Three-dimensional environment sensing system for large excavating equipment in complex environment

Abstract

The invention relates to a three-dimensional environment sensing system for large excavating equipment in a complex environment. The system comprises a system control and data fusion processing module, a synchronous data acquisition module, a GPS / INS integrated navigation module, two PSD vibration measurement modules and two single-line two-dimensional laser radars. The synchronous data acquisition module is connected with the two single-line two-dimensional laser radars, is connected with the GPS / INS integrated navigation module, is connected with the two PSD vibration measurement modules andis connected with the system control and data fusion processing module; and the two single-line two-dimensional laser radars are respectively connected with the two PSD vibration measurement modules;and the GPS / INS integrated navigation module is connected with the synchronous data acquisition module and the system control and data fusion processing module. According to the system, hard synchronization of data of the system and data of the vibration measurement module is achieved through laser radar synchronization pulses, timestamps are stamped, time synchronization is conducted on the dataand pose data with time information measured by the GPS / INS integrated navigation module, vibration compensation and coordinate transformation are conducted, and complete and accurate three-dimensional environment perception information is obtained.

Description

technical field [0001] The invention belongs to the technical field of instruments and meters, and relates to a three-dimensional environment perception system for large-scale excavation equipment in complex environments. Background technique [0002] Mining excavator is the core equipment used in open-pit mining, and its performance has a decisive impact on the mining efficiency of the mine. By improving the intelligence level of mining excavators, improving the comprehensive performance of excavating equipment can effectively improve mining efficiency, which is of great significance to national energy security and economic development. Being able to accurately and real-time perceive the surface topography of the operation target is the premise and key to realize the intelligent mining operation of mining excavators. At present, the environmental perception system of large-scale excavation equipment mostly uses three-dimensional multi-line mechanical lidar, which is expens...

AI Technical Summary

Problems solved by technology

At present, the environmental perception system of large-scale excavation equipment mostly uses three-dimensional multi-line mechanical lidar, which is expensive, and the detection distance and accuracy cannot meet the needs of large-scale equipment, and does not consider the vibration of large-scale excavation equipment. Poor adaptability to harsh environments

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