CN113345030B - Calibration method and device for working machine sensor, working machine and electronic equipment - Google Patents
Calibration method and device for working machine sensor, working machine and electronic equipment Download PDFInfo
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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Abstract
The invention provides a calibration method and device of a working machine sensor, a working machine and electronic equipment, wherein the calibration method of the working machine sensor comprises the following steps: controlling the working machine to adjust to a target attitude; acquiring geometrical parameters of the working machine in the target attitude, and obtaining a target angle of a working machine sensor based on the geometrical parameters; and acquiring an actual angle of the working machine sensor in the target attitude, and calibrating the working machine sensor based on the target angle and the actual angle. The calibration method of the operation machinery sensor provided by the invention can be used for considering the output precision and the calibration operability of the sensor.
Description
Technical Field
The present invention relates to the field of working machines, and in particular, to a method and an apparatus for calibrating a sensor of a working machine, and an electronic device.
Background
At present, the operation machine is rapidly developed towards the direction of electric control and intelligence, more and more sensors are applied to the operation machine in order to better develop the electric control technology and the intelligent function of the operation machine, and the intelligent function control algorithm is mostly required to be developed based on various sensor data on the operation machine, so that the accuracy of the sensor data of the operation machine directly influences the control effect of the control algorithm.
Because the operation machine can generate certain errors in the processes of processing, manufacturing, assembling and installing the sensor, the sensor is required to eliminate errors of sensor output data as far as possible after being installed on the operation machine, and the operability and convenience of the calibration method can greatly influence the production link of a production line and the accuracy of the sensor output data, so that the calibration method of the operation machine sensor is required, and the sensor output precision and the calibration operability can be simultaneously achieved.
Disclosure of Invention
The invention provides a calibration method and device for a sensor of a working machine, the working machine and electronic equipment, and the calibration method and device can be used for considering the output precision and calibration operability of the sensor.
The invention provides a calibration method of a sensor of a working machine, which comprises the following steps:
controlling the working machine to adjust to a target attitude;
acquiring geometrical parameters of the working machine in the target attitude, and obtaining a target angle of a working machine sensor based on the geometrical parameters;
and acquiring an actual angle of the working machine sensor in the target attitude, and calibrating the working machine sensor based on the target angle and the actual angle.
According to the calibration method of the working machine sensor provided by the invention, the calibration of the working machine sensor is performed based on the target angle and the actual angle, and the method comprises the following steps:
and acquiring a real-time angle output by the working machine sensor, and acquiring a calibrated angle of the working machine sensor based on the target angle, the actual angle and the real-time angle.
According to the calibration method of the working machine sensor provided by the invention, the calibrated angle of the working machine sensor is obtained based on the target angle, the actual angle and the real-time angle, and the method comprises the following steps:
obtaining an angle deviation of the work machine sensor based on a difference between the actual angle and the target angle;
and obtaining the calibrated angle based on the difference value of the real-time angle and the angle deviation.
According to the calibration method of the working machine sensor provided by the invention, the working machine sensor comprises at least one of a movable arm inclination angle sensor, a bucket rod inclination angle sensor and a bucket inclination angle sensor.
According to the calibration method of the working machine sensor provided by the invention, the control working machine is adjusted to the target attitude, and the calibration method comprises the following steps:
controlling a boom arm hinge point of the working machine to move to a first height, and controlling a bucket arm hinge point of the working machine to move to a second height; the ground clearance height of the movable arm vehicle body hinge point of the working machine is a third height; the target angle of the work machine sensor includes: target angle of arm sensor and target angle of arm sensor;
the obtaining the target angle of the working machine sensor based on the geometric parameters comprises the following steps:
obtaining a target angle of the arm sensor based on the first height, the second height, and a length between a boom arm hinge point and an arm bucket hinge point of the work machine;
and obtaining the target angle of the movable arm sensor based on the first height, the third height and the length between the movable arm vehicle body hinge point and the movable arm bucket rod hinge point of the working machine.
According to the calibration method of the working machine sensor provided by the invention, the control of the movement of the arm and bucket hinge point of the working machine to a first height and the control of the movement of the arm and bucket hinge point of the working machine to a second height comprises the following steps:
controlling the swing arm bucket rod hinge point to be located on a first bracket, then carrying out bucket rod recovery action, and locating the bucket rod bucket hinge point on a second bracket;
the height of the first support is the first height, and the height of the second support is the second height.
According to the calibration method for the working machine sensor provided by the invention, the inner surface of the first bracket is attached to the outer surface of the arm-bucket hinge point, and the inner surface of the second bracket is attached to the outer surface of the arm-bucket hinge point.
The invention also provides a calibration device of the working machine sensor, which comprises:
the action module is used for controlling the working machine to adjust to the target posture;
the first calculation module is used for acquiring the geometric parameters of the working machine in the target attitude and obtaining the target angle of the working machine sensor based on the geometric parameters;
and the second calculation module is used for acquiring the actual angle of the working machine sensor in the target attitude and calibrating the working machine sensor based on the target angle and the actual angle.
The invention also provides a working machine, which comprises the calibration device of the working machine sensor.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the steps of the calibration method of any one of the working machine sensors when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method of calibrating a work machine sensor as described in any of the above.
According to the calibration method and device for the working machine sensor, the working machine and the electronic equipment, the working machine is controlled to be adjusted to the target attitude, the geometric parameters of the working machine in the target attitude are obtained, the target angle of the working machine sensor is obtained based on the geometric parameters, the actual angle of the working machine sensor in the target attitude is obtained, and the calibration is carried out on the working machine sensor based on the target angle and the actual angle. The whole calibration process can automatically acquire the angle data of the sensor of the working machine, further calculate and obtain the calibrated angle, the automatic calibration process can ensure the precision of the sensor, labor is saved, the calibration process is simple, the operation is easy, and the operability of calibration is improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for calibrating a work machine sensor provided by the present disclosure;
FIG. 2 is a schematic illustration of calibration of a work machine sensor provided by the present disclosure;
FIG. 3 is a second flow chart of a calibration method of a work machine sensor according to the present invention;
FIG. 4 is a schematic illustration of a first bracket in a method for calibrating a work machine sensor provided by the present disclosure;
FIG. 5 is a schematic illustration of a second bracket in a method of calibrating a work machine sensor provided by the present disclosure;
FIG. 6 is a functional block diagram of a calibration device for a work machine sensor provided by the present invention.
Fig. 7 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the existing calibration method of the working machine sensor, the sensor calibration process needs additional equipment, such as a level meter, an infrared transmitter, a planning transmitter, etc., to calibrate in the horizontal direction and the vertical ground direction, and additional cost is added.
Moreover, the operation steps of the sensor calibration process are complicated, and a plurality of persons are required to cooperate to respectively control the excavator and the calibration equipment; the sensor calibration is not automatic calibration, the time required in the calibration process is long, and the sensor calibration has no operability in actual production.
Therefore, the invention provides the calibration method of the sensor of the working machine, which can give consideration to the output precision and the calibration operability of the sensor, and does not increase the cost additionally.
The calibration method, device, working machine and electronic device of the working machine sensor of the present invention are described below with reference to fig. 1 to 7.
The invention provides a calibration method of a working machine sensor, as shown in fig. 1, comprising the following steps:
step 110, controlling the working machine to adjust to the target attitude.
It will be appreciated that the work machine may be an excavator, and that the target attitude is the attitude of the stick, bucket and boom of the excavator, and that the target attitude is the corresponding calibration position.
Step 120, obtaining a geometric parameter of the working machine in the target attitude, and obtaining a target angle of the working machine sensor based on the geometric parameter.
The geometric parameter may be a size of a component on the work machine. The relative position between the components, or the height of the components from the ground, etc.
The target angle of the working machine sensor is calculated based on the geometric parameters of the working machine in the target attitude, and the mathematical knowledge such as a trigonometric function is adopted to obtain the target angle.
The work machine sensor may be a tilt sensor provided on the work machine.
And 130, acquiring an actual angle of the working machine sensor in the target attitude, and calibrating the working machine sensor based on the target angle and the actual angle.
In some embodiments, calibrating the work machine sensor based on the target angle and the actual angle includes:
and acquiring a real-time angle output by the working machine sensor, and acquiring the calibrated angle of the working machine sensor based on the target angle, the actual angle and the real-time angle.
The real-time angle is also output by the working machine sensor, and is obtained after the actual angle. The real-time angle may be angle data output by the work machine sensor in the target attitude or angle data output by the work machine sensor in the non-target attitude.
In some embodiments, deriving the calibrated angle of the work machine sensor based on the target angle, the actual angle, and the real-time angle includes:
obtaining the angle deviation of the working machine sensor based on the difference value between the actual angle and the target angle;
and obtaining the calibrated angle based on the difference value of the real-time angle and the angle deviation.
The angle deviation of the work machine sensor may be obtained based on the difference between the actual angle and the target angle, and the average value of the differences between the actual angle and the target angle corresponding to a plurality of postures of the work machine may be calculated as the angle deviation of the work machine sensor.
As shown in fig. 2, after the working machine is powered on, the working machine sensor sends real-time angle information of the boom, the bucket and the working machine body to the controller, the controller performs calibration processing on the received real-time angle information, and sends calibrated data to the functional module to be used as an input signal of the functional algorithm module, an operator activates the calibration function of the working machine sensor on the man-machine interface of the display screen during calibration, a control program in the controller automatically starts calibration of the working machine sensor, and a calibration result prompt is returned on the interface of the display screen after the calibration is completed. A specific calibration procedure for the work machine sensor is shown in fig. 3.
In some embodiments, the work machine sensor includes at least one of a boom angle sensor, an arm angle sensor, and a bucket angle sensor.
Setting inclination angle sensors on a movable arm, a bucket rod and a bucket to be in calibration positions, wherein the corresponding target angles are alpha respectively 0 ，β 0 And gamma 0 The method comprises the steps of carrying out a first treatment on the surface of the Actual angle alpha of inclination angle sensor on movable arm, bucket rod and bucket at calibration position 1 ，β 1 And gamma 0 The method comprises the steps of carrying out a first treatment on the surface of the A movable arm,The real-time angles of the dip angle sensors on the bucket rod and the bucket are alpha, beta and gamma respectively; the angles of the movable arm, the bucket rod and the bucket after the calibration of the inclination angle sensor are respectively alpha 2 ，β 2 And gamma 2 。
Angle deviation Δα=α of boom at calibration position 1 -α 0 The calibrated angle alpha of the movable arm 2 =α - Δα; angle deviation Δβ=β of the arm at the calibration position 1 -β 0 The calibrated angle of the bucket rod is beta 2 =β - Δβ; angular deviation Δγ=γ of the bucket in the calibration position 1 -γ 0 The calibrated angle of the bucket is gamma 2 =γ - Δγ. For the deviations delta alpha, delta beta and delta gamma, a plurality of gestures can be selected to average in order to improve the calibration precision of the sensor.
After calibration is completed, the signal processing module in the controller can send the calibrated angles alpha 2, beta 2 and gamma 2 to the functional algorithm module, so that intelligent function development can be performed.
In some embodiments, controlling the work machine to adjust to the target pose includes:
the boom arm hinge point of the work machine is controlled to move to a first height and the arm bucket hinge point of the work machine is controlled to move to a second height.
The ground clearance height of a hinge point of a movable arm vehicle body of the working machine is a third height; the target angle of the work machine sensor includes: target angle of arm sensor and target angle of boom sensor.
The boom arm hinge point is a hinge point between a boom and an arm of the work machine, the arm bucket hinge point is a hinge point between an arm and a bucket of the work machine, and the boom body hinge point is a hinge point between a boom and a work machine platform of the work machine.
Obtaining a target angle for a work machine sensor based on the geometric parameter, comprising:
obtaining a target angle of the arm sensor based on the first height, the second height and the length between the arm hinge point and the arm bucket hinge point of the working machine;
the target angle of the boom sensor is obtained based on the first height, the third height, and a length between a boom body hinge point and a boom arm hinge point of the work machine.
In some embodiments, controlling a boom-arm pivot point of a work machine to move to a first height and controlling a stick-bucket pivot point of the work machine to move to a second height includes:
and controlling the movable arm to move to the movable arm bucket rod hinge point, controlling the movable arm to move, controlling the movable arm bucket rod hinge point to be located on the first bracket, and then performing bucket rod recovery action to locate the bucket rod bucket hinge point on the second bracket.
The height of the first support is first height, the height of the second support is second height, the first height is larger than the second height, and projections of the arm bucket rod hinge point and the bucket rod bucket hinge point on the ground are respectively overlapped with the first support and the second support.
It can be understood that the movable arm bucket hinge point and the bucket arm bucket hinge point are respectively arranged on the first bracket and the second bracket, the bucket is positioned at the unloading limit position, and the current posture of the excavator is set to be the calibration position.
When the working machine sensor is calibrated, the working machine is firstly parked on a flat ground according to the calibration requirement, and the movable arm, the bucket rod and the bucket are parked on the first bracket and the second bracket according to the requirement.
It will be appreciated that the working machine boom and working machine platform hinge point is assumed to be at a height H from the ground 0 ，H 0 The first bracket is designed to be unchanged, and the height of the first bracket is adjusted to be H 1 The height of the second bracket is H 2 The first bracket is shown in fig. 4, and the second bracket is shown in fig. 5.
In some embodiments, grating sensors may be disposed at the boom arm hinge point and the arm bucket hinge point, and the grating sensors may collect the corresponding hinge point ground clearance, and may then move the boom arm hinge point to a first height and the arm bucket hinge point to a second height.
In some embodiments, the inner surface of the first bracket is in engagement with the outer surface of the boom arm hinge point and the inner surface of the second bracket is in engagement with the outer surface of the arm bucket hinge point.
It should be noted that, the inner surface of the first bracket and the inner surface of the second bracket may be both inner circular surfaces.
The internal surface of first support is laminated completely with the surface of movable arm dipper pin joint, and upper portion holding surface and regulation supporting height can be replaced according to different motorcycle types to first support. The inner surface of the second bracket is completely attached to the outer surface of the hinge point of the bucket rod and the bucket.
In some embodiments, controlling the boom to move onto the boom arm hinge point includes:
the boom is controlled to move above the boom arm hinge point and the arm is in a limit unloading position.
Further, when a work machine sensor, such as a tilt sensor, is calibrated, the work machine is parked on a level ground to raise the boom to the boom arm hinge point, i.e., above H 1 The bucket rod is positioned at the unloading limit position, the bucket is positioned at the unloading limit position, the first bracket and the second bracket are arranged on the same straight line and keep a certain distance L 0 The distance L 0 Can satisfy the following conditions: when the movable arm descends to enable the hinge point of the movable arm bucket rod to fall onto the first bracket, the bucket rod recycling action is carried out, and the hinge point of the bucket rod and the bucket rod just fall onto the second bracket.
After the action is finished, activating an inclination angle sensor calibration button on a display screen interface, starting to execute an automatic calibration program after the controller receives a sensor calibration instruction, outputting angle information after calibration to a functional algorithm module, and returning calibration success information after calibration is finished.
In the process of developing intelligent functions of the working machine, an inclination sensor is generally used for feeding back the real-time position of a working device of the working machine, and whether the angle information of the working device output by the inclination sensor is accurate or not directly influences the quality of the control effect of a control algorithm.
Because the working machine can generate certain errors in the processes of processing, manufacturing, assembling and installing the sensor, the sensor output data error is eliminated as much as possible through calibration after the inclination sensor is installed on the working machine, and the operability and convenience of the calibration method can greatly influence the production link of a production line and the accuracy of the sensor output data, so that the calibration method of the working machine sensor provided by the invention is required to be adopted, and the sensor output precision and the calibration operability can be considered.
In summary, according to the calibration method of the working machine sensor provided by the invention, the working machine is controlled to be adjusted to the target attitude, the geometric parameters of the working machine in the target attitude are obtained, the target angle of the working machine sensor is obtained based on the geometric parameters, the actual angle of the working machine sensor in the target attitude and the real-time angle of the working machine sensor in any attitude are finally obtained, and the calibrated angle of the working machine sensor is obtained based on the target angle, the actual angle and the real-time angle. The whole calibration process can automatically acquire the angle data of the sensor of the working machine, further calculate and obtain the calibrated angle, the automatic calibration process can ensure the precision of the sensor, labor is saved, the calibration process is simple, the operation is easy, and the operability of calibration is improved.
In addition, the production line of the excavator can be calibrated in an off-line mode, no special technician is needed, only two brackets are needed in the calibration process, the excavator can be reused, and the added cost is negligible.
The calibration device of the working machine sensor provided by the invention is described below, and the calibration device of the working machine sensor described below and the calibration method of the working machine sensor described above can be correspondingly referred to each other. As shown in fig. 6, a calibration device 600 for a work machine sensor includes: an action module 610, a first calculation module 620, and a second calculation module 630.
The action module 610 is used to control the work machine to adjust to a target attitude.
The first calculation module 620 is configured to obtain a geometric parameter of the working machine in the target attitude, and obtain a target angle of the working machine sensor based on the geometric parameter.
The second calculation module 630 is configured to obtain an actual angle of the working machine sensor in the target attitude, and calibrate the working machine sensor based on the target angle and the actual angle.
Further, the second calculation module 630 is configured to obtain a real-time angle output by the working machine sensor, and obtain a calibrated angle of the working machine sensor based on the target angle, the actual angle and the real-time angle.
In some real-time examples, the second computing module 630 includes: the deviation calculating unit and the calibration angle calculating unit.
The deviation calculation unit is used for obtaining the angle deviation of the working machine sensor based on the difference value between the actual angle and the target angle.
The calibration angle calculation unit is used for obtaining a calibrated angle based on the difference value of the real-time angle and the angle deviation.
In some embodiments, the work machine sensor includes at least one of a boom angle sensor, an arm angle sensor, and a bucket angle sensor.
In some embodiments, the actuation module 610 is further configured to control movement of a boom stick hinge point of the work machine to a first height and to control movement of a stick bucket hinge point of the work machine to a second height.
The ground clearance height of a hinge point of a movable arm vehicle body of the working machine is a third height; the target angle of the work machine sensor includes: target angle of arm sensor and target angle of boom sensor.
The first calculation module 620 includes a first target angle calculation unit and a second target angle calculation unit.
The first target angle calculation unit is used for obtaining a target angle of the bucket arm sensor based on the first height, the second height and the length between the arm bucket arm hinge point and the bucket arm hinge point of the working machine.
The second target angle calculation unit is used for obtaining a target angle of the movable arm sensor based on the first height, the third height and the length between the movable arm body hinge point and the movable arm bucket rod hinge point of the working machine.
In some embodiments, the actuation module 610 is further configured to control the arm stick joint to seat onto the first bracket and then perform the stick retraction actuation to seat the stick bucket joint onto the second bracket.
The height of the first support is the first height, and the height of the second support is the second height.
In some embodiments, the inner surface of the first bracket is in engagement with the outer surface of the boom arm hinge point and the inner surface of the second bracket is in engagement with the outer surface of the arm bucket hinge point.
The invention also provides a working machine comprising a calibration device 600 of a working machine sensor as described above.
Further, the working machine according to the present invention includes the calibration device 600 for the working machine sensor as described above, and thus has various advantages as described above.
The electronic device and the storage medium provided by the invention are described below, and the electronic device and the storage medium described below and the calibration method of the working machine sensor described above can be referred to correspondingly.
Fig. 7 illustrates a physical schematic diagram of an electronic device, as shown in fig. 7, which may include: processor 710, communication interface (Communications Interface) 720, memory 730, and communication bus 740, wherein processor 710, communication interface 720, memory 730 communicate with each other via communication bus 740. Processor 710 may invoke logic instructions in memory 730 to perform a method of calibrating work machine sensors, the method comprising:
step 110, controlling the working machine to adjust to a target posture;
step 120, obtaining the geometric parameters of the working machine in the target attitude, and obtaining the target angle of the working machine sensor based on the geometric parameters;
and 130, acquiring an actual angle of the working machine sensor in the target attitude, and calibrating the working machine sensor based on the target angle and the actual angle.
Further, the logic instructions in memory 730 described above may be stored in a computer readable storage medium when implemented in the form of software functional units and sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of calibrating a work machine sensor provided by the methods described above, the method comprising:
step 110, controlling the working machine to adjust to a target posture;
step 120, obtaining the geometric parameters of the working machine in the target attitude, and obtaining the target angle of the working machine sensor based on the geometric parameters;
and 130, acquiring an actual angle of the working machine sensor in the target attitude, and calibrating the working machine sensor based on the target angle and the actual angle.
In yet another aspect, the present disclosure provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the method of calibrating a work machine sensor provided above, the method comprising:
step 110, controlling the working machine to adjust to a target posture;
step 120, obtaining the geometric parameters of the working machine in the target attitude, and obtaining the target angle of the working machine sensor based on the geometric parameters;
and 130, acquiring an actual angle of the working machine sensor in the target attitude, and calibrating the working machine sensor based on the target angle and the actual angle.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A method of calibrating a work machine sensor, comprising:
controlling the working machine to adjust to a target attitude; controlling a boom arm hinge point of the working machine to move to a first height, and controlling a bucket arm hinge point of the working machine to move to a second height; the ground clearance height of the movable arm vehicle body hinge point of the working machine is a third height;
obtaining a target angle of the arm sensor based on the first height, the second height, and a length between a boom arm hinge point and an arm bucket hinge point of the work machine;
obtaining a target angle of the movable arm sensor based on the first height, the third height and the length between a movable arm vehicle body hinge point and a movable arm bucket rod hinge point of the working machine;
acquiring actual angles of the bucket rod sensor and the movable arm sensor in the target attitude, and acquiring real-time angles output by the bucket rod sensor and the movable arm sensor;
obtaining the angle deviation of the bucket rod sensor and the movable arm sensor based on the difference value between the actual angle and the target angle;
and obtaining the calibrated angle based on the difference value of the real-time angle and the angle deviation.
2. The method of calibrating a work machine sensor of claim 1, wherein controlling the boom-arm hinge point of the work machine to move to a first height and controlling the stick-bucket hinge point of the work machine to move to a second height comprises:
controlling the swing arm bucket rod hinge point to be located on a first bracket, then carrying out bucket rod recovery action, and locating the bucket rod bucket hinge point on a second bracket;
the height of the first support is the first height, and the height of the second support is the second height.
3. A method for calibrating a work machine sensor according to claim 2, wherein,
the inner surface of the first bracket is attached to the outer surface of the arm-bucket hinge point, and the inner surface of the second bracket is attached to the outer surface of the arm-bucket hinge point.
4. A calibration device for a work machine sensor, comprising:
the action module is used for controlling the working machine to adjust to the target posture; controlling a boom arm hinge point of the working machine to move to a first height, and controlling a bucket arm hinge point of the working machine to move to a second height; the ground clearance height of the movable arm vehicle body hinge point of the working machine is a third height;
the first calculation module is used for obtaining a target angle of the bucket rod sensor based on the first height, the second height and the length between a movable arm bucket rod hinge point and a bucket rod hinge point of the working machine; obtaining a target angle of the movable arm sensor based on the first height, the third height and the length between a movable arm vehicle body hinge point and a movable arm bucket rod hinge point of the working machine;
and the second calculation module is used for acquiring the actual angle of the working machine sensor in the target attitude and calibrating the bucket rod sensor and the movable arm sensor based on the target angle and the actual angle.
5. A work machine comprising the calibration device of the work machine sensor of claim 4.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method for calibrating a work machine sensor according to any of claims 1-3 when the program is executed by the processor.
7. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the calibration method of a work machine sensor according to any one of claims 1 to 3.
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