initial positioning results of all rotation centers, and outputting the rotation center positioning result of the excavator according to the rotation center expected value. According to the technical scheme provided by the embodiment of the invention, the positioning error of the rotation center, which is introduced by the installation error and the like, can be accurately removed by carrying out secondary calibration on the positioning result of the excavator, so that the positioning accuracy is improved, the positioning system can be prevented from being improved by a complex installation process and the like, and the production cost is reduced.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a method, an apparatus, a device, and a medium for positioning a rotation center of an excavator.
Background
At present, the excavator performs positioning of the rotation center by installing a positioning device on a vehicle, the positioning device is generally an RTK (Real Time Kinematic, real-time dynamic) positioning module or an SLAM (Simultaneous Localization and Mapping, timely positioning and map construction) positioning module, the positioning device can accurately calculate the position of the positioning module, and then the position of the rotation center is calculated through a transformation matrix according to the relative position between the installation position and the rotation center.
However, in the process of implementing the present invention, the inventors found that the following drawbacks exist in the prior art: due to the structural characteristics of the excavator, certain deviation exists between the position of the installation positioning device and the position of the installation structural member and the expected installation position of the installation positioning device, and the rotation center has no obvious physical characteristics, so that accurate coordinate measurement of the positioning device becomes impossible. Specifically, fig. 1 shows a schematic diagram of the deviation generated when the conventional technique is used for positioning the center of rotation.
Disclosure of Invention
The invention provides a method, a device, equipment and a medium for positioning the rotation center of an excavator, which are used for solving the problem that the position of the rotation center cannot be accurately measured in the prior art and improving the positioning precision
In a first aspect, an embodiment of the present invention provides a method for positioning a rotation center of an excavator, where the method includes:
when the excavator keeps the vehicle body in a horizontal state, acquiring initial positioning results of a rotation center of the excavator under at least three rotation angles of the rotation platform;
if the initial positioning results of the rotation centers are determined to have deviation, taking the expected value of the rotation center as the circle center of the target circle, and taking the initial positioning results of the rotation centers as the edge points of the target circle;
according to the circular graph property, calculating to obtain a rotation center expected value according to initial positioning results of all rotation centers, and outputting the rotation center positioning result of the excavator according to the rotation center expected value.
In a second aspect, an embodiment of the present invention further provides a positioning device for a rotation center of an excavator, where the device includes:
the positioning result acquisition module is used for acquiring initial positioning results of a rotation center of the excavator under at least three rotation angles of the rotation platform when the excavator keeps the vehicle body in a horizontal state;
The positioning result calibration module is used for taking the expected value of the rotation center as the circle center of the target circle and taking the initial positioning result of each rotation center as the edge point of the target circle if the initial positioning result of each rotation center is determined to have deviation;
the positioning result output module is used for calculating and obtaining a rotation center expected value according to the initial positioning result of each rotation center and outputting the rotation center positioning result of the excavator according to the rotation center expected value according to the circular graph property.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of locating a center of rotation of an excavator according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a method for locating a center of gyration of an excavator according to any one of the embodiments of the present invention.
According to the technical scheme, the characteristic that the rotation center is unchanged when the excavator rotates on the horizontal plane is utilized, and the positioning of the vehicle is secondarily calibrated, so that the positioning error of the rotation center caused by the installation error and the like can be accurately removed, and the positioning accuracy of the vehicle is improved. And the positioning accuracy of the positioning system is prevented from being improved through complex mounting technology and the like, and the production cost is reduced.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the resulting bias generated when positioning using the prior art;
FIG. 2 is a flow chart of a method for locating a center of rotation of an excavator according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of calculating a center of rotation position from a change in the position of rotation, to which the present invention is applied;
FIG. 4 is a flow chart of another method for locating a center of rotation of an excavator according to a second embodiment of the present invention;
FIG. 5 is a diagram of a specific application scenario for calibrating the position of a center of rotation, as applicable to the solution according to an embodiment of the present invention;
FIG. 6 is a schematic view of a positioning device for a center of rotation of an excavator according to a third embodiment of the present invention;
fig. 7 is a schematic structural view of an electronic device for implementing a method for positioning a center of rotation of an excavator according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, 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.
Example 1
Fig. 2 is a flowchart of a method for positioning an excavator rotation center according to a first embodiment of the present invention, where the method may be performed by a positioning device for an excavator rotation center, and the positioning device for an excavator rotation center may be implemented in hardware and/or software, and the device may be configured in an excavator with a rotation platform and installed by a positioning device, a horizontal detection device. As shown in fig. 2, the method includes:
S210, acquiring initial positioning results of a rotation center of the excavator under at least three rotation angles of the rotation platform when the excavator keeps the vehicle body horizontal state.
Specifically, the technical scheme of the embodiment limits that the position of the rotation center of the excavator body can be positioned only when the excavator body is in a horizontal state, and if the excavator body is not in the horizontal state, the position change of the rotation center is described as being in a three-dimensional space, so that the method is only aimed at the rotation change of the rotation center position in a two-dimensional plane.
The initial positioning result of the rotation center is a two-dimensional positioning result of a positioning device acquired by a positioning device arranged on the excavator body, and the two-dimensional positioning result comprises horizontal position information and vertical position information. In theory, the initial positioning result of the rotation center has a certain deviation from the actual position of the rotation center.
It will be appreciated that the excavator may control the swivel platform to rotate through different angles, while the swivel platform remains the same as it rotates. That is, the rotating platform is rotated about a center of rotation. The inventors found by creative work that: when the rotary platform on the excavator is positioned at different rotation angles, the distance between the initial positioning result of the rotary center acquired by the positioning device and the accurate position of the rotary platform is always kept unchanged, namely, the initial positioning results of the rotary centers are positioned on a circle taking the accurate position of the rotary platform as the center of a circle, the radius position of the circle is the same, and each initial positioning result of the rotary center is positioned on the edge of the circle.
S220, if it is determined that deviation exists between initial positioning results of all the rotation centers, taking expected values of the rotation centers as circle centers of the target circles, and taking the initial positioning results of all the rotation centers as edge points of the target circles.
The initial positioning results of the rotation centers have deviation, which can be understood as that there is a large difference between the initial positioning results of different rotation centers, and at this time, the error between the initial positioning results of the rotation centers and the actual positions of the rotation centers is large, and further, the subsequent calibration operation of the rotation centers is required.
The expected value of the center of rotation can be understood as the theoretical positioning coordinates of the center of rotation if it is precisely positioned. The essence of the embodiments of the invention is the process of calculating a more accurate expected value of the rotation center by using a plurality of acquired inaccurate initial positioning results of the rotation center.
Specifically, the process of judging whether the deviation exists may be: obtaining a first positioning result (x 1, y 1) from the initial positioning results of each rotation center, and a second positioningA bit result (x 2, y 2) and a third bit result (x 3, y 3); according to the formula: delta=x 1 y 2 -x 2 y 1 -x 1 y 3 +x 3 y 1 +x 2 y 3 -x 3 y 2 Calculating to obtain a deviation measurement value delta; if the deviation measurement value delta is larger than a preset judgment value, determining that deviation exists between initial positioning results of all the rotation centers.
That is, first, a first positioning result (x 1, y 1), a second positioning result (x 2, y 2) and a third positioning result (x 3, y 3) are obtained from the initial positioning results of the respective rotation centers, and then the results are substituted into the formula: delta=x 1 y 2 -x 2 y 1 -x 1 y 3 +x 3 y 1 +x 2 y 3 -x 3 y.
Wherein Δ is called a deviation metric value, which is used for comparison with a preset decision value. If the deviation measurement value delta is larger than a preset judgment value, judging that certain deviation exists between initial positioning results of all the rotation centers.
As previously described, at this point, the geometric relationship between the initial positioning result of each center of revolution and the desired value of the center of revolution can be determined as shown in FIG. 3. That is, the initial positioning result of each revolution center is located on an edge of a target circle with an unknown radius around the expected value of the revolution center. The position difference between initial positioning results of different rotation centers is determined by the rotation angle of the rotation platform when the initial positioning results of the rotation centers are obtained.
That is, a circle is formed between the expected value of the center of revolution and the initial positioning result of each center of revolution having a deviation, the expected value of the center of revolution is the center of the circle, the coordinates are (x, y), and three points (x 1, y 1), (x 2, y 2) and (x 3, y 3) at the edge of the circle represent the initial positioning result of the center of revolution having a deviation. It should be noted that, the three points shown in the figure are only three positioning results selected randomly and participating in a calibration calculation, and not all positioning results.
Optionally, after obtaining the initial positioning result of the rotation center of the excavator under at least three rotation angles of the rotation platform, the method may further include:
if no deviation exists between the initial positioning results of the rotation centers, acquiring any initial positioning result of the rotation centers from the initial positioning results of the rotation centers; outputting the initial positioning result of any rotation center as the positioning result of the rotation center of the excavator.
In the present alternative embodiment, if the determination result has no deviation, it is indicated that all three initial results of the present calculation are not different from the actual results, and at this time, one value is arbitrarily selected from the initial positioning results, and then the final positioning result of the present round is output.
S230, calculating to obtain a rotation center expected value according to the initial positioning result of each rotation center according to the circular graph property, and outputting the rotation center positioning result of the excavator according to the rotation center expected value.
When it is determined that the positioning result has a deviation, three positioning results distributed on the circular edge are randomly selected and substituted into the calibration algorithm to calculate, so as to obtain a rotation center expected value (x, y), and in this optional embodiment, for convenience of calculation, the first positioning result (x 1, y 1), the second positioning result (x 2, y 2) and the third positioning result (x 3, y 3) of calculating the deviation may be directly used to calculate the rotation center expected value. The formula of the calibration algorithm is as follows:
It should be noted that the first positioning result (x 1, y 1), the second positioning result (x 2, y 2), and the third positioning result (x 3, y 3) mentioned above are only for corresponding to the (x 1, y 1), (x 2, y 2), and (x 3, y 3) forms in the present calibration algorithm, and are not three points specified in fig. 3.
In an alternative implementation manner of the present embodiment, after the expected value of the rotation center is calculated, the expected value of the rotation center may be directly determined as the rotation center positioning result of the excavator to output.
In another optional implementation manner of this embodiment, in consideration of a certain jitter existing in the positioning algorithm such as RTK, in order to further improve the calculation accuracy, the calculation may be repeated, after a plurality of expected values of the center of rotation are obtained in the same manner, an average value of the obtained expected values of the plurality of centers of rotation is calculated, and the obtained average value is output as a result of positioning the center of rotation of the excavator, so as to obtain a statistically non-biased center of rotation positioning value.
In the embodiment of the invention, by utilizing the structural characteristics of the excavator, on the basis of locating the rotation center, the rotation platform of the excavator is operated to continuously rotate, and then the locating result is corrected according to the deviation of the locating center position, so that the locating deviation of the rotation center caused by the installation error is completely eliminated, and the high-precision locating of the rotation center is realized.
According to the technical scheme, when the excavator is in a vehicle body horizontal state, initial positioning results of a rotation center of the excavator under at least three rotation angles of a rotation platform are obtained, under the condition that deviation exists in the obtained positioning results, expected values of the rotation center are used as circle centers of target circles, the initial positioning results of the rotation centers are used as edge points of the target circles, according to the graph properties of the circles, expected values of the rotation center are calculated according to the initial positioning results of the rotation centers, and the positioning results of the rotation center of the excavator are output according to the expected values of the rotation center. The novel positioning method for the rotation center of the excavator is provided, and through carrying out secondary calibration on the positioning of the excavator, the positioning error of the rotation center caused by installation errors and the like is accurately removed, so that the positioning precision is improved, the positioning system is prevented from being improved through complex installation processes and the like, and the production cost is reduced.
Example two
Fig. 4 is a flowchart of another method for positioning a center of rotation of an excavator according to the second embodiment of the present invention, which is based on the above embodiment, and in this embodiment, implementation details of one of S210 of the embodiments are specified.
Accordingly, as shown in fig. 4, the method specifically may include:
s410, responding to a positioning calibration operation instruction, and detecting the horizontal state of the excavator through a vehicle horizontal detection device arranged on the excavator.
The positioning calibration operation instruction can be generated by triggering an excavator operator, and can be generated by triggering a virtual key on a point-touch display screen of the excavator operator, or can be generated by pressing an entity key on the excavator by the excavator operator.
When a positioning calibration operation instruction is detected for the first time, it is determined that an excavator operator has a calibration requirement on a rotation center positioning result, and at this time, more than three rotation center initial positioning results are acquired in the process that the rotation platform of the excavator is in a horizontal state.
The vehicle level detecting device is used for detecting whether the excavator body is in a level state currently, and the detection result determines whether the next operation can be executed.
Optionally, after detecting the horizontal state of the excavator by a vehicle horizontal detection device provided on the excavator, the method may further include:
if it is determined that the excavator is not in the horizontal state, information of calibration failure is output, and the circulation flow is ended.
S420, if the excavator is determined to be in a horizontal state, acquiring an initial positioning result of a rotation center of the excavator through a vehicle positioning device arranged on the excavator, and updating the current count value of a positioning counter.
Further, if the excavator body is in a horizontal state, the rotary platform of the excavator is operated to continuously rotate at the moment, the rotation of the rotary platform can bring about angle deviation, the positioning device can be triggered to perform positioning calibration operation once every time the angle is changed, and the system can acquire a positioning result in the current state, namely an initial positioning result of a rotary center of the excavator is acquired. Meanwhile, the value of the positioning counter is increased by 1 every time the positioning result is obtained, and the value of the current positioning counter is recorded. Wherein the positioning counter is initially set to 0.
S430, if the current count value does not reach the preset quantity threshold, returning to execute the operation of responding to the positioning calibration operation instruction, and acquiring the operation of the horizontal state of the excavator through a vehicle horizontal detection device arranged on the excavator until the cycle ending condition is met so as to acquire the initial positioning result of the rotation center of the excavator under at least three rotation angles of the rotation platform.
In this embodiment, the preset number threshold is set to 3, that is, the value of the positioning counter is at most 3, when the counter is less than 3, the positioning final calibration is not triggered, until the counter value reaches the threshold, the cycle is ended, the counter value returns to zero, and the next round of counting is ready to start. After the threshold is reached, the final calibration of the positioning is triggered, the vehicle positioning coordinates and the horizontal angle enter a positioning calibration calculation module through analog or digital signals, and the positioning calibration calculation module can automatically calculate a positioning calibration calculation result once.
After the excavator operator controls the rotary platform to rotate by a set angle, the excavator operator triggers generation of a positioning calibration operation instruction.
The triggering positioning calibration operation instruction means that the positioning calibration can be continuously performed after the positioning calibration key is started, and the system can acquire a current positioning result once when the rotary platform rotates for a set angle, which is also called once positioning calibration.
S440, if it is determined that deviation exists between initial positioning results of all the rotation centers, taking the expected value of the rotation center as the circle center of the target circle, and taking the initial positioning results of all the rotation centers as edge points of the target circle.
S450, calculating to obtain a rotation center expected value according to the initial positioning result of each rotation center according to the circular graph property, and outputting the rotation center positioning result of the excavator according to the rotation center expected value.
According to the technical scheme provided by the embodiment of the invention, the positioning method of the rotation center of the excavator is perfected through refinement of the overall scheme. The calibration and the accurate positioning of the rotation center position are realized by detecting the horizontal state, acquiring an initial positioning result by a meter and setting a counter threshold value.
The technical scheme of the embodiment of the invention provides a novel method for positioning the rotation center of an excavator, which is characterized in that the rotation platform of the excavator is operated to continuously rotate on the basis of positioning the rotation center by utilizing the structural characteristics of the excavator, and then the positioning result is corrected according to the deviation of the position of the positioning center, so that the positioning deviation of the rotation center caused by the installation error is completely eliminated, and the high-precision positioning of the rotation center is realized.
Fig. 5 shows a specific application scenario diagram for calibrating the position of the rotation center, which is applicable to the technical solution of the embodiment of the present invention.
Specifically, the positioning calibration operation instruction is triggered by the operator pressing the physical key or the virtual key on the screen, so that the key can be either the physical key or the virtual key displayed in the display, and the positioning calibration operation key also comprises a positioning calibration key and a positioning final calibration key.
When the task starts, an operator starts a positioning calibration operation key, positioning calibration is continuously performed after the positioning calibration key is started, and the system acquires a current positioning result, namely one-time positioning calibration, every time the rotary platform rotates for a set angle. After the positioning calibration operation reaches three times, the deviation is judged, and when the deviation is judged, a single positioning calibration result is directly output, and the single positioning calibration result is defaulted to be an accurate rotation center positioning value; when deviation exists, the final positioning calibration key generates a final positioning calibration instruction, a calibration algorithm is utilized to calculate expected values of one or more times of rotation centers, and finally, the expected values of the rotation centers or the average value of expected values of a plurality of rotation centers are used as final positioning calibration results to output final non-deviation rotation center positioning values in a statistical sense, so that accurate positioning of the rotation centers is realized.
Specifically, the technical scheme comprises the following modules: the vehicle positioning device, the vehicle level detection device, the positioning calibration operation key and the positioning calibration calculation module. The positioning calibration operation key comprises a positioning calibration key and a positioning final calibration key. And responding to the positioning calibration operation instruction, namely before the task starts, firstly starting a positioning calibration key and a positioning final calibration key, and judging whether the vehicle body is in a horizontal state or not through a vehicle horizontal detection device after the key is started. The positioning method is limited to positioning the position of the rotation center of the excavator body only when the excavator body is in a horizontal state, and the position change of the rotation center is described to be in a three-dimensional space if the excavator body is not in the horizontal state, and the method is only aimed at the rotation change of the rotation center position in a two-dimensional plane.
Example III
Fig. 6 is a schematic structural diagram of a positioning device for a rotation center of an excavator according to a third embodiment of the present invention. As shown in fig. 6, the apparatus includes:
the positioning result obtaining module 610 is configured to obtain an initial positioning result of a rotation center of the excavator under at least three rotation angles of the rotation platform when the excavator maintains a horizontal state of the vehicle body;
a positioning result calibration module 620, configured to take the expected value of the center of rotation as the center of the target circle and take the initial positioning result of each center of rotation as the edge point of the target circle if it is determined that there is a deviation between the initial positioning results of each center of rotation;
the positioning result output module 630 is configured to calculate a desired value of the center of rotation according to the initial positioning result of each center of rotation according to the circular pattern property, and output a positioning result of the center of rotation of the excavator according to the desired value of the center of rotation.
According to the technical scheme, when the excavator is in a vehicle body horizontal state, initial positioning results of a rotation center of the excavator under at least three rotation angles of a rotation platform are obtained, under the condition that deviation exists in the obtained positioning results, expected values of the rotation center are used as circle centers of target circles, the initial positioning results of the rotation centers are used as edge points of the target circles, according to the graph properties of the circles, expected values of the rotation center are calculated according to the initial positioning results of the rotation centers, and the positioning results of the rotation center of the excavator are output according to the expected values of the rotation center. The novel positioning method for the rotation center of the excavator is provided, and through carrying out secondary calibration on the positioning of the excavator, the positioning error of the rotation center caused by installation errors and the like is accurately removed, so that the positioning precision is improved, the positioning system is prevented from being improved through complex installation processes and the like, and the production cost is reduced.
Based on the foregoing embodiments, the positioning result obtaining module 610 specifically includes:
a horizontal state detection unit for detecting the horizontal state of the excavator through a vehicle horizontal detection device arranged on the excavator in response to a positioning calibration operation instruction;
the initial positioning result acquisition and counter value updating unit is used for acquiring an initial positioning result of a rotation center of the excavator and updating the current count value of the positioning counter through a vehicle positioning device arranged on the excavator if the excavator is determined to be in a horizontal state;
and the cycle end judging unit is used for returning to execute the operation of responding to the positioning calibration operation instruction and acquiring the horizontal state of the excavator through a vehicle horizontal detection device arranged on the excavator until the cycle end condition is met if the current count value does not reach the preset quantity threshold value, wherein the quantity threshold value is more than or equal to 3.
On the basis of the above embodiments, the horizontal state detection unit is specifically configured to:
after detecting the horizontal state of the excavator by a vehicle horizontal detection device arranged on the excavator, if the excavator is determined not to be in the horizontal state, outputting information of calibration failure, and ending the circulation flow.
Based on the above embodiments, the positioning result calibration module 620 may include:
deviation judging unit for recoveringAcquiring a first positioning result (x 1, y 1), a second positioning result (x 2, y 2) and a third positioning result (x 3, y 3) from the initial positioning result of the rotating center; according to the formula: delta=x 1 y 2 -x 2 y 1 -x 1 y 3 +x 3 y 1 +x 2 y 3 -x 3 y 2 Calculating to obtain a deviation measurement value delta; if the deviation measurement value delta is larger than a preset judgment value, determining that deviation exists between initial positioning results of all the rotation centers.
Based on the above embodiments, the positioning result output module 630 may include:
an expected value calculation unit configured to calculate an expected value according to the formula:
and calculating to obtain the expected value (x, y) of the rotation center.
On the basis of the above embodiments, the system further includes a bias-free result output unit, configured to:
if no deviation exists between the initial positioning results of the rotation centers, acquiring any initial positioning result of the rotation centers from the initial positioning results of the rotation centers; outputting the initial positioning result of any rotation center as the positioning result of the rotation center of the excavator.
The positioning device for the rotation center of the excavator provided by the embodiment of the invention can execute the positioning method for the rotation center of the excavator provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 7 shows a schematic diagram of the structure of an electronic device 7 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 7, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a method of locating the center of rotation of an excavator.
Namely: when the excavator keeps the vehicle body in a horizontal state, acquiring initial positioning results of a rotation center of the excavator under at least three rotation angles of the rotation platform;
If the initial positioning results of the rotation centers are determined to have deviation, taking the expected value of the rotation center as the circle center of the target circle, and taking the initial positioning results of the rotation centers as the edge points of the target circle;
according to the circular graph property, calculating to obtain a rotation center expected value according to initial positioning results of all rotation centers, and outputting the rotation center positioning result of the excavator according to the rotation center expected value.
In some embodiments, a method of locating an excavator center of rotation may be implemented as a computer program tangibly embodied on a computer readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of a method of locating the center of rotation of an excavator as described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a method of locating the center of rotation of the excavator in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention. In some embodiments, a method of locating an excavator center of rotation may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 15. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 7 via the ROM 9 and/or the communication unit 16. When the computer program is loaded into RAM 10 and executed by processor 8, one or more steps of a method of locating the center of rotation of an excavator as described above may be performed. Alternatively, in other embodiments, processor 8 may be configured to perform a method of locating the center of rotation of the excavator in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method of locating a center of rotation of an excavator, comprising:
when the excavator keeps the vehicle body in a horizontal state, acquiring initial positioning results of a rotation center of the excavator under at least three rotation angles of the rotation platform;
if the initial positioning results of the rotation centers are determined to have deviation, taking the expected value of the rotation center as the circle center of the target circle, and taking the initial positioning results of the rotation centers as the edge points of the target circle;
According to the circular graph property, calculating to obtain a rotation center expected value according to initial positioning results of all rotation centers, and outputting the rotation center positioning result of the excavator according to the rotation center expected value.
2. The method of claim 1, wherein obtaining initial positioning results of the center of rotation of the excavator at least three angles of rotation of the rotating platform while the excavator is maintaining the vehicle body level comprises:
responding to a positioning calibration operation instruction, and detecting the horizontal state of the excavator through a vehicle horizontal detection device arranged on the excavator;
if the excavator is determined to be in a horizontal state, acquiring an initial positioning result of a rotation center of the excavator through a vehicle positioning device arranged on the excavator, and updating the current count value of a positioning counter;
if the current count value does not reach the preset quantity threshold value, returning to execute the operation of responding to the positioning calibration operation instruction, and acquiring the operation of the horizontal state of the excavator through a vehicle horizontal detection device arranged on the excavator until the cycle ending condition is met, wherein the quantity threshold value is more than or equal to 3;
after the excavator operator controls the rotary platform to rotate by a set angle, the excavator operator triggers generation of a positioning calibration operation instruction.
3. The method according to claim 2, characterized by further comprising, after detecting the horizontal state of the excavator by a vehicle horizontal detection device provided on the excavator:
if it is determined that the excavator is not in the horizontal state, information of calibration failure is output, and the circulation flow is ended.
4. The method of claim 1, wherein determining that there is a discrepancy between the initial positioning results for each center of revolution comprises:
acquiring a first positioning result (x 1, y 1), a second positioning result (x 2, y 2) and a third positioning result (x 3, y 3) from initial positioning results of each rotation center;
according to the formula: delta=x 1 y 2 -x 2 y 1 -x 1 y 3 +x 3 y 1 +x 2 y 3 -x 3 y 2 Calculating to obtain a deviation measurement value delta;
if the deviation measurement value delta is larger than a preset judgment value, determining that deviation exists between initial positioning results of all the rotation centers.
5. The method of claim 4, wherein calculating a desired value of the center of rotation based on the initial positioning result of each center of rotation according to the graphical nature of the circle comprises:
according to the formula:
and calculating to obtain the expected value (x, y) of the rotation center.
6. The method of any one of claims 1-5, wherein outputting a center of rotation positioning result of the excavator based on the center of rotation desired value comprises:
Acquiring a plurality of expected values of the rotation centers in the same way;
calculating the average value of the expected values of the plurality of rotation centers, and outputting the average value as a rotation center positioning result of the excavator.
7. The method of any one of claims 1-5, further comprising, after obtaining initial positioning results of a center of rotation of the excavator at least three rotational angles of the rotating platform:
if no deviation exists between the initial positioning results of the rotation centers, acquiring any initial positioning result of the rotation centers from the initial positioning results of the rotation centers;
outputting the initial positioning result of any rotation center as the positioning result of the rotation center of the excavator.
8. A positioning device for a center of rotation of an excavator, comprising:
the positioning result acquisition module is used for acquiring initial positioning results of a rotation center of the excavator under at least three rotation angles of the rotation platform when the excavator keeps the vehicle body in a horizontal state;
the positioning result calibration module is used for taking the expected value of the rotation center as the circle center of the target circle and taking the initial positioning result of each rotation center as the edge point of the target circle if the initial positioning result of each rotation center is determined to have deviation;
The positioning result output module is used for calculating and obtaining a rotation center expected value according to the initial positioning result of each rotation center and outputting the rotation center positioning result of the excavator according to the rotation center expected value according to the circular graph property.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of locating a center of rotation of an excavator according to any one of claims 1 to 7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform a method of locating a centre of gyration of an excavator according to any one of claims 1 to 7.
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