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Method and system for synchronous mapping and automatic operation based on lidar

A laser radar and automatic technology, applied in construction, earth mover/excavator, etc., can solve the problems that the efficiency needs to be improved, and the map is not constructed at the same time, so as to achieve the effect of providing timely information, reducing blind spots of perception, and widening the perception range

Active Publication Date: 2021-11-09
JIANGSU XCMG CONSTR MASCH RES INST LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The prior art has the following disadvantages: one of the disadvantages of Chinese patent CN104090279A and Chinese patent CN104476548A (applied for the same unit, is the same control system) is that the pitch mechanism needs to cooperate with the single-line radar to scan, and it is necessary to convert two-dimensional into three-dimensional, and the efficiency It needs to be improved; the second shortcoming is that it needs to wait until the detection is completed before the 3D reconstruction can be performed, and the map is not constructed at the same time

Method used

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  • Method and system for synchronous mapping and automatic operation based on lidar
  • Method and system for synchronous mapping and automatic operation based on lidar
  • Method and system for synchronous mapping and automatic operation based on lidar

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Embodiment 1

[0059] to combine figure 1 , a lidar-based synchronous mapping and automatic operation system, at least including working device angle sensors (boom, arm, bucket each one), rotation angle sensor (one), multi-line laser radar (three), A master computing device.

[0060] The angle sensor of the working device is installed on the working device (one each of the boom, stick and bucket) and is used to detect the angle of the working device (boom, stick and bucket) of the excavator relative to the horizontal plane. Calculate its position and attitude information.

[0061] The rotation angle sensor is used to detect the rotation angle information of the excavator body on the horizontal plane.

[0062] The multi-line laser radar is used to detect the working environment information around the excavator. One of them is installed on the top of the cab to sense the environmental information within the 360-degree range of the vehicle body. The scanning surface is parallel to the ground...

Embodiment 2

[0086] to combine Image 6 , a lidar-based simultaneous mapping and automatic operation method, including:

[0087] (1) The excavator is powered on and started, and the system is initialized and self-diagnosed after starting up;

[0088] (2) The main control computing device obtains the information of the working device angle sensor and the rotation angle sensor in real time;

[0089] (3) Based on the above angle information and the pre-defined kinematics model of the excavator working device (including the geometric structure parameters of the boom, arm, bucket and the "body coordinate system"), calculate the position of the multi-line laser radar relative to the body Real-time position and attitude information and the position and attitude information of the excavator working device joints relative to the vehicle body;

[0090] (4) The main control computing device obtains the point cloud information collected by the multi-line laser radar in real time; uses the point clou...

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Abstract

The invention discloses a laser radar-based synchronous mapping and automatic operation method and system. The mapping and automatic operation are carried out at the same time, relying on each other and promoting each other; the automatic operation system controls the excavator working device (rotary, boom, stick , bucket, etc.) movement, the lidar and angle sensors installed on the excavator will collect in real time, combined with special data processing logic, to obtain environmental perception information with significant advantages, and create maps synchronously, which is a prerequisite for automatic operations , and its high quality has a fundamental impact on automatic operations. From the generated environment map, the object information of the operation surface and the operation area is extracted, and provided to the automatic operation system to assist the system in making decisions and planning, and completing the automatic operation process. By adopting the invention, it is possible to realize the detection of the working surface and the detection of objects in the working area, and at the same time, the automatic operation control of the excavating machine can also be realized according to the map information of the synchronous mapping.

Description

technical field [0001] The invention belongs to the technical field of automatic operation control, and relates to a laser radar-based synchronous mapping and automatic operation method and system. Background technique [0002] Intelligent and even unmanned construction machinery is the current development trend. How to perceive the surrounding environment through its own sensors and use this information to assist or replace human operations can greatly improve the safety and production efficiency of its operations. [0003] Chinese patent CN104090279A, designed a laser radar-based excavation work surface detection device, through the stepping motor to drive the first-line laser radar to move at a constant speed within the range of ±45° in the pitch direction, and convert the two-dimensional scanning of the first-line laser radar to three-dimensional scanning , to realize the functions of front-line laser radar pitching motion control, excavation face scanning and three-dime...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E02F9/20E02F9/26
CPCE02F9/20E02F9/2025E02F9/2029E02F9/205E02F9/26E02F9/261E02F9/264
Inventor 赵斌艾云峰杨超高娇
Owner JIANGSU XCMG CONSTR MASCH RES INST LTD