Excavator working surface reconstruction system and method based on 2D laser radar

Abstract

The invention relates to an excavator working surface reconstruction system and method, and aims to solve the problems of relatively large data redundancy and calculation amount in existing excavatorworking surface reconstruction. The invention provides an excavator working surface reconstruction system and method. The excavator working surface reconstruction system comprises a target plate whichis fixedly installed on an upper vehicle body of an excavator and used for reflecting laser beams, a 2D laser radar which is arranged on a movable arm of the excavator and is used for scanning the target plate and collecting and acquiring original point cloud data on a working surface, a rotation angle sensor used for collecting the rotation angle of the upper vehicle body of the excavator, and adata processing unit which receives the original point cloud data and the rotation angle data and processes the data to calculate and determine the attitude angle of the movable arm and the surface coordinate data of the three-dimensional contour of the working surface. The system has the advantages that point cloud data redundancy and reconstruction calculation amount are reduced, the data sizeis small, real-time analysis and processing of operation information are easy to achieve, and the system cost is low.

Description

technical field [0001] The invention relates to an autonomous operation technology of an excavator, and more specifically relates to a system and method for reconstructing an excavator working surface based on 2D laser radar. Background technique [0002] Excavator is a widely used construction machinery. In order to improve the working efficiency and precision of the excavator and reduce the dependence on manual operation experience, the excavator is used in the work area that is not suitable for human entry. The actual demand promotes the development of the excavator in the direction of intelligence, autonomy and robotization. . [0003] The autonomous operation of the excavator relies on the perception of the operating conditions, and the three-dimensional contour surface reconstruction of the operating surface can be used for planning and decomposition of subsequent operating tasks, planning and control of excavation trajectories, etc. At present, the technical solutio...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a 2D lidar-based excavator working surface reconstruction system and method, which reduces points Cloud data redundancy and reconstruction calculation, the amount of data is small, easy to realize real-time analysis and processing of job information, and has low system cost

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