CN118129736A - Pose calibration method and device of excavator and engineering machinery - Google Patents
Pose calibration method and device of excavator and engineering machinery Download PDFInfo
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- G—PHYSICS
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Abstract
The application discloses a pose calibration method and device of an excavator, wherein the method comprises the following steps: under the condition that the excavator works under any working condition, controlling the excavator to rotate for one circle, collecting pitch angle information of the rotation process under a vehicle body coordinate system, determining the installation error of an inclination angle sensor of an excavator platform according to the pitch angle information, acquiring the distance from the excavator platform to the tail end position of a bucket, acquiring the angle information of each component under the vehicle body coordinate system in the moving process of the excavator to form a position data set, and determining the installation error of the inclination angle sensor on each component by utilizing an optimization algorithm according to the position data set; and updating the excavator kinematic model according to the installation errors of the inclination sensors of the excavator platform and the installation errors of the inclination sensors on the components to obtain the pose calibration result of the tail end of the bucket. According to the application, the real-time pose calibration of the excavator is completed by combining the error identification of the inclination angle sensor on the excavator and an optimization algorithm.
Description
Technical Field
The application relates to the field of engineering machinery, in particular to a pose calibration method and device of an excavator and engineering machinery.
Background
In recent years, as requirements of the market on unmanned and intelligent degrees of the excavator are higher and higher, the application scene of autonomous movement of the crawler vehicle is wider and wider, and requirements on control precision, speed and track planning task of the excavator are higher and higher, so that requirements on pose calculation precision and adaptability of the excavator are also improved.
In the existing pose calibration technology for the excavator, the calibration work is usually carried out when the vehicle is in a static state or in a horizontal ground, but the final calibration result is error due to the fact that the ground flatness is different due to the fact that the fields are not fixed in the working process of the vehicle, so that the calibration result is inaccurate.
Disclosure of Invention
In view of the above, embodiments of the present application are directed to providing a pose calibration method and apparatus of an excavator, which firstly controls an excavator to rotate one circle and determines a platform inclination sensor installation error of the excavator according to pitch angle information of the rotating process in a vehicle body coordinate system in the case that the excavator works in any working condition; the excavator works under any working condition including the excavator works under an inclined posture; further, a corresponding end position data set is formed by acquiring the distance from the excavator platform to the end position of the bucket and the angle information of each component when the excavator moves under a vehicle body coordinate system, and the installation error of the inclination angle sensor on each component is determined by utilizing an optimization algorithm; and finally updating the excavator kinematics model according to the installation error to finish the pose calibration of the tail end of the bucket. According to the application, through the error identification of the inclination angle sensor on the excavator under any posture and the combination of the optimization algorithm, the real-time posture calibration of the excavator is completed, so that the calibration result is more accurate.
According to a first aspect of an embodiment of the present application, there is provided a pose calibration method for an excavator, the method including:
Under the condition that the excavator works under any working condition, controlling the excavator to rotate for one circle, collecting pitch angle information of the rotation process under a vehicle body coordinate system, and determining the installation error of the inclination angle sensor of the excavator platform according to the pitch angle information; the excavator works under any working condition including the excavator works under an inclined posture;
Acquiring the distance from the excavator platform to the tail end of the bucket, and acquiring angle information of each component in the moving process of the excavator under a vehicle body coordinate system to form a position data set, wherein the components comprise a movable arm, a bucket rod and the bucket;
determining the installation error of the inclination angle sensor on each component according to the position data set;
and updating an excavator kinematic model according to the installation errors of the inclination angle sensor of the excavator platform and the installation errors of the inclination angle sensors on the components to obtain a pose calibration result of the tail end of the bucket.
In one embodiment, the process of obtaining the angle information of each component in the vehicle body coordinate system includes:
Acquiring angle information of the excavator under a geodetic coordinate system, wherein the angle information comprises angle information generated when a pitch angle, a roll angle and an inclination angle sensor measure each component;
and obtaining the angle information of each component of the excavator under the vehicle body coordinate system according to the angle information of the excavator under the ground coordinate system.
In an embodiment, the controlling the excavator to rotate for one circle and collecting pitch angle information of the rotation process under a vehicle body coordinate system, and determining the installation error of the excavator platform inclination sensor according to the pitch angle information comprises:
controlling the excavator to rotate for one circle, and collecting preset number of pitch angle information in the rotation process of the excavator to form a pitch angle information data set;
Determining a maximum pitch angle and a minimum pitch angle in the pitch angle information data set;
and calculating the installation error of the inclination angle sensor of the excavator platform according to the maximum pitching angle and the minimum pitching angle.
In an embodiment, the obtaining the distance of the excavator platform to the bucket tip comprises:
and measuring the distance from the platform to the end position of the bucket by using the sensor equipment installed on the excavator platform as a starting point and the end position of the bucket as an ending point.
In an embodiment, the acquiring the angle information of each member of the excavator in the vehicle body coordinate system during the movement process includes:
In the process of the movement of the excavator, controlling each component of the excavator to execute any gesture action;
acquiring a set number of action data sets in the process of executing any gesture action;
and acquiring angle information acquired by the inclination angle sensor on each component of the excavator under each action in the action data set.
In an embodiment, the location dataset further comprises: and the included angle information between the connecting line from the excavator platform to the tail end of the bucket and the platform plane.
In one embodiment, updating the excavator kinematic model according to the installation errors of the inclination sensors of the excavator platform and the installation errors of the inclination sensors on the components comprises:
Determining the installation error of the inclination angle sensor on each component by using an optimization algorithm;
and adding the installation errors of the inclination angle sensors on the components and the installation errors of the inclination angle sensors of the excavator platform into the excavator kinematic model in a compensation error mode to obtain an updated kinematic model.
According to a second aspect of the present application, there is provided a pose calibration device for an excavator, the device comprising:
An error determination unit: the system is used for controlling the excavator to rotate for one circle and collecting pitch angle information of the rotating process under a vehicle body coordinate system under the condition that the excavator works under any working condition, and determining the installation error of the inclination angle sensor of the excavator platform according to the pitch angle information; the excavator works under any working condition including the excavator works under an inclined posture; acquiring the distance from the excavator platform to the tail end position of the bucket, and acquiring angle information of each component of the excavator under a vehicle body coordinate system in the moving process to form a position data set, wherein the components comprise a movable arm, a bucket rod and the bucket; determining the installation error of the inclination angle sensor on each component by using an optimization algorithm according to the position data set;
the calibration unit comprises: and updating the excavator kinematic model according to the installation errors of the inclination angle sensor of the excavator platform and the installation errors of the inclination angle sensors on the components to obtain a pose calibration result of the tail end of the bucket.
According to a third aspect of the present application, there is provided an engineering machine including the above-described pose calibration device of an excavator.
According to a fourth aspect of the present application, there is provided an electronic device comprising a processor and a memory; wherein the memory is connected with the processor and is used for storing a computer program; the processor is used for realizing the pose calibration method of the excavator by running the computer program stored in the memory.
According to the method and device for calibrating the pose of the excavator and the engineering machinery, provided by the application, the excavator kinematic model is updated by acquiring the installation errors of the inclination sensor of the excavator platform and the installation errors of the inclination sensor on each component, so that a more accurate calibration result of the pose of the tail end of the bucket of the excavator is acquired. Based on the pose calibration method of the excavator, pose calibration of the excavator under any pose can be achieved, and the pose calibration accuracy of the tail end of the excavator bucket is improved.
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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 required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for calibrating the pose of an excavator according to an embodiment of the present application;
FIG. 2 is a schematic view of an excavator according to an embodiment of the present application;
FIG. 3 is a schematic view of a construction machine according to another embodiment of the present application;
fig. 4 is a schematic flow chart of a method for calibrating the pose of an excavator according to another embodiment of the present application;
FIG. 5 is a schematic view illustrating a structural point of an excavator according to an embodiment of the present application;
Fig. 6 is a schematic diagram of a pose calibration device of an excavator according to another embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Exemplary method
The embodiment of the application provides a pose calibration method of an excavator, which relates to the field of engineering machinery, in particular to a pose calibration method of an excavator, and can be applied to the pose calibration process of the tail end of a bucket of the excavator.
The excavator is used as common engineering mechanical equipment, can be used for excavating soil, excavating rock, carrying materials and the like, can be divided into multiple types according to different classification standards, and comprises the following common excavator types: crawler excavators, wheel excavators, backhoes and the like, each type of excavator has own advantages and application fields, and the specific selection depends on factors such as working environment, working requirement, budget and the like. The excavator plays an important role in the fields of construction, mines, road construction and the like, and is one of essential equipment in modern engineering construction.
Fig. 1 is a flow chart of a pose calibration method of an excavator provided in an embodiment of the present application, as shown in fig. 1, in this embodiment, the pose calibration method of an excavator includes the following steps:
S101, under the condition that the excavator works under any working condition, controlling the excavator to rotate for one circle, collecting pitch angle information of the rotating process under a vehicle body coordinate system, and determining the installation error of the inclination angle sensor of the excavator platform according to the pitch angle information, wherein the excavator works under any working condition including the excavator works under an inclined posture.
The excavator can work under any working condition, and the work of the excavator under any working condition comprises the work of the excavator under the horizontal and inclined postures of the excavator body. When the excavator body assumes an inclined posture, each member of the excavator is also in the inclined posture.
As an achievable mode, the method CAN collect the pitch angle information of the excavator platform in the rotation process of the excavator under the vehicle body coordinate system, and CAN collect the pitch angle information of the vehicle in the rotation process by utilizing a network collection or a collection function of the vehicle platform.
Specifically, when determining the installation error of the excavator platform inclination angle sensor, the method is optionally realized by the following steps: controlling the excavator to rotate for one circle, and collecting pitch angle information of a preset number of excavator platforms under a vehicle body coordinate system in the rotation process of the excavator to form a pitch angle information data set; determining a maximum pitch angle and a minimum pitch angle in the pitch angle information data set; and calculating the installation error of the inclination angle sensor of the excavator platform according to the maximum pitching angle and the minimum pitching angle.
In the application, the pitch angle information of the excavator platform under the vehicle body coordinate system is obtained by taking one rotation of the excavator as an example, and in practice, the pitch angle information of the excavator platform under the vehicle body coordinate system can be obtained in the process of moving any pose of the vehicle body.
For example, in the process of controlling the excavator to rotate for one circle, 500 groups of pitch angle data are collected, after filtering treatment is carried out on the data, the maximum value and the minimum value of pitch angle measurement in the whole rotation process are obtained, the maximum value is assumed to be theta pltfm_max, the minimum value is assumed to be theta pltfm_min, as a possible calculation mode, the installation error of the excavator platform inclination sensor is assumed to be represented by delta pltfm, and the following formula can be optionally used for calculating and obtaining the installation error of the excavator platform inclination sensor during calculation.
δpltfm＝(θpltfm_max-θpltfm_min)/2
S102, acquiring the distance from the excavator platform to the tail end of the bucket, and acquiring angle information of each component of the excavator in the moving process under a vehicle body coordinate system to form a position data set, wherein the components comprise a movable arm, a bucket rod and the bucket.
When the distance from the excavator platform to the end of the bucket is obtained, as one possible way, a sensor device attached to the excavator platform may be used to measure a distance from the end of the bucket to the end position of the bucket starting from the attachment position of the sensor device.
In order to achieve the acquisition under the condition of the movement of the excavator, a sensor device capable of dynamically measuring the distance needs to be selected and installed at a position point needing distance measurement.
In addition, when selecting a sensor device, the optional device needs to have better stability besides a measurement function, such as an ultrasonic ranging sensor, a laser ranging sensor or a guy wire sensor, and optionally, the application selects the laser ranging sensor as distance information from a measuring platform to the end position of a bucket, the laser ranging sensor can measure distance, height, width or position by using a laser technology, and the sensor generally uses a laser beam to irradiate a target object and measure reflection or scattering of the laser beam to determine the distance between the target object and the sensor. Advantages of the laser ranging sensor include accurate measurement results, quick response time, non-contact measurement mode and stability under various environmental conditions, so that the laser ranging sensor is widely applied to the fields of industrial automation, robot navigation, mapping, constructional engineering, security monitoring and the like.
When the distance information is measured, the preset two end positions may be set, and the two end positions are only taken as the excavator platform and the tail end of the bucket as an example, the actual two end positions include, but are not limited to, the platform or the tail end position of the bucket, one end may be any position of the excavator platform, the vehicle body and a certain position on the ground, and the other end is any position on the bucket, the connecting rod and the rotating rod. Fig. 2 is an overall schematic view of an excavator that may be used to reference the position of a bucket, link, stick, boom, body, etc. In one possible unmanned case, the purpose of acquiring the position of the end of the bucket is to accurately capture and release the tooth tip of the bucket, so that the distance between the mounting position of the optional wire sensor on the platform and the inter-bucket tooth position is measured at this time, to more clearly indicate the position where measurement can be performed, and the measured connecting line distance can refer to the connecting line between the two points AB on the structural diagram of fig. 3.
Further, it is necessary to acquire angle information of each component of the excavator in a vehicle body coordinate system during the movement process to construct a position data set.
In order to enable the data information contained in the position data set to have a large capacity, and the data information contains a plurality of action modes representing the excavator, the movement process of the excavator needs to be controlled, and the purpose is to enable the data set to contain abundant action postures of the common excavator so as to facilitate the follow-up calculation according to the data set.
The angle information of each component under the vehicle body coordinate system is emphasized by considering the road surface leveling condition of the excavator in operation, when the vehicle is at an inclined angle, the angle information measured by the inclination angle sensor of each component of the vehicle is obtained based on the ground coordinate system, so that in order to reduce errors, the angle information measured according to the ground coordinate system is converted into the actual measured angle of each component of the vehicle under the vehicle body coordinate system.
The aforementioned tilt sensor may be used to measure the tilt angle of an object with respect to a horizontal plane or a horizontal line, to detect the tilt degree of the object, and to convert the tilt information into an electrical signal or a digital signal for output, and is very important in many applications, such as in the fields of construction engineering, robot navigation, automobile safety systems, aerospace, etc. Alternatively, the measurement of the angle of the joints of the individual components may be performed by an Inertial Measurement Unit (IMU) without being limited to the tilt sensor described in the present disclosure.
As an alternative embodiment, the process of acquiring the angle information of each component in the vehicle body coordinate system may include: acquiring angle information of the excavator under a geodetic coordinate system, wherein the angle information comprises angle information generated when a pitch angle, a roll angle and an inclination angle sensor measure each component; and obtaining the angle information of each component of the excavator under the vehicle body coordinate system according to the angle information of the excavator under the ground coordinate system. The geodetic coordinate system may be used to refer to the longitude and latitude of the earth's surface as a reference standard, and may be used to describe the location information of a desired measurement point within the surface.
Optionally, when the angle information of the excavator in the geodetic coordinate system is obtained, in actual measurement, if the inclination angle of one component boom of the excavator in the geodetic coordinate system is measured to be θ, the pitch inclination angle of the vehicle is λ, and the roll inclination angle of the vehicle is δ, further according to the three angle information in the geodetic coordinate system, the inclination angle θ * of the corresponding boom in the vehicle body coordinate system is obtained, and the specific calculation process of θ * may be obtained by calculating by the following formula:
Similarly, the process of calculating the angles of other components in the vehicle body coordinate system can be completed through the above formula, such as the inclination angles of the bucket rod and the bucket in the vehicle body coordinate system, and the pitch angle information of the excavator platform in the vehicle body coordinate system can be acquired in the rotation process of the excavator.
After determining how to convert angle information in the geodetic coordinate system into angle information in the vehicle body coordinate system, in order to construct a position data set, the angle information generated by each component of the excavator when executing any gesture action needs to be collected, wherein the angle information is calculated and converted angle information in the vehicle body coordinate system, and besides, the position data set also comprises distance information from the excavator platform to the tail end of the bucket and included angle information between a connecting line of the excavator platform to the tail end of the bucket and a platform plane.
Optionally, when acquiring the angle information of each component in the vehicle body coordinate system during the movement of the excavator, the step flowchart may refer to fig. 4, and include:
S1021, controlling each component of the excavator to execute any gesture action in the process of the excavator.
Optionally, the premise of the movement of the excavator is that under the condition that the laser ranging sensor is utilized to ensure that the ranging laser from the platform to the tail end position of the bucket is kept connected, an operator of the excavator with rich experience is selected to control each component of the excavator to execute any gesture action, the operator controls the movable arm of the vehicle, the bucket rod and the bucket to execute any action, and during the period, an upper computer or other storage medium with a data acquisition processing function can be utilized to complete the data acquisition work of the excavator during the action execution.
S1022, collecting a set number of action data sets in the process of executing any gesture action.
When the excavator executes any gesture action according to the control of an operator, the optional application utilizes the upper computer to collect action data information in the process, the data information is measured by the inclination sensor, and the upper computer is further utilized to collect measurement information.
Since the installation errors of the inclination sensors on each component are required to be calculated according to the collected position data sets, 1000 groups of data set information is optionally collected to form an action data set of the excavator.
S1023, acquiring angle information acquired by the inclination angle sensor on each component of the excavator under each action in the action data set.
Further, according to the measurement information of the inclination angle sensor on each component of the excavator under each action in the action data set, the angle information of the component under the coordinate system of the vehicle body can be calculated by using a conversion formula. And saving the angle information of the inclination angle sensor of each component under the vehicle body coordinate system into a position data set.
S103, according to the position data set, determining the installation error of the inclination angle sensor on each component.
As can be seen from the above process of constructing the position data set, the position data set constructed by the present application optionally includes the measured angle θ * of the tilt sensor on each component of the excavator under the vehicle body coordinate system, the distance L from the excavator platform to the bucket end position, and the angle information between the excavator platform to the bucket end connecting line and the platform plane. Further based on the position data set, an optimization objective equation is constructed by utilizing an optimization algorithm, and the installation error of the inclination angle sensor on each component is solved.
The optimization algorithm may be an algorithm for finding an optimal solution or a near optimal solution, and the algorithm may be applied in various fields including engineering, computer science, economics, and the like. Common optimization algorithms include: gradient descent algorithms, genetic algorithms, simulated annealing algorithms, particle swarm optimization algorithms (PSO) or ant colony algorithms, and the like. These optimization algorithms each have advantages and disadvantages, and are suitable for different types of problems, and the selection of a suitable optimization algorithm generally depends on the characteristics of the problem, the complexity of the search space, and the requirement for the final solution, and in practical applications, a plurality of algorithms are sometimes used in combination to improve the convergence speed and the search effect.
Optionally, the PSO algorithm is selected as an optimization algorithm to search the optimal solution of the installation error of the tilt sensor on each component, and the idea of the algorithm is mainly to simulate the behavior of individual in a shoal or shoal to search food, and the optimal solution is searched through the position and the speed of particles in the shoal. Taking the boom, the arm, and the bucket as examples, δ boom、δarm、δbucket represents the mounting error of the boom inclination sensor, the mounting error of the arm inclination sensor, and the mounting error of the bucket inclination sensor, respectively.
As an achievable embodiment, when solving by using an optimization algorithm, delta boom、δarm、δbucket can be used as a parameter to be solved by a PSO algorithm, and after the installation deviation identification of the tilt sensor of [ -5 degrees, 5 degrees ] is completed on line by the PSO algorithm by adjusting reasonable parameter setting, the accurate end position and posture under the coordinate system of the vehicle body can be calculated according to the relation from the joint space to the working space of the excavator. Similarly, according to the inclination sensor installation deviation identification method, the boom distance L room, the arm distance L arm, the bucket distance L bucket and other structural parameters such as the connecting rod and the rotating rod parameters can be identified, and for more clearly representing the structural parameters, reference can be made to the connection lines between C, D, E, F, G, H on the schematic diagram of the excavator structural point in fig. 5.
S104, updating an excavator kinematic model according to the installation errors of the inclination angle sensor of the excavator platform and the installation errors of the inclination angle sensors on the components to obtain a pose calibration result of the tail end of the bucket.
After the installation errors of the inclination angle sensor of the excavator platform and the installation errors of the inclination angle sensors on the components are determined through the steps, the kinematic model of the excavator can be updated according to the error information, and the method specifically comprises the following steps: determining the installation error of the inclination angle sensor on each component by using an optimization algorithm; and adding the installation errors of the inclination angle sensors on the components and the installation errors of the inclination angle sensors of the excavator platform into the excavator kinematic model in a compensation error mode to obtain an updated kinematic model.
Alternatively, the kinematic model may be divided into a forward kinematics, which may be used to describe the transformation from joint position to working end effector (e.g., bucket) position, and an inverse kinematics, which may refer to determining the position of each joint based on the pose of the end effector, typically solved numerically. Furthermore, the calculated error value can be updated instead of the kinematic model to calculate the accurate tail end position and tail end gesture of the bucket in real time, and on the basis, the real-time accurate display of the gesture of the excavator and the track tracking control can be completed.
In order to make the above-mentioned pose calibration method of the excavator more specific, take the vehicle in the inclined pose as an example in combination with practical application, the implementation process of the pose calibration method of the excavator provided by the application is described by using an exemplary case, and the steps of the method can be as follows:
The first step: initial setting: the excavator is placed on any inclined surface, and a vehicle movable arm IMU, a bucket IMU, a platform IMU pitch angle and a roll angle are obtained according to an IMU (inclination angle sensor).
And a second step of: data collection and data processing: the data is acquired through a CAN bus (or a signal acquisition instrument comprising a digital-to-analog conversion module) and then transmitted to a vehicle-mounted controller, and time synchronization, outlier processing, filtering and data temporary storage are completed in the controller.
And a third step of: and calculating the relative angles of the IMUs under the coordinate system of the vehicle body.
Fourth step: and (3) collecting rotary motion data, controlling the excavator to rotate in situ for more than one circle, collecting IMU pitch angle data mounted on the platform, collecting the data through a CAN bus (or a signal acquisition instrument comprising a digital-to-analog conversion module), and transmitting the data to a vehicle-mounted controller, and completing time synchronization, outlier processing, filtering and data temporary storage in the controller.
Fifth step: and solving the IMU installation error of the platform by using a mathematical model of the IMU error of the vehicle body and the ground inclination angle.
Sixth step: the working device motion data set is collected, when a vehicle is positioned at any position, the tail end position of a Bucket tooth is measured by using a pull angle sensor (or an ultrasonic ranging sensor, or a laser ranging sensor or other sensors for completing the function), the pull wire displacement sensor (or the ultrasonic ranging sensor, or the laser ranging sensor) is ensured to be connected with the AB two-point requirement shown in fig. 4, then an operator controls the vehicle movable Arm (Boom), the Bucket Arm (Arm) and the Bucket (Bucket) to act at will, data are collected through a CAN bus (or a signal collector comprising a digital-to-analog conversion module) and then transmitted to a vehicle-mounted controller, and time synchronization, outlier processing, filtering and data temporary storage are completed in the controller.
Seventh step: calibrating the installation error of the IMU of the working device, and constructing according to a plurality of data points acquired in the working spaceCorresponds to the data set of end positions. Particle swarm optimization algorithms are utilized to identify boom IMU, arm IMU, bucket IMU installation deviations, with a target range typically between [ -5 °,5 ° ].
Eighth step: updating a kinematic model, and adding the installation deviation angles of the movable arm IMU, the bucket IMU and the platform IMU in the kinematic model so as to accurately calculate the position and the posture of the end effector.
Ninth step: and displaying the vehicle posture or performing vehicle track tracking control.
Exemplary apparatus
The embodiment of the application also provides a pose calibration device of the excavator, the structure diagram of which is shown in fig. 6, the pose calibration device of the excavator can be composed of two functional units, and the functions of the constituent structures are as follows:
An error determination unit: the method comprises the steps of controlling the excavator to rotate for one circle and collecting pitch angle information of a rotating process under a vehicle body coordinate system under the condition that the excavator works under any working condition, determining the installation error of an inclination sensor of an excavator platform according to the pitch angle information, enabling the excavator to work under any working condition, acquiring the distance from the excavator platform to the tail end position of a bucket, acquiring the angle information of each component under the vehicle body coordinate system in the moving process of the excavator, and forming a position data set, wherein the component comprises a movable arm, a bucket rod and a bucket, and determining the installation error of the inclination sensor on each component by utilizing an optimization algorithm according to the position data set.
The calibration unit comprises: and updating the excavator kinematic model according to the installation errors of the inclination angle sensor of the excavator platform and the installation errors of the inclination angle sensors on the components to obtain a pose calibration result of the tail end of the bucket.
The error determining unit is used for controlling the excavator to rotate for one circle and collecting the pitch angle information of a preset number under a vehicle body coordinate system in the rotation process of the excavator to form a pitch angle information data set when the error determining unit is used for determining the installation error of the inclination angle sensor of the platform of the excavator; determining a maximum pitch angle and a minimum pitch angle in the pitch angle information data set; and calculating the installation error of the inclination angle sensor of the excavator platform according to the maximum pitching angle and the minimum pitching angle.
Optionally, the angle information of each component under the vehicle body coordinate system may be completed by an acquisition unit, where the acquisition unit is configured to acquire angle information of the excavator under the geodetic coordinate system, where the angle information includes angle information generated when the pitch angle, the roll angle and the inclination angle sensor measure each component; and obtaining the angle information of each component of the excavator under the vehicle body coordinate system according to the angle information of the excavator under the ground coordinate system.
When the error determination unit obtains the distance from the excavator platform to the end of the bucket, the sensor device mounted on the excavator platform may be used to measure the distance from the platform to the end position of the bucket with the mounting position of the sensor device as the starting point and the end position of the bucket as the end point.
Further, in order to obtain the angle information of the inclination angle sensor on each component of the excavator under the coordinate system of the excavator body, the obtaining process may include: in the process of the movement of the excavator, controlling each component of the excavator to execute any gesture action; acquiring a set number of action data sets in the process of executing any gesture action; and acquiring angle information acquired by the inclination angle sensor on each component of the excavator under each action in the action data set.
In addition, the position data set mentioned in the error determination unit further comprises information of an included angle between the excavator platform-to-bucket end connecting line and a platform plane.
Optionally, in the calibration unit, updating an excavator kinematic model according to the installation error of the inclination sensor of the excavator platform and the installation error of the inclination sensor on each component, including: determining the installation error of the inclination angle sensor on each component by using an optimization algorithm; and adding the installation errors of the inclination angle sensors on the components and the installation errors of the inclination angle sensors of the excavator platform into the excavator kinematic model in a compensation error mode to obtain an updated kinematic model.
In addition, the pose calibration device of the excavator provided by the embodiment of the application belongs to the same application conception as the pose calibration method of the excavator provided by the embodiment of the application, and the pose calibration method of the excavator provided by any embodiment of the application can be executed, and the pose calibration device of the excavator has the corresponding functional units and beneficial effects of executing the pose calibration method of the excavator. Technical details not described in detail in the present embodiment may refer to specific processing content of the pose calibration method of the excavator provided in the foregoing embodiment of the present application, and will not be described herein.
The functional units in the pose calibration device of the exemplary excavator provided by the application can adopt any combination of one or more readable media for the communication equipment or the readable storage medium of the computing equipment. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Exemplary work machine
The embodiment of the application also provides an engineering machine, which can comprise the functional units of the pose calibration device of the excavator, and the schematic diagram of the engineering machine can be shown by referring to fig. 3, and the constituent structure and the function of the pose calibration device of the excavator in the engineering machine are shown by referring to the description of the exemplary device part of the application, and are not repeated herein.
In the present application, the excavator may be any type of backhoe or front shovel, and the method and apparatus of the present application may be applied to machines or vehicles having other serial robot structures such as hoisting machines. And all the conditions are within the protection scope of the embodiment of the application under the condition that the technical conception of the application is not exceeded.
In addition, each unit and/or module in the embodiment of the application can be configured with corresponding electronic components to realize. The foregoing detailed description of the alternative implementation of the embodiment of the present application has been given by way of example with reference to the accompanying drawings, but the embodiment of the present application is not limited to the specific details of the foregoing implementation, and various simple modifications may be made to the technical solution of the embodiment of the present application within the scope of the technical concept of the embodiment of the present application, and these simple modifications all fall within the protection scope of the embodiment of the present application.
Exemplary electronic device
The embodiment of the application also provides electronic equipment, which comprises a processor and a memory;
Wherein the memory is connected with the processor and is used for storing a computer program; the processor is used for realizing the pose calibration method of the excavator according to any one of the above through running the computer program stored in the memory.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The pose calibration method of the excavator is characterized by comprising the following steps of:
Under the condition that the excavator works under any working condition, controlling the excavator to rotate for one circle, collecting pitch angle information of the rotation process under a vehicle body coordinate system, and determining the installation error of the inclination angle sensor of the excavator platform according to the pitch angle information; the excavator works under any working condition including the excavator works under an inclined posture;
Acquiring the distance from the excavator platform to the tail end of the bucket, and acquiring angle information of each component in the moving process of the excavator under a vehicle body coordinate system to form a position data set, wherein the components comprise a movable arm, a bucket rod and the bucket;
determining the installation error of the inclination angle sensor on each component according to the position data set;
and updating an excavator kinematic model according to the installation errors of the inclination angle sensor of the excavator platform and the installation errors of the inclination angle sensors on the components to obtain a pose calibration result of the tail end of the bucket.
2. The method for calibrating the pose of the excavator according to claim 1, wherein the steps of controlling the excavator to rotate for one circle and collecting pitch angle information of the rotation process under a vehicle body coordinate system, and determining the installation error of the excavator platform inclination sensor according to the pitch angle information comprise the following steps:
Controlling the excavator to rotate for one circle, and collecting the pitch angle information of a preset number under a vehicle body coordinate system in the rotation process of the excavator to form a pitch angle information data set;
Determining a maximum pitch angle and a minimum pitch angle in the pitch angle information data set;
and calculating the installation error of the inclination angle sensor of the excavator platform according to the maximum pitching angle and the minimum pitching angle.
3. The method for calibrating the pose of the excavator according to claim 1, wherein the acquiring process of the angle information of each member under the vehicle body coordinate system comprises the following steps:
Acquiring angle information of the excavator under a geodetic coordinate system, wherein the angle information comprises angle information generated when a pitch angle, a roll angle and an inclination angle sensor measure each component;
and obtaining the angle information of each component of the excavator under the vehicle body coordinate system according to the angle information of the excavator under the ground coordinate system.
4. The method for calibrating the pose of the excavator according to claim 1, wherein the step of obtaining the distance from the excavator platform to the end of the bucket comprises the steps of:
and measuring the distance from the platform to the end position of the bucket by using the sensor equipment installed on the excavator platform as a starting point and the end position of the bucket as an ending point.
5. The method for calibrating the pose of the excavator according to claim 1, wherein the step of obtaining the angle information of each component of the excavator in the vehicle body coordinate system during the movement process comprises the following steps:
In the process of the movement of the excavator, controlling each component of the excavator to execute any gesture action;
acquiring a set number of action data sets in the process of executing any gesture action;
and acquiring angle information acquired by the inclination angle sensor on each component of the excavator under each action in the action data set.
6. The method for calibrating the pose of an excavator according to claim 1, wherein the position data set further comprises: and the included angle information between the connecting line from the excavator platform to the tail end of the bucket and the platform plane.
7. The method for calibrating the pose of the excavator according to claim 1, wherein updating the excavator kinematic model according to the installation errors of the inclination sensors of the excavator platform and the installation errors of the inclination sensors on the components comprises:
Determining the installation error of the inclination angle sensor on each component by using an optimization algorithm;
and adding the installation errors of the inclination angle sensors on the components and the installation errors of the inclination angle sensors of the excavator platform into the excavator kinematic model in a compensation error mode to obtain an updated kinematic model.
8. The utility model provides a position appearance calibration device of excavator, its characterized in that, the device includes:
An error determination unit: the system is used for controlling the excavator to rotate for one circle and collecting pitch angle information of the rotating process under a vehicle body coordinate system under the condition that the excavator works under any working condition, and determining the installation error of the inclination angle sensor of the excavator platform according to the pitch angle information; the excavator works under any working condition including the excavator works under an inclined posture; acquiring the distance from the excavator platform to the tail end position of the bucket, and acquiring angle information of each component of the excavator under a vehicle body coordinate system in the moving process to form a position data set, wherein the components comprise a movable arm, a bucket rod and the bucket; determining the installation error of the inclination angle sensor on each component by using an optimization algorithm according to the position data set;
the calibration unit comprises: and updating the excavator kinematic model according to the installation errors of the inclination angle sensor of the excavator platform and the installation errors of the inclination angle sensors on the components to obtain a pose calibration result of the tail end of the bucket.
9. An engineering machine, characterized in that the engineering machine comprises the pose calibration device of the excavator of claim 8.
10. An electronic device comprising a processor and a memory;
Wherein the memory is connected with the processor and is used for storing a computer program;
the processor is configured to implement the pose calibration method of the excavator according to any one of claims 1 to 7 by running a computer program stored in the memory.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410389645.2A CN118129736A (en) | 2024-04-01 | 2024-04-01 | Pose calibration method and device of excavator and engineering machinery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410389645.2A CN118129736A (en) | 2024-04-01 | 2024-04-01 | Pose calibration method and device of excavator and engineering machinery |
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| CN118129736A true CN118129736A (en) | 2024-06-04 |
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| CN202410389645.2A Pending CN118129736A (en) | 2024-04-01 | 2024-04-01 | Pose calibration method and device of excavator and engineering machinery |
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