CN115030247A - Method and device for correcting pose information of boom and excavator - Google Patents
Method and device for correcting pose information of boom and excavator Download PDFInfo
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
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Abstract
The application discloses a method and a device for correcting arm support pose information and an excavator, wherein coordinate information of a free end of an arm support in a preset state of the arm support is obtained; and measuring the angle information of the arm frame in a plurality of sections under a preset state; correcting parameters of a motion model of the arm support according to the coordinate information and the angle information; the angle information comprises the pitching angles of the multiple sections of support arms, and the motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multiple sections of arm support; the method and the device have the advantages that the coordinate information of the free end of the arm support in a specific preset state and the angle information of the support arm are measured, so that the parameters of the motion model of the arm support are corrected according to the measured value in the preset state, the correction of the parameters of the motion model can be simply realized, the regular maintenance of professional maintainers is not needed, the labor cost and time are saved, the correction can be performed before operation to ensure the operation precision of the arm support, and the operation efficiency and precision are improved.
Description
Technical Field
The application relates to the technical field of arm supports of engineering mechanical equipment, in particular to a method and a device for correcting arm support pose information and an excavator.
Background
Engineering machinery such as excavators and the like play an important role in the aspects of infrastructure, mining, real estate development, water conservancy and the like, so that the engineering machinery is widely applied to modern industry. Because the system of the excavator has the characteristics of time-varying property, strong dynamic coupling and flow coupling during working, nonlinearity of multiple inputs and multiple outputs, possibility of wide-range change of system parameters and the like, the research on joint trajectory control for realizing high precision and strong robustness of the excavator becomes a hot spot in the field of excavator control.
The excavator mainly comprises a movable arm, an arm and a bucket, wherein the movable arm, the arm and the bucket are main execution mechanisms for realizing the functions of ditching, leveling, loading and the like, and the bucket is positioned and executed by adjusting the angles of three-section structures of the movable arm, the arm and the bucket. Under the trend of engineering machinery intellectualization, a control system of the excavator needs to observe and acquire working device pose information with high accuracy and good robustness through a simplified sensor, so as to realize automatic operation.
However, due to the large size and the high degree of freedom of the excavator, the excavator works for a long time, especially in a severe environment, the performance of the excavator structural parts changes with the working time, and the "zero drift" phenomenon of the sensor and other factors, the high-precision positioning of the bucket tooth tip of the excavator is very difficult. At present, the excavator is calibrated before leaving a factory, or field calibration operation is carried out by professional maintenance personnel regularly, a large amount of manpower and time are consumed, and the excavator is quite inconvenient.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a method and a device for correcting arm support pose information and an excavator, and solves the technical problems.
According to one aspect of the application, a method for correcting the pose information of an arm support is provided, wherein the arm support comprises a plurality of sections of arm supports; the method for correcting the arm support pose information comprises the following steps: acquiring coordinate information of a free end of the cantilever crane in a preset state; the free end of the arm support is the end of the arm support far away from the fixed support end; measuring the angle information of the multi-section support arm of the arm frame in the preset state; wherein the angle information comprises pitch angles of the multi-section support arm; correcting parameters of a motion model of the arm support according to the coordinate information and the angle information; the motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multi-section arm support.
In an embodiment, the obtaining of the coordinate information of the free end of the boom in the preset state includes: measuring a support arm included angle of an adjacent support arm in the multi-section support arms in the preset state; and calculating to obtain the coordinate information of the free end of the cantilever crane in the preset state according to the included angle of the supporting arm and the lengths of the multiple sections of the supporting arm.
In one embodiment, the preset states include a plurality; wherein the correcting the parameters of the motion model of the boom according to the coordinate information and the angle information comprises: and correcting parameters of the motion model according to the coordinate information and the angle information in the preset states.
In an embodiment, the correcting the parameters of the motion model according to the coordinate information and the angle information in the plurality of preset states includes: calculating to obtain a plurality of estimated coordinates in the preset state; the estimated coordinates are obtained through calculation according to the motion model; calculating the difference between the estimated coordinates in the preset states and the corresponding coordinate information; and correcting parameters of the motion model according to a plurality of the difference values.
In an embodiment, the correcting the parameters of the motion model according to the coordinate information and the angle information in the plurality of preset states includes: calculating to obtain a plurality of estimated angles in the preset state; the estimated angle is obtained by calculation according to the motion model; calculating the difference between the estimated angles in the preset states and the corresponding angle information; and correcting parameters of the motion model according to a plurality of the difference values.
In an embodiment, said correcting parameters of said motion model according to a plurality of said difference values comprises: and adjusting the parameter value of the motion model so that the sum of the difference values is smaller than a preset difference value.
In one embodiment, the preset state includes a plurality of states, and each preset state includes one or more of the following states: the included angle of the adjacent support arms in the multi-section support arms reaches a limit angle, the support arms are in a horizontal state, and the support arms are in a vertical state; the acquiring of the coordinate information of the free end of the arm support in the preset state comprises: acquiring the coordinate information of the free end of the arm support in a plurality of preset states; the measuring the angle information of the boom at the preset state of the multi-section support arm comprises: and measuring the angle information of the multi-section support arm under a plurality of preset states of the cantilever crane.
According to another aspect of the application, a device for correcting pose information of an arm support is provided, and the arm support is arranged on the arm support and comprises a plurality of sections of support arms; the correction device includes: the acquisition module is used for acquiring the coordinate information of the free end of the arm support in a preset state; the free end of the arm support is the end, far away from the fixed supporting end, of the arm support; the measuring module is used for measuring the angle information of the multi-section support arm of the arm frame in the preset state; wherein the angle information comprises a pitch angle of the multi-section support arm; the correction module is used for correcting parameters of a motion model of the arm support according to the coordinate information and the angle information; the motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multi-section arm support.
According to another aspect of the present application, there is provided an excavator including: a body; the rotary platform is arranged on the machine body; the arm support is arranged on the rotary platform; and the device for correcting the arm support pose information.
In an embodiment, the calibration device includes a plurality of inertial sensors, and the plurality of inertial sensors are respectively disposed on the rotating platform, at a connection position of the boom and the rotating platform, and at a connection position of the adjacent boom.
According to the method and the device for correcting the arm support pose information and the excavator, the coordinate information of the free end of the arm support in the preset state of the arm support is obtained; and measuring the angle information of the arm frame in a plurality of sections under a preset state; the angle information comprises the pitching angles of the multi-section support arm; correcting parameters of a motion model of the arm support according to the coordinate information and the angle information; the motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multi-section arm support; the method and the device have the advantages that the coordinate information of the free end of the arm support in a specific preset state and the angle information of the support arm are measured, so that the parameters of the motion model of the arm support are corrected according to the measured value in the preset state, the correction of the parameters of the motion model can be simply realized, the regular maintenance of professional maintainers is not needed, the labor cost and time are saved, the correction can be performed before operation to ensure the operation precision of the arm support, and the operation efficiency and precision are improved.
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The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic structural view of an excavator to which the present application is applied.
Fig. 2 is a schematic flowchart of a boom working method according to an exemplary embodiment of the present disclosure.
Fig. 3 is a schematic flow chart of a method for correcting boom pose information according to an exemplary embodiment of the present application.
Fig. 4 is a schematic structural diagram of a geometric topology of a boom according to an exemplary embodiment of the present application.
Fig. 5 is a schematic flow chart of a method for correcting boom pose information according to another exemplary embodiment of the present application.
Fig. 6 is a schematic flow chart of a method for correcting boom pose information according to another exemplary embodiment of the present application.
Fig. 7 is a schematic flow chart of a method for correcting boom pose information according to another exemplary embodiment of the present application.
Fig. 8 is a schematic structural diagram of a device for correcting boom pose information according to an exemplary embodiment of the present application.
Fig. 9 is a schematic structural diagram of a device for correcting boom pose information according to another exemplary embodiment of the present application.
Fig. 10 is a block diagram of an electronic device provided in an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein.
Summary of the application
Along with the intelligent development of engineering machinery, more and more engineering machinery realizes automatic operation or semi-automatic operation, and the premise of the automatic operation and the semi-automatic operation is that the control precision meets the operation requirement. For example, in a back-hoe excavator or other construction machinery including a robot arm, the robot arm (boom) is generally formed by connecting a plurality of sections of arms such as a boom, an arm, and a bucket, and the bucket located at a free end of the boom can reach a designated operation site by adjusting an extension angle and a direction of the plurality of sections of arms, so that accurate operation is achieved.
The inertial sensor has high positioning accuracy and good economical efficiency, and can accurately acquire the position information of the multiple sections of support arms of the arm support by utilizing the inertial sensor, thereby determining the pose information of the arm support. However, after a long time of operation of the arm support, especially in a severe environment, the positioning accuracy of the bucket tooth tip is likely to be poor. For example, when digging hard ground for a long time, the multi-section support arm is stressed too much, so that the support arm is deformed or the angle between the adjacent support arms is changed; and the inertial sensor still has the zero drift phenomenon, and these factors can cause that the original motion model of the arm support can not reflect the current state well, so, need regularly to carry out the field correction to the arm support by professional maintainer, namely correct the motion model so that it can reflect the current state of the arm support, that is to say, the motion model after correcting can accurately calculate according to the data that inertial sensor gathered and obtain the tooth point position information of scraper bowl. However, such field maintenance not only needs to consume the time and energy of professional personnel to complete, for example, the maintenance personnel needs to perform multiple adjustments and detection, which itself has a certain probability that the maintenance personnel may perform the adjustments a few times or not to achieve the desired accuracy; but also by means of more precise instruments or professional sites, which is not simple, delays the correction for a long time, and causes a low frequency of correction (for efficiency and cost considerations), thereby affecting the working accuracy of the boom.
In order to solve the problems, the application provides a method for correcting the position and orientation information of the arm support, the coordinate information of the free end of the arm support and the angle information of the support arm in a specific preset state are acquired by using the existing inertial sensor on the arm support, so that the parameters of the motion model of the arm support are corrected according to the measured value in the preset state, the automatic correction of the arm support is realized, the correction of the arm support can be simply realized, the regular maintenance of professional maintenance personnel is not needed, the labor cost and time are saved, the correction can be carried out before the operation to ensure the operation precision of the arm support, and the efficiency and precision of each operation are improved.
Exemplary excavator
Fig. 1 is a schematic structural view of an excavator to which the present application is applied. As shown in fig. 1, the excavator includes: the device comprises a machine body 1, a rotary platform 2, an arm support 3 and a correction device for pose information of an upper arm support arranged on the arm support 3; the rotary platform 2 is arranged on the machine body 1, the arm support 3 is arranged on the rotary platform 2, and the arm support 3 comprises a movable arm 31, an arm 32 and a bucket 33. The direction of the arm support 3 is adjusted through the rotation of the rotary platform 2, and the arrival position of the free end (such as a bucket) of the arm support 3 is adjusted through adjusting the angle between each section of the arm support in the arm support 3, so that the precise operation is realized.
Specifically, the correcting device comprises a plurality of inertial sensors, and the plurality of inertial sensors are respectively arranged on the rotary platform 2, the joint of the arm support 3 and the rotary platform 2, and the joint of the adjacent support arms. The rotation angle of the rotary platform 2, the included angle between the arm support 3 and the rotary platform 2 and the included angle between adjacent support arms in a preset state are collected by a plurality of inertial sensors carried by a plurality of excavators, and the correction device of the arm support pose information adjusts parameters of the motion model according to the angle information in the preset state, so that the correction of the motion model is realized, namely the motion model of the arm support is automatically corrected by using the existing inertial sensors to ensure the operation precision of the arm support. The device for correcting the arm support pose information may include a controller or a control chip disposed on the arm support 3, or a control chip or a control module integrated in a controller of the excavator, and may automatically (e.g., periodically) or automatically correct the motion model of the arm support according to a user instruction.
Exemplary method
Fig. 2 is a schematic flow chart of an arm support working method according to an exemplary embodiment of the present application. As shown in fig. 2, in the normal operation mode, the inertial sensor observes data, that is, the inertial sensor observes in real time to acquire direction and angle information of the boom, and inputs the observed data into the motion model to obtain pose information of the boom, so as to provide the pose information of the boom for the boom operation, so as to provide automation control; in the correction mode, the inertial sensor observes observation data in a preset pose, and the observation data is input into the parameter identification correction model to correct parameters of the motion model, so that a more accurate motion model is obtained. The observation data obtained by the inertial sensor is joint space data, that is, relative data such as the length and the mutual included angle of each support arm of the arm support, and the motion model calculates the working space data (that is, coordinate data in a space coordinate system) according to the joint space data.
Fig. 3 is a schematic flow chart of a method for correcting boom pose information according to an exemplary embodiment of the present application. The arm support comprises a plurality of sections of support arms; as shown in fig. 3, the method for correcting the pose information of the boom comprises the following steps:
step 310: and acquiring coordinate information of the free end of the arm support in a preset state.
Wherein, the free end of the arm support is the end of the arm support (such as the bucket) far away from the fixed support end. In one embodiment, the preset state may include a plurality of states, each preset state including one or more of the following: the support arm included angle of adjacent support arms in the multi-section support arms reaches a limit angle, the support arms are in a horizontal state, and the support arms are in a vertical state; the specific implementation manner of step 310 may be: and acquiring coordinate information of the free end of the arm support under a plurality of preset states.
Specifically, for convenience of description, as shown in fig. 4, the pose information of the boom is decomposed into two state spaces: joint space and working space. In a plane coordinate system Y 0 OZ 0 In the working space using [ y, z, psi ]] T Specifically, the coordinate system includes the Y-axis and Z-axis coordinates of the bucket tooth tip in the base coordinate system, and the angle ψ between the line connecting the bucket tooth tip and the bucket hinge point and the horizontal plane (i.e., the vector a in FIG. 4) 4 Angle to the horizontal). Joint space available [ theta ] 2 ,θ 3 ,θ 4 ] T Indicating, in particular, the relative angle of rotation theta of the boom about the swing platform 2 Relative rotation angle theta between arm and boom 3 Relative rotation angle theta between bucket and stick 4 。
Step 320: and measuring the angle information of the multi-section support arm of the arm frame in a preset state.
Wherein the angle information comprises the pitch angle of the multi-section support arm. In an embodiment, the specific implementation manner of step 220 may be: and measuring the angle information of the multi-section support arm of the arm frame under a plurality of preset states. Specifically, the absolute pitch angle delta of the upper vehicle (rotary platform) to the ground is measured by using an inertial sensor 1 Absolute pitch angle delta of moving arm to ground 2 Absolute pitching angle delta of bucket rod to ground 3 Absolute pitch angle delta of bucket to ground 4 . Is ideally ofIn case of θ 2 ＝δ 2 -δ 1 ，θ 3 ＝δ 3 -δ 2 ，θ 4 ＝δ 4 -δ 3 However, in practice, the joint angle calculated according to the above formula fluctuates to a large extent, i.e., there is a large systematic error.
Step 330: and correcting parameters of the motion model of the arm support according to the coordinate information and the angle information.
The motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multi-section arm support. In an embodiment, the specific implementation manner of step 330 may be: and correcting parameters of the motion model according to the coordinate information and the angle information in a plurality of preset states. And according to the coordinate information and the angle information under a plurality of special states (namely preset states), performing parameter correction on the motion model to obtain the motion model according with the current state of the arm support, so that the operation precision of the arm support is improved.
The motion model established by the application is shown as a formula (1), and the corresponding parameters are shown as a formula (2):
wherein,
the predicted value of the ground pitch angle of the rotary platform in the maximum joint angle state is obtained,
the predicted value of the ground pitch angle of the movable arm in the state of the maximum joint angle is obtained,
for the pair of the rotary platform in the state of the minimum joint angleThe predicted value of the pitch angle of the ground,
the predicted value of the ground pitch angle of the movable arm in the state of the maximum joint angle is obtained,
for the predicted value of the ground pitch angle of the rotary platform in the horizontal state,
the predicted value of the ground pitch angle of the movable arm in the horizontal state,
the predicted value of the ground pitch angle of the bucket rod in the state of the maximum joint angle,
the predicted value of the ground pitch angle of the bucket rod in the state of the minimum joint angle,
the predicted value of the ground pitch angle of the movable arm in the vertical state is obtained,
the predicted value of the ground pitch angle of the bucket rod in the vertical state,
the predicted value of the ground pitch angle of the bucket in the state of the maximum joint angle,
the predicted value of the ground pitch angle of the bucket in the state of the minimum joint angle,
the predicted value of the ground pitch angle of the bucket rod in the horizontal state,
the predicted value of the ground pitch angle of the bucket in the horizontal state,
for the predicted value of the ground pitch angle of the bucket in the vertical state,
the predicted value of the relative rotation angle of the movable arm around the rotary platform under the state of the maximum joint angle is obtained,
the predicted value of the relative rotation angle of the boom around the swing platform in the horizontal state is the predicted value,
the predicted value of the relative rotation angle of the movable arm around the rotary platform under the state of the minimum joint angle is obtained,
the predicted value of the relative rotation angle between the arm and the movable arm under the state that the arm is at the maximum joint angle is obtained,
the predicted value of the relative rotation angle between the arm and the movable arm under the state that the arm is at the minimum joint angle is obtained,
is a predicted value of a relative rotation angle between the arm and the boom in a vertical state of the arm,
the predicted value of the relative rotation angle between the bucket and the bucket rod in the state of the maximum joint angle of the bucket,
is at a minimum for the bucketA predicted value of a relative rotation angle between the bucket and the arm in the joint angle state,
is a predicted value of the relative rotation angle between the bucket and the arm in the vertical state of the bucket,
is a predicted value of the relative rotation angle between the bucket and the stick in the horizontal state of the bucket. In a normal mode, the position and attitude information of the arm support can be output by inputting the data observed by the inertial sensor into the formula (1).
According to the method for correcting the position and posture information of the arm support, the coordinate information of the free end of the arm support in a preset state is obtained; and measuring the angle information of the arm frame in a plurality of sections under a preset state; the angle information comprises the pitching angles of the multi-section support arm; correcting parameters of a motion model of the arm support according to the coordinate information and the angle information; the motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multi-section arm support; the method and the device have the advantages that the coordinate information of the free end of the arm support in a specific preset state and the angle information of the support arm are measured, so that the parameters of the motion model of the arm support are corrected according to the measured value in the preset state, the correction of the parameters of the motion model can be simply realized, the regular maintenance of professional maintainers is not needed, the labor cost and time are saved, the correction can be performed before operation to ensure the operation precision of the arm support, and the operation efficiency and precision are improved.
Fig. 5 is a schematic flow chart of a method for correcting boom pose information according to another exemplary embodiment of the present application. As shown in fig. 5, the step 310 may include:
step 311: and measuring the support arm included angle of the adjacent support arm in the multi-section support arms in a preset state.
In general, the length of the arm support and the arm included angle (included angle range) of the adjacent arm support have small changes, and the posture information of the arm support can be objectively reflected.
Step 312: and calculating to obtain the coordinate information of the free end of the arm support in a preset state according to the included angle of the support arm and the lengths of the multiple sections of support arms.
The coordinate information of the free end of the arm support can be obtained through calculation by measuring the arm support included angle of the adjacent arm support in the multiple sections of arm supports in the preset state. Specifically, in the topology shown in fig. 4, the following geometric relationship can be obtained:
y＝ACcosθ 2 +CQcosθ 3 +QNcosθ 4 (3)
Z＝ACsinθ 2 +CQsinθ 3 +QNsinθ 4 (4)
ψ＝θ 2 +θ 3 +θ 4 (5)
wherein AC corresponds to the vector a 2 Of (a) modulo length, CQ corresponding to vector a 3 Modulo length of (c), QN corresponding to vector a 4 Die length of (2).
Equations (3) - (5) can be represented in a matrix as:
fig. 6 is a schematic flow chart of a method for correcting boom pose information according to another exemplary embodiment of the present application. As shown in fig. 6, the step 330 may include:
step 331: and calculating to obtain estimated angles in a plurality of preset states.
And calculating the estimated angle according to the motion model. Specifically, a conversion relationship between a special attitude (preset state) and observation data of the inertial sensor can be established according to a corresponding relationship between a joint space and a working space:
equation (7) can be formally simplified as:
Ξ 10*1 ＝K 10*15 Θ 15*1 (8)
the 36 special poses of the arm support are obtained according to the combination of various special positions of a movable arm (comprising a maximum angle, a minimum angle and a horizontal position), a bucket rod (comprising a maximum angle, a minimum angle and a vertical position) and a bucket (comprising a maximum angle, a minimum angle, a horizontal position and a vertical position) (not all listed in the following table 1):
table 1 special pose summary table of arm support
| Sequence of | Pose position | Attitude of the boom | Attitude of bucket rod | Bucket attitude |
| 1 | (x 1 ,y 1 ,ψ 1 ) | θ 2max | θ 3max | θ 4max |
| 2 | (x 2 ,y 2 ,ψ 2 ) | θ 2max | θ 3max | θ 4min |
| 3 | (x 3 ,y 3 ,ψ 3 ) | θ 2max | θ 3max | θ 4h |
| 4 | (x 4 ,y 4 ,ψ 4 ) | θ 2max | θ 3max | θ 4v |
| … | … | … | … | … |
In a matrix form, the 36 poses are uniformly expressed as:
the form of equation (9) can be simplified as:
Ψ 36*3 ＝H 36*9 *M 9*3 (10)
among them, the 36 sets of special pose matrix Ψ and the structural matrix M of the working device vary little after shipment and are relatively easy to measure, and can be considered as known quantities. Matrix H is formed by xi 10*1 Obtained by the operator Λ (·), i.e.:
H 36*9 ＝Λ(Ξ 10*1 ) (11)
by combining the formulas (7) to (11), the relation between the special pose of the arm support and the reading of the inertial sensor can be obtained as follows:
Ψ 36*3 ＝Λ(K 10*15 Θ 15*1 )M 9*3 (12)
the parameter estimation value can be calculated according to the formula (12)
And xi is:
Ξ 10*1 ＝Λ -1 [ΨM T (MM T ) -1 ] (14)
step 332: and calculating the difference between the estimated angles in the plurality of preset states and the corresponding angle information.
After the estimated angle is calculated according to the actually measured coordinate information, the error value of the motion model in each special pose state is reflected by comparing the difference between the estimated angle in each special pose state and the corresponding angle information.
Step 333: and correcting the parameters of the motion model according to the plurality of difference values.
And correcting the parameters of the motion model according to the error values of the motion model in all special pose states so as to enable the error values of the motion model to be smaller. I.e. using parameter estimates
And xi updating the parameters of the motion model f in the kinematic model (1), namely obtaining the kinematic model which is more in line with the current state of the arm support and the sensor, such as a least square method.
Fig. 7 is a schematic flow chart of a method for correcting boom pose information according to another exemplary embodiment of the present application. As shown in fig. 7, the step 330 may include:
step 334: and calculating to obtain estimated coordinates in a plurality of preset states.
And calculating the estimated coordinates according to the motion model. The specific calculation method can be obtained as the above equation (12).
Step 335: and calculating the difference between the estimated coordinates in a plurality of preset states and the corresponding coordinate information.
After the estimated coordinates are calculated according to the actually measured angle information, the error value of the motion model in each special pose state is reflected by comparing the difference value between the estimated coordinates in each special pose state and the corresponding coordinate information.
Step 336: and correcting the parameters of the motion model according to the plurality of difference values.
And correcting parameters of the motion model according to the error values of the motion model in all special pose states so as to enable the error values of the motion model to be smaller.
In an embodiment, the specific implementation manner of step 333 and step 336 may be: and adjusting the parameter value of the motion model so that the sum of the difference values is smaller than the preset difference value.
Because the parameter of the motion model is modified to affect the size of the difference, the parameter value of the motion model is iteratively adjusted, and the difference and the corresponding loss value (such as the sum of the differences) in a plurality of special pose states are calculated again according to the adjusted parameter value, and when the loss value is smaller than the preset value, the parameter value of the motion model is more appropriate. That is, the parameters of the motion model are corrected according to the difference values, so that the sum of all the difference values (for example, the sum of the squares of the difference values) is small (for example, smaller than a preset value), or the difference values are all small (for example, the maximum value of the difference values is smaller than a preset value) to ensure that the error value of the motion model in the normal operating state is not too large.
In order to improve the accuracy of the model, the 36 groups of special poses can be circularly debugged and observed for 3-5 times in actual operation, so that the stability and the convergence of parameter identification are improved.
Exemplary devices
Fig. 8 is a schematic structural diagram of a device for correcting boom pose information according to an exemplary embodiment of the present application. The device for correcting the pose information of the arm support is arranged on the arm support, and the arm support comprises a plurality of sections of support arms; as shown in fig. 8, the device 80 for correcting the boom pose information includes: the acquiring module 81 is used for acquiring coordinate information of a free end of the arm support in a preset state; the free end of the arm support is the end of the arm support far away from the fixed support end; the measuring module 82 is used for measuring the angle information of the arm frame in a plurality of sections under a preset state; the angle information comprises the pitching angles of the multi-section support arm; the correction module 83 is used for correcting the parameters of the motion model of the arm support according to the coordinate information and the angle information; the motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multi-section arm support.
According to the device for correcting the arm support pose information, the coordinate information of the free end of the arm support in the preset state of the arm support is obtained through the obtaining module 81; the measuring module 82 measures the angle information of the arm support in a plurality of sections under a preset state; the angle information comprises the pitching angles of the multi-section support arm; the correction module 83 corrects the parameters of the motion model of the arm support according to the coordinate information and the angle information; the motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multi-section arm support; the method and the device have the advantages that the coordinate information of the free end of the arm support in a specific preset state and the angle information of the support arm are measured, so that the parameters of the motion model of the arm support are corrected according to the measured value in the preset state, the correction of the parameters of the motion model can be simply realized, the regular maintenance of professional maintenance personnel is not needed, the labor cost and time are saved, the correction can be carried out before operation to ensure the operation precision of the arm support, and the operation efficiency and precision are improved.
In one embodiment, the preset state may include a plurality of states, each preset state including one or more of the following combinations of states: the included angle of the adjacent support arms in the multi-section support arms reaches a limit angle, the support arms are in a horizontal state, and the support arms are in a vertical state; wherein, the obtaining module 81 may be further configured to: and acquiring coordinate information of the free end of the arm support under a plurality of preset states.
In an embodiment, the measurement module 82 may be further configured to: and measuring the angle information of the multi-section support arm of the arm frame under a plurality of preset states.
In an embodiment, the correction module 83 may be further configured to: and correcting parameters of the motion model according to the coordinate information and the angle information in a plurality of preset states.
Fig. 9 is a schematic structural diagram of a device for correcting boom pose information according to another exemplary embodiment of the present application. As shown in fig. 9, the obtaining module 81 may include: an included angle measuring unit 811 for measuring a support arm included angle of an adjacent support arm in the multi-section support arm in a preset state; and a coordinate calculation unit 812, configured to calculate, according to the included angle of the support arm and the lengths of the multiple sections of support arms, to obtain coordinate information of the free end of the boom in the preset state.
In an embodiment, as shown in fig. 9, the calibration module 83 may include: the estimation unit 831 is configured to calculate estimated angles in a plurality of preset states; a difference calculating unit 832, configured to calculate differences between the estimated angles in the multiple preset states and the corresponding angle information; a parameter correcting unit 833, configured to correct a parameter of the motion model according to the multiple differences.
In an embodiment, the estimation unit 831 may be configured to: calculating to obtain estimated coordinates under a plurality of preset states; the difference calculation unit 832 may be configured to: calculating the difference between the estimated coordinates in a plurality of preset states and the corresponding coordinate information; the parameter correcting unit 833 may be configured to: and correcting the parameters of the motion model according to the plurality of difference values.
In an embodiment, the parameter correcting unit 833 may be further configured to: and adjusting the parameter value of the motion model so that the sum of the difference values is smaller than the preset difference value.
Exemplary electronic device
Next, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 10. The electronic device may be either or both of the first device and the second device, or a stand-alone device separate from them, which stand-alone device may communicate with the first device and the second device to receive the acquired input signals therefrom.
FIG. 10 illustrates a block diagram of an electronic device in accordance with an embodiment of the present application.
As shown in fig. 10, the electronic device 10 includes one or more processors 11 and memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the method for correcting boom pose information of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the electronic device 10 relevant to the present application are shown in fig. 10, and components such as buses, input/output interfaces, and the like are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but 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 include: an electrical connection having one or more wires, a portable disk, 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.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A method for correcting the pose information of an arm support comprises the steps that the arm support comprises a plurality of sections of support arms; the method for correcting the arm support pose information is characterized by comprising the following steps:
acquiring coordinate information of a free end of the cantilever crane in a preset state; the free end of the arm support is the end of the arm support far away from the fixed support end;
measuring the angle information of the multi-section support arm of the arm frame in the preset state; wherein the angle information comprises a pitch angle of the multi-section support arm; and
correcting parameters of a motion model of the arm support according to the coordinate information and the angle information; the motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multi-section arm support.
2. The method for correcting the pose information of the boom according to claim 1, wherein the acquiring the coordinate information of the free end of the boom in a preset state comprises:
measuring a support arm included angle of an adjacent support arm in the multi-section support arms in the preset state; and
and calculating to obtain the coordinate information of the free end of the cantilever crane in the preset state according to the included angle of the supporting arm and the lengths of the multiple sections of the supporting arm.
3. The method for correcting the boom pose information according to claim 1, wherein the preset state comprises a plurality of states; wherein the correcting the parameters of the motion model of the arm support according to the coordinate information and the angle information comprises:
and correcting parameters of the motion model according to the coordinate information and the angle information in the preset states.
4. The method for correcting the boom pose information according to claim 3, wherein the correcting the parameters of the motion model according to the coordinate information and the angle information in the plurality of preset states comprises:
calculating to obtain a plurality of estimated coordinates in the preset state; the estimated coordinates are obtained through calculation according to the motion model;
calculating the difference between the estimated coordinates in the preset states and the corresponding coordinate information; and
and correcting the parameters of the motion model according to a plurality of difference values.
5. The method for correcting the boom pose information according to claim 3, wherein the correcting the parameters of the motion model according to the coordinate information and the angle information in the plurality of preset states comprises:
calculating to obtain a plurality of estimated angles in the preset state; the estimated angle is obtained by calculation according to the motion model;
calculating the difference between the estimated angles in the preset states and the corresponding angle information; and
and correcting the parameters of the motion model according to a plurality of difference values.
6. The method for correcting the boom pose information according to claim 4 or 5, wherein the correcting the parameters of the motion model according to the plurality of difference values comprises:
and adjusting the parameter value of the motion model so that the sum of the difference values is smaller than a preset difference value.
7. The method for correcting the boom pose information according to any one of claims 1 to 5, wherein the preset state comprises a plurality of states, and each preset state comprises one or more of the following states: the included angle of the adjacent support arms in the multi-section support arms reaches a limit angle, the support arms are in a horizontal state, and the support arms are in a vertical state;
the acquiring of the coordinate information of the free end of the arm support in the preset state comprises:
acquiring the coordinate information of the free end of the arm support in a plurality of preset states;
the measuring the angle information of the boom at the preset state of the multi-section support arm comprises:
and measuring the angle information of the multi-section support arm in a plurality of preset states of the arm frame.
8. A device for correcting pose information of an arm support is arranged on the arm support, and the arm support comprises a plurality of sections of support arms; characterized in that said correction means comprise:
the acquisition module is used for acquiring the coordinate information of the free end of the arm support in a preset state; the free end of the arm support is the end of the arm support far away from the fixed support end;
the measuring module is used for measuring the angle information of the arm frame on the multiple sections of support arms in the preset state; wherein the angle information comprises pitch angles of the multi-section support arm; and
the correction module is used for correcting parameters of a motion model of the arm support according to the coordinate information and the angle information; the motion model represents the corresponding relation between the coordinate information of the free end of the arm support and the angle information of the multi-section arm support.
9. An excavator, comprising:
a body;
the rotary platform is arranged on the machine body;
the arm support is arranged on the rotary platform; and
the boom pose information correcting device of claim 8.
10. The excavator of claim 9 wherein the calibration device comprises a plurality of inertial sensors disposed on the swing platform, at the junction of the boom and the swing platform, and at the junction of adjacent arms, respectively.
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