Laser radar calibration method and device and operation machine
A technology of laser radar and calibration method, which is applied in the field of construction machinery, can solve problems such as the effective control of hard-to-perceive information construction machinery, and achieve the effect of effective control
Pending Publication Date: 2022-05-10
SANY HEAVY MACHINERY
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Problems solved by technology
The existing multi-lidar calibration is mainly aimed at calibrating the coordinate system relationship between the laser radars, and it is difficult to effectively control the construction machinery according to the perception information of each laser radar.
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[0044] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0045] Combine below Figure 1 to Figure 3Describe the lidar calibration method of the present invention. The laser radar calibration method of the present invention is executed by the control device of the working machine or the software and / or hardware therein. figure 1 It is a schematic flow chart of the lidar calibration method of the present invention, such as figure 1 As shown, the l...
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The invention relates to the field of engineering machinery, and provides a laser radar calibration method and device and an operation machine, and the method comprises the steps: respectively obtaining a first data set of a preset calibration plate in a lower vehicle body coordinate system and a second data set of the preset calibration plate in each laser radar coordinate system; wherein the first data set comprises a first coordinate value of each feature point in a preset calibration board in a lower vehicle body coordinate system, and the second data set comprises a second coordinate value of each feature point in a corresponding laser radar coordinate system; based on the first coordinate value and the second coordinate value, obtaining a first pose relation between each laser radar coordinate system and the lower vehicle body coordinate system; and determining a second pose relationship between an upper vehicle body coordinate system and a lower vehicle body coordinate system of the operation machine in the second coordinate value acquisition process, and determining a third pose relationship between each laser radar coordinate system and the upper vehicle body coordinate system based on the first pose relationship and the second pose relationship. According to the invention, each laser radar coordinate system can be consistent with the upper vehicle body coordinate system of the working machine.
Description
technical field [0001] The invention relates to the technical field of engineering machinery, in particular to a laser radar calibration method, device and operating machinery. Background technique [0002] With the continuous advancement of new infrastructure construction, construction machinery continues to develop towards digitalization and intelligence, and is widely used in construction, resource mining, emergency rescue and disaster relief, and archaeological excavation. Since construction machinery is usually located in a remote and harsh working environment, proficient operation of construction machinery requires high driver ability and a long training period. Unmanned construction machinery is the first choice to solve the above problems. Unmanned construction machinery can replace workers in harsh working conditions, greatly reduce safety accidents during operation, and can perform tedious and repetitive work for a long time. Thereby improving the overall operatin...
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IPC IPC(8): G01S7/497G01S17/931
CPCG01S7/497G01S17/931
Inventor 董富许朗吴广运
Owner SANY HEAVY MACHINERY