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

A laser radar and excavator technology, applied in radio wave measurement systems, re-radiation of electromagnetic waves, instruments, etc., can solve the problems of big data redundancy, calculation amount, and small data amount, so as to reduce data redundancy and reconstruct calculation. The effect of small amount of data, small amount of data, and low system cost

Active Publication Date: 2021-07-02
GUANGXI LIUGONG MASCH CO LTD +1
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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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  • Excavator working surface reconstruction system and method based on 2D laser radar
  • Excavator working surface reconstruction system and method based on 2D laser radar
  • Excavator working surface reconstruction system and method based on 2D laser radar

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Embodiment Construction

[0043] The specific implementation will be described below in conjunction with the accompanying drawings.

[0044] refer to figure 1 with figure 2 , image 3 As shown, the excavator working surface reconstruction system of the present invention is composed of a 2D laser radar 1, a target plate 2, a rotation angle sensor 7 and a data processing unit. The 2D laser radar 1 is used to collect the original point cloud data of the surrounding environment, and the rotation angle sensor 7 is used to collect the rotation angle of the upper body of the excavator relative to the chassis 9 The 2D laser radar 1 and the rotation angle sensor 7 send the data to the data processing unit, and after comprehensive analysis and calculation, the 3D reconstruction result of the excavation operation surface is obtained. The 2D laser radar 1 is installed on the side of the boom 4, close to the hinge point 5 of the boom and the stick. The laser scanning plane 10 of the 2D laser radar 1 is parall...

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Abstract

The invention relates to a system and method for reconstruction of an excavator working surface, in order to solve the problems of relatively large data redundancy and calculation amount in the reconstruction of the existing excavator working surface; provide a system and method for reconstructing the working surface of the excavator, wherein the excavator working surface reconstruction system Including: the target plate fixedly installed on the upper body of the excavator to reflect the laser beam; the 2D laser radar installed on the arm of the excavator for scanning the target plate and collecting the original point cloud data; used to collect the upper part of the excavator The slewing angle sensor of the slewing angle of the car body; the data processing unit receives the original point cloud data and the slewing angle data and processes the data to calculate and determine the attitude angle of the boom and the three-dimensional contour surface coordinate data of the working surface. The invention has the advantages of reducing redundancy of point cloud data and reconstruction calculation amount, small amount of data, easy realization of real-time analysis and processing of job information, low system cost and the like.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S17/42G01S17/86G01S7/48
CPCG01S7/4808G01S17/42G01S17/86
Inventor 田明锐蔡登胜林明智胡永彪
Owner GUANGXI LIUGONG MASCH CO LTD
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