Point cloud data processing method, device and system, storage medium and product

Abstract

The invention relates to a point cloud data processing method, device and system, a storage medium and a product, and relates to the technical field of engineering machinery. The point cloud data processing method comprises the steps of obtaining first point cloud data scanned by a laser radar installed on the excavator; for each frame in the first point cloud data, the following operations are executed: according to a hinge point, an inclination angle and a size of a boom of the excavator, a central plane of the boom is determined, the central plane is a plane where the center of the boom is located, and the central plane is parallel to a rotating shaft of the boom; second point cloud data of the arm support are determined from the first point cloud data based on the central plane of the arm support, the second point cloud data are point cloud data within a target range of the first point cloud data, and the target range is determined according to the size of the arm support; removing the second point cloud data from the first point cloud data to obtain third point cloud data; and constructing a point cloud map of an operation scene of the excavator based on the third point cloud data.

Description

Technical Field

[0001] The present disclosure relates to the technical field of engineering machinery, and in particular to a point cloud data processing method, device, system, storage medium and product. Background Art

[0002] Excavators are important engineering machinery, widely used in construction, mining and other engineering construction industries. Excavators often encounter problems such as harsh operating environment and high workload for operators, which can easily lead to safety hazards. In addition, the difficulty in hiring and high costs will also limit the industry. Therefore, the development of excavators with unmanned operation functions has huge industry demand and practical significance.

[0003] As an important part of unmanned excavator operation, point cloud map is mainly used to construct three-dimensional point cloud map of real scene for unmanned excavator to plan excavation and loading tasks.

[0004] In order to construct a point cloud map, a laser radar is usually installed on the excavator to sense and detect the construction environment in front of and around the excavator. However, the structure of the excavator means that no matter how the laser radar is installed, it will inevitably scan the excavator body. Therefore, for modeling the construction environment of the excavator, it is necessary to extract the point cloud data of these body parts separately. Summary of the invention

[0005] A technical problem to be solved by the present disclosure is: how to improve the accuracy of the point cloud map constructed for the working scene of the excavator.

[0006] According to a first aspect of some embodiments of the present disclosure, a point cloud data processing method is provided, including: obtaining first point cloud data scanned by a laser radar installed on an excavator; for each frame in the first point cloud data, performing the following operations: determining a center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator, wherein the center plane is the plane where the center of the boom is located, and the center plane is parallel to the rotation axis of the boom; based on the center plane of the boom, determining second point cloud data of the boom from the first point cloud data, wherein the second point cloud data is point cloud data within a target range of the first point cloud data, and the target range is determined according to the size of the boom; eliminating the second point cloud data from the first point cloud data to obtain third point cloud data; and constructing a point cloud map of the excavator's working scene based on the third point cloud data.

[0007] In some embodiments, the boom includes a movable arm, a dipper arm and a bucket, and the hinge points of the boom include a first hinge point, a second hinge point and a third hinge point. The movable arm rotates around the first hinge point, the dipper arm rotates around the second hinge point, and the bucket rotates around the third hinge point.

[0008] In some embodiments, determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator includes: determining the position information of the first hinge point and the second hinge point based on the inclination angle of the boom and the distance between the first hinge point and the second hinge point; determining the center plane of the boom based on the position information of the first hinge point and the second hinge point and the size of the boom, wherein the center plane of the boom is parallel to the rotation axis of the boom.

[0009] In some embodiments, based on the position information of the first hinge and the second hinge and the size of the boom, determining the center plane of the boom includes: determining a first temporary plane according to the position information of the first hinge and the second hinge, wherein the first temporary plane is parallel to the rotation axis of the boom; determining the center plane of the boom according to the size of the boom and the first temporary plane.

[0010] In some embodiments, determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator includes: determining the position information of the second hinge point and the third hinge point based on the inclination angle of the boom and the distance between the second hinge point and the third hinge point; determining the center plane of the boom based on the position information of the second hinge point and the third hinge point and the size of the boom, wherein the center plane of the boom is parallel to the rotation axis of the boom.

[0011] In some embodiments, based on the position information of the second hinge point and the third hinge point and the size of the boom, determining the center plane of the boom includes: determining a second temporary plane according to the position information of the second hinge point and the third hinge point, wherein the second temporary plane is parallel to the rotation axis of the boom; determining the center plane of the boom according to the size of the boom and the second temporary plane.

[0012] In some embodiments, determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator includes: determining the position information of the third hinge point and the tooth tip of the bucket based on the inclination angle of the bucket and the distance between the third hinge point and the tooth tip of the bucket; determining the center plane of the bucket based on the position information of the third hinge point and the tooth tip of the bucket and the size of the bucket, wherein the center plane of the bucket is parallel to the rotation axis of the bucket.

[0013] In some embodiments, determining the center plane of the bucket based on the position information of the third hinge point and the tooth tip of the bucket and the size of the bucket includes: determining a third temporary plane according to the position information of the third hinge point and the tooth tip of the bucket, wherein the third temporary plane is parallel to the rotation axis of the bucket; determining the center plane of the bucket according to the size of the bucket and the third temporary plane.

[0014] In some embodiments, determining the second point cloud data of the boom from the first point cloud data includes: determining the point cloud data of a first target range from the first point cloud data according to the size of the boom; determining the point cloud data of a second target range from the first point cloud data according to the size of the boom; determining the point cloud data of a third target range from the first point cloud data according to the size of the bucket; and acquiring the second point cloud data of the boom based on the point cloud data of the first target range, the point cloud data of the second target range, and the point cloud data of the third target range.

[0015] In some embodiments, the second point cloud data includes point cloud data of the boom, point cloud data of the arm, and point cloud data of the bucket. Acquiring the second point cloud data of the boom according to the point cloud data of the first target range, the point cloud data of the second target range, and the point cloud data of the third target range includes: based on the center plane of the boom, determining the point cloud data of the boom from the point cloud data of the first target range; based on the center plane of the arm, determining the point cloud data of the arm from the point cloud data of the second target range; based on the center plane of the bucket, determining the point cloud data of the bucket from the point cloud data of the third target range.

[0016] In some embodiments, the method complies with at least one of the following: based on the center plane of the boom, determining the point cloud data of the boom from the point cloud data of the first target range includes: for any point cloud data of the first target range, when the distance from the position of the point cloud data to the center plane of the boom is less than a first threshold, determining the point cloud data as the point cloud data of the boom; or based on the center plane of the boom, determining the point cloud data of the boom from the point cloud data of the second target range includes: for any point cloud data of the second target range, when the distance from the position of the point cloud data to the center plane of the boom is less than a second threshold, determining the point cloud data as the point cloud data of the boom; or based on the center plane of the bucket, determining the point cloud data of the bucket from the point cloud data of the third target range includes: for any point cloud data of the third target range, when the distance from the position of the point cloud data to the center plane of the bucket is less than a third threshold, determining the point cloud data as the point cloud data of the bucket.

[0017] In some embodiments, constructing a point cloud map of the excavator's working scene based on the third point cloud data includes: constructing a point cloud map of the excavator's working scene based on the excavator's turntable posture data and the third point cloud data.

[0018] In some embodiments, the turntable attitude data includes time information, rotation angle, rotation angular velocity, pitch angle, and roll angle.

[0019] In some embodiments, the first point cloud data includes a frame start time, a frame length, and frame point cloud data.

[0020] According to a second aspect of some embodiments of the present disclosure, a point cloud data processing device is provided, including: an acquisition module, configured to acquire first point cloud data scanned by a laser radar installed on an excavator; a first determination module, configured to determine the center plane of the boom of the excavator according to the hinge point, inclination angle and size of the boom, wherein the center plane is the plane where the center of the boom is located, and the center plane is parallel to the rotation axis of the boom; a second determination module, configured to determine second point cloud data of the boom from the first point cloud data based on the center plane of the boom, wherein the second point cloud data is point cloud data within a target range of the first point cloud data, and the target range is determined according to the size of the boom; a removal module, configured to remove the second point cloud data from the first point cloud data to obtain third point cloud data; and a construction module, configured to construct a point cloud map of the working scene of the excavator based on the third point cloud data.

[0021] According to a third aspect of some embodiments of the present disclosure, a domain controller is provided, comprising a processor; and a memory coupled to the processor, for storing instructions, which, when executed by the processor, causes the processor to execute the point cloud data processing method as described above.

[0022] According to a fourth aspect of some embodiments of the present disclosure, a point cloud data processing system is provided, comprising: a point cloud data processing device as described above or a domain controller as described above; a laser radar installed on an excavator, configured to collect first point cloud data and send the first point cloud data to the point cloud data processing device or the domain controller.

[0023] In some embodiments, the point cloud data processing system further includes: an inclination sensor installed on the boom, configured to measure the inclination of the boom and send the inclination of the boom to the point cloud data processing device or the domain controller.

[0024] In some embodiments, the point cloud data processing system also includes: a turntable attitude sensor installed on the excavator, configured to collect the turntable attitude data of the excavator and send the turntable attitude data to the point cloud data processing device or the domain controller.

[0025] According to a fifth aspect of some embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the program is executed by a processor, the point cloud data processing method as described above is implemented.

[0026] According to a sixth aspect of some embodiments of the present disclosure, a computer program product is provided, comprising instructions, which, when executed by a processor, cause the processor to execute the point cloud data processing method as described above.

[0027] The present invention determines the center plane of the boom based on the hinge point, inclination and size of the boom of the excavator, and then determines the second point cloud data of the boom from the first point cloud data scanned by the laser radar based on the center plane of the boom, so that the second point cloud data can be eliminated from the first point cloud data to obtain the third point cloud data. The second point cloud data of the boom is determined by using the inclination angle and its own structure, which has low complexity and high calculation efficiency, thereby not only improving the accuracy of the constructed point cloud map, but also improving the efficiency of the constructed point cloud map.

[0028] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 A schematic flow chart of a point cloud data processing method according to some embodiments of the present disclosure is shown.

[0031] Figure 2 A schematic structural diagram of an excavator according to some embodiments of the present disclosure is shown.

[0032] Figure 3 A schematic diagram of a center plane of a boom according to some embodiments of the present disclosure is shown.

[0033] Figure 4 A schematic structural diagram of the center plane of the boom according to some embodiments of the present disclosure is shown.

[0034] Figure 5 A schematic structural diagram of an envelope frame of an arm according to some embodiments of the present disclosure is shown.

[0035] Figure 6 A schematic flow chart of a point cloud data processing method according to some other embodiments of the present disclosure is shown.

[0036] Figure 7 A schematic flow chart of a point cloud data processing method according to some other embodiments of the present disclosure is shown.

[0037] Figure 8 A schematic structural diagram of a point cloud data processing device according to some embodiments of the present disclosure is shown.

[0038] Fig. 9A schematic diagram of the structure of a domain controller according to some embodiments of the present disclosure is shown.

[0039] Fig.10 A schematic diagram of the structure of a domain controller according to some other embodiments of the present disclosure is shown.

[0040] Fig.11 A schematic structural diagram of a point cloud data processing system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0042] Figure 1 FIG. 1 is a flow chart showing a method for processing point cloud data according to some embodiments of the present disclosure. Figure 1 As shown, the method of this embodiment includes steps S102 to S106.

[0043] In step S102, first point cloud data scanned by a laser radar installed on an excavator is obtained.

[0044] The laser radar is installed on the top of the excavator cab, for example, and the installation direction is consistent with the walking direction of the excavator. The installation angle of the radar is selected according to the expected operation task to collect the first point cloud data. The first point cloud data is Pointcloud point cloud data, including frame start time, frame length and frame point cloud data.

[0045] In step S104 , for each frame in the first point cloud data, the following operations are performed, including steps S1041 to S1043 .

[0046] In step S1041, the center plane of the boom is determined according to the hinge point, inclination angle and size of the boom of the excavator, wherein the center plane is the plane where the center of the boom is located, and the center plane is parallel to the rotation axis of the boom.

[0047] The boom of the excavator includes a boom, a dipper arm and a bucket. The hinge points of the boom include a first hinge point, a second hinge point and a third hinge point. The boom rotates around the first hinge point, the dipper arm rotates around the second hinge point, and the bucket rotates around the third hinge point.

[0048] Figure 2FIG. 2 shows a schematic diagram of the structure of an excavator according to some embodiments of the present disclosure. Figure 2 As shown, the boom of the excavator includes a boom 1, a stick 2 and a bucket 3. The boom 1 rotates with the first hinge point Jboom as the origin, the stick 2 rotates with the second hinge point Jstick as the center, and the bucket 3 rotates with the third hinge point Jbucket as the center. The laser radar 4 is installed on the top of the cab. The first point cloud data collected by the laser radar 4 can be represented by a three-dimensional coordinate system established with the laser radar's own position as the origin.

[0049] like Figure 2 As shown, the vehicle coordinate system can be established based on the vehicle part of the excavator. The relative position of the laser radar and the vehicle part of the excavator is fixed, so the first point cloud data can be represented by the vehicle coordinate system through coordinate transformation. In this way, the hinge point of the boom and the first point cloud data can be represented by the same coordinate system, which is convenient for subsequent calculations. If the vehicle coordinate system takes the positive travel direction of the excavator as the X-axis direction and the width direction of the excavator body as the Y-axis direction, then the rotation axes of the boom 1, the dipper 2 and the bucket 3 are parallel to the Y-axis.

[0050] Angle sensors for measuring the inclination angles of the boom 1 , the arm 2 , and the bucket 3 are installed on the boom, and can measure the angles of the boom 1 , the arm 2 , and the bucket 3 relative to the vehicle coordinate system.

[0051] Determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator means determining the center planes corresponding to the boom 1, the arm 2 and the bucket 3 according to their respective corresponding hinge points, inclination angles and sizes.

[0052] In some embodiments, determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator includes: determining the position information of the first hinge point and the second hinge point based on the inclination angle of the boom and the distance between the first hinge point and the second hinge point; determining the center plane of the boom based on the position information of the first hinge point and the second hinge point and the size of the boom, wherein the center plane of the boom is parallel to the rotation axis of the boom.

[0053] like Figure 2 As shown, since the first hinge point Jboom is the connection point between the boom and the excavator vehicle, that is, the position of the first hinge point Jboom is fixed relative to the vehicle coordinate system, the position information of the first hinge point Jboom can be directly determined according to the size of the excavator. The distance between the second hinge point Jstick and the first hinge point Jboom is fixed, and the position information of the second hinge point Jstick can be determined by combining the position information of the first hinge point Jboom and the inclination angle of the boom.

[0054] In some embodiments, based on the position information of the first hinge and the second hinge and the size of the boom, determining the center plane of the boom includes: determining a first temporary plane according to the position information of the first hinge and the second hinge, wherein the first temporary plane is parallel to the rotation axis of the boom; determining the center plane of the boom according to the size of the boom and the first temporary plane.

[0055] After determining the position information of the first hinge point Jboom and the second hinge point Jstick, the first temporary plane passing through these two points and parallel to the rotation axis of the boom, that is, the above-mentioned Y axis, can be determined first. For example, assume that the coordinates of the first hinge point Jboom in the vehicle coordinate system are (x, 0, z), that is, the first hinge point Jboom is on the XOZ plane of the vehicle coordinate system. Then point A (x, 1, z) can be constructed, that is, A has the same X-axis and Z-axis coordinates as the first hinge point Jboom. It can be understood that the Y-axis coordinate of A is set to 1 for convenience of calculation, and in fact it can take any non-zero value. Then the plane passing through the first hinge point Jboom, the second hinge point Jstick, and A (x, 1, z) is determined as the first temporary plane. Finally, the center plane of the boom is determined according to the size of the boom and the first temporary plane.

[0056] For example, a point B (x, 0, m) can be constructed, that is, B has the same X-axis and Y-axis coordinates as the first hinge point Jboom, and m is an unknown quantity. m is determined by assuming that the distance n from B to the first temporary plane is determined according to the size of the boom. For example, if the thickness of the boom is p, then n can be set to p / 2. That is, it is assumed that the distance from any point on the plane where the outer surface of the boom is located, such as point B, to the center plane of the boom does not exceed 1 / 2 of the thickness of the boom, that is, the center plane of the boom is the plane where the center of the boom is located. It can be understood that the setting of 1 / 2 here is only a mathematical explanation, and it can be slightly adjusted according to the actual size of the boom to take into account the error. For example, n can be set to p / 2+e, where e is the error term.

[0057] After determining the coordinate value of B, the plane passing through B and parallel to the normal vector of the first temporary plane is determined as the center plane of the boom. The center plane of the boom is parallel to the rotation axis of the boom, that is, the Y axis of the vehicle coordinate system.

[0058] Figure 3 Schematic diagram of the center plane of the boom according to some embodiments of the present disclosure is shown. Figure 3 As shown, the distance from point B to the first temporary plane is n, and n is determined according to the size of the movable arm. Since the shape of the movable arm is irregular, the value of n is about half of the thickness of the movable arm.

[0059] In some embodiments, the numerical calculation library Eigen can be used to determine the center plane of the boom. Eigen::Vector3d V1=Jboom-A, Eigen::Vector3d V2=Jboom-Jstick, Eigen::Vector3d Normal, Normal=V1.cross(V2). That is, Normal is the normal vector of the first temporary plane. a=normal[0], b=normal[1], c=normal[2], d=-a×Jboom[0]-b×Jboom[1]-c×Jboom[2], then the first temporary plane is aX+bY+cZ+d=0. The Z-axis coordinate value of B is m=(n×sqrt(a×a+b×b+c×c)-(a×xa+b×0+d)) / c. Finally, determine that the plane passing through point B and with normals a, b, c, and parallel to the Y axis of the vehicle coordinate system is the center plane of the boom, that is, a(Xx)+b(Y-0)+c(Zm)=0.

[0060] In some embodiments, determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator includes: determining the position information of the second hinge point and the third hinge point based on the inclination angle of the boom and the distance between the second hinge point and the third hinge point; determining the center plane of the boom based on the position information of the second hinge point and the third hinge point and the size of the boom, wherein the center plane of the boom is parallel to the rotation axis of the boom.

[0061] Similar to the above process, after determining the position information of the second hinge point Jstick according to the position information of the first hinge point Jboom, the distance between the third hinge point Jbucket and the second hinge point Jstick is fixed. Combined with the position information of the second hinge point Jstick and the inclination angle of the boom, the position information of the third hinge point Jbucket can be determined.

[0062] In some embodiments, based on the position information of the second hinge point and the third hinge point and the size of the boom, determining the center plane of the boom includes: determining a second temporary plane according to the position information of the second hinge point and the third hinge point, wherein the second temporary plane is parallel to the rotation axis of the boom; determining the center plane of the boom according to the size of the boom and the second temporary plane.

[0063] Similar to the above process, after determining the position information of the second hinge point Jstick and the third hinge point Jbucket, a second temporary plane passing through these two points and parallel to the rotation axis of the boom, i.e., the Y axis, can be determined. The center plane of the boom is then determined based on the second temporary plane, which will not be described in detail here.

[0064] In some embodiments, determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator includes: determining the position information of the third hinge point and the tooth tip of the bucket based on the inclination angle of the bucket and the distance between the third hinge point and the tooth tip of the bucket; determining the center plane of the bucket based on the position information of the third hinge point and the tooth tip of the bucket and the size of the bucket, wherein the center plane of the bucket is parallel to the rotation axis of the bucket.

[0065] Similar to the above process, after the position information of the third hinge point Jbucket is determined according to the position information of the second hinge point Jstick, the distance between the third hinge point Jbucket and the tooth tip of the bucket is fixed. Combining the position information of the third hinge point Jbucket and the inclination angle of the bucket, the position information of the tooth tip of the bucket can be determined. Figure 2 Indicated by J in the figure.

[0066] In some embodiments, determining the center plane of the bucket based on the position information of the third hinge point and the tooth tip of the bucket and the size of the bucket includes: determining a third temporary plane according to the position information of the third hinge point and the tooth tip of the bucket, wherein the third temporary plane is parallel to the rotation axis of the bucket; determining the center plane of the bucket according to the size of the bucket and the third temporary plane.

[0067] Similar to the above process, after determining the position information of the third hinge point Jbucket and the tooth tip J of the bucket, a third temporary plane passing through these two points and parallel to the rotation axis of the bucket, i.e., the Y axis, can be determined first. The center plane of the bucket is then determined based on the third temporary plane, which will not be described in detail here.

[0068] Figure 4 FIG. 1 shows a schematic diagram of the structure of the center plane of the boom according to some embodiments of the present disclosure. Figure 4 As shown, the center plane of the boom includes the center plane P1 of the boom, the center plane P2 of the arm and the center plane P3 of the bucket, which are all parallel planes of the Y-axis, where the Y-axis refers to the Y-axis of the vehicle coordinate system.

[0069] In the above process, the center plane of the boom can be determined based on the boom's own structure, i.e., the hinge point and size, combined with the boom's inclination angle. The center plane of the boom is determined based on the boom's hinge point and the distance of the boom's center plane relative to the plane where the hinge point is located, and the second point cloud data of the boom is determined using the distance from the point to the plane, which conforms to the boom's structural characteristics and improves the accuracy of extracting the boom's second point cloud data. In addition, the boom's inclination angle information is simple and easy to obtain, and the boom's own structural information is also simple and easy to obtain, so the calculation process for determining the boom's center plane is low in complexity and high in efficiency.

[0070] In step S1042, based on the center plane of the boom, second point cloud data of the boom is determined from the first point cloud data, wherein the second point cloud data is point cloud data within a target range of the first point cloud data, and the target range is determined according to the size of the boom.

[0071] In some embodiments, determining the second point cloud data of the boom from the first point cloud data includes: determining the point cloud data of a first target range from the first point cloud data according to the size of the boom; determining the point cloud data of a second target range from the first point cloud data according to the size of the boom; determining the point cloud data of a third target range from the first point cloud data according to the size of the bucket; and acquiring the second point cloud data of the boom based on the point cloud data of the first target range, the point cloud data of the second target range, and the point cloud data of the third target range.

[0072] The second point cloud data includes the point cloud data of the boom, the point cloud data of the dipper rod, and the point cloud data of the bucket. That is, the point cloud data of the boom, the point cloud data of the dipper rod, and the point cloud data of the bucket are extracted from the first point cloud data, and the three are combined to form the second point cloud data of the boom.

[0073] In some embodiments, according to the size of the boom, determining the point cloud data of the first target range from the first point cloud data is to determine the point cloud data in the first point cloud data near the boom as the data of the first target range according to the size of the boom. For example, according to the size of the boom, the maximum and minimum values ​​of the X-axis and Y-axis directions are determined, and the area within the range is determined as the data of the first target range.

[0074] The method for determining the point cloud data of the second target range and the point cloud data of the third target range is similar to the method for determining the point cloud data of the first target range, which will not be repeated here.

[0075] In some embodiments, the maximum and minimum values ​​of the Y-axis direction of the vehicle coordinate system are determined from the first point cloud data, and the point cloud data within the maximum and minimum values ​​of the Y-axis direction are used to determine the first target range, the second target range, and the third target range. Figure 4 As shown, Ymin and Ymax are determined, and then the first target range, the second target range, and the third target range are determined based on the data in the range from Ymin to Ymax ( Figure 4 By determining the point cloud data of the first target range, the point cloud data of the second target range, and the point cloud data of the third target range, the amount of data processing can be reduced and the efficiency of determining the second point cloud data can be improved.

[0076] In some embodiments, acquiring second point cloud data of the boom based on the point cloud data of the first target range, the point cloud data of the second target range, and the point cloud data of the third target range includes: determining the point cloud data of the boom from the point cloud data of the first target range based on the center plane of the boom; determining the point cloud data of the arm from the point cloud data of the second target range based on the center plane of the boom; and determining the point cloud data of the bucket from the point cloud data of the third target range based on the center plane of the bucket.

[0077] In some embodiments, based on the center plane of the boom, determining the point cloud data of the boom from the point cloud data of the first target range includes: for any point cloud data in the first target range, when the distance from the position of the point cloud data to the center plane of the boom is less than a first threshold, determining the point cloud data as the point cloud data of the boom.

[0078] In some embodiments, based on the center plane of the boom, determining the point cloud data of the boom from the point cloud data of the second target range includes: for any point cloud data in the second target range, when the distance from the position of the point cloud data to the center plane of the boom is less than a second threshold, determining the point cloud data as the point cloud data of the boom.

[0079] In some embodiments, based on the center plane of the bucket, determining the point cloud data of the bucket from the point cloud data of the third target range includes: for any point cloud data in the third target range, when the distance from the position of the point cloud data to the center plane of the bucket is less than a third threshold, determining the point cloud data as the point cloud data of the bucket.

[0080] That is, any point cloud data that matches the point cloud data of a boom, the point cloud data of an arm, or the point cloud data of a bucket belongs to the second point cloud data.

[0081] In some embodiments, the first target range is set according to the first hinge point and the second hinge point, the second target range is set according to the second hinge point and the third hinge point, and the third target range is set according to the third hinge point and the tooth tip of the bucket. In this way, the rectangular envelope of the boom is constructed with the line connecting the hinge points as the axis and the size of the boom, i.e., the first threshold, the second threshold, and the third threshold. The central plane of the envelope is parallel to the Y axis of the vehicle coordinate system and perpendicular to the Y axis of the vehicle coordinate system. The point cloud data in the envelope is the second point cloud data of the boom.

[0082] Figure 5 FIG. 1 shows a schematic diagram of the structure of the envelope frame of the boom according to some embodiments of the present disclosure. Figure 5As shown, the center plane of the boom envelope frame includes P1 and Q1, and P1 is also the center plane of the boom. The center plane of the boom envelope frame includes P2 and Q2, and P2 is also the center plane of the boom. The center plane of the bucket envelope frame includes P3 and Q3, and P3 is also the center plane of the bucket. Determining the point cloud data of the boom based on the center plane of the boom, that is, the second point cloud data, is simple to calculate and easy to identify, and can quickly determine the point cloud data of the boom from the first point cloud data.

[0083] In step S1043, the second point cloud data is removed from the first point cloud data to obtain third point cloud data.

[0084] The second point cloud data is removed from the first point cloud data, that is, the point cloud data of the boom of the excavator body in the first point cloud data is removed. In the case where the first point cloud data also includes the point cloud data of the fixed parts of the excavator, such as the cab, since the position of the fixed parts relative to the laser radar is fixed, the point cloud data of the fixed parts of the excavator can also be removed from the first point cloud data.

[0085] The operation of removing the point cloud data of the fixed components of the excavator from the first point cloud data may be performed before removing the second point cloud data, that is, the first point cloud data may also be considered as the point cloud data from which the fixed components of the excavator are removed.

[0086] In step S106, a point cloud map of the working scene of the excavator is constructed based on the third point cloud data.

[0087] The third point cloud data is obtained by removing the point cloud data of the boom from the first point cloud data. If the first point cloud data also includes the point cloud data of the fixed parts of the excavator, the point cloud data of the fixed parts of the excavator are further removed from the third point cloud data. That is, the third point cloud data does not include the point cloud data of the excavator body.

[0088] In some embodiments, constructing a point cloud map of the working scene of the excavator based on the third point cloud data includes: constructing a point cloud map of the working scene of the excavator based on the turntable posture data of the excavator and the third point cloud data. In some embodiments, the turntable posture data includes time information, rotation angle, rotation angular velocity, pitch angle and roll angle.

[0089] like Figure 2 As shown, a turntable attitude sensor 6 is installed at the turntable of the excavator, which is used to measure the rotation angle, rotation angular velocity, pitch angle and roll angle of the turntable relative to the lower vehicle.

[0090] By using the third point cloud data, high-frequency (for example, 100HZ) turntable posture data and spatial transformation, the point cloud data in the off-vehicle coordinate system can be obtained (assuming that the excavator is not moving, the off-vehicle coordinate system is a static coordinate). These point cloud data are automatically spliced ​​in the static coordinate system as the excavator moves, thereby constructing a point cloud map of the excavator's working scene.

[0091] The point cloud data processing method disclosed in the present invention can extract the point cloud data of the boom from the point cloud data scanned by the laser radar installed on the excavator in real time, and construct a point cloud map of the working environment. It does not require a unified robot description format URDF model of the boom, does not require TF coordinate transformation, does not limit the specific position of the boom, has a small amount of calculation and high real-time performance, and can complete the processing of one frame of point cloud data within 10 milliseconds, which can improve the safety and accuracy of unmanned operation of the excavator.

[0092] The present invention determines the center plane of the boom based on the hinge point, inclination and size of the boom of the excavator, and then determines the second point cloud data of the boom from the first point cloud data scanned by the laser radar based on the center plane of the boom, so that the second point cloud data can be eliminated from the first point cloud data to obtain the third point cloud data. The second point cloud data of the boom is determined by using the inclination angle and its own structure, which has low complexity and high calculation efficiency, thereby not only improving the accuracy of the constructed point cloud map, but also improving the efficiency of the constructed point cloud map.

[0093] Figure 6 FIG. 2 is a flow chart showing a method for processing point cloud data according to other embodiments of the present disclosure. Figure 6 As shown, the method of this embodiment includes steps S602 to S612.

[0094] In step S602, the parameters of the boom of the excavator are set, including the first threshold, the second threshold, the third threshold, the first distance, the second distance, the third distance, the first target range, the second target range, and the third target range. Among them, the first distance refers to the distance from the above-mentioned point B to the first temporary plane, which is used to determine the center plane of the boom. Similarly, the second distance and the third distance are used to determine the center plane of the boom and the center plane of the bucket, respectively. The first target range, the second target range, and the third target range can be set by setting the maximum and minimum values ​​of the two axes, the X-axis and the Y-axis.

[0095] In step S604, first point cloud data scanned by the laser radar is obtained, and the first point cloud data includes second point cloud data of the boom. The first point cloud data is represented by a coordinate system established based on the position of the laser radar, for example.

[0096] In step S606, the first point cloud data is represented by the on-vehicle coordinate system through coordinate transformation, so that the second point cloud data can be extracted from the first point cloud data in the on-vehicle coordinate system.

[0097] In step S608, the point cloud of the vertical plane area of ​​the Y-axis of the boom is restricted, and the point cloud data within the range of the maximum and minimum values ​​of the Y-axis are extracted.

[0098] In step S610, the Y-axis parallel plane area of ​​the boom, i.e., the X-axis point cloud limit, extracts the point cloud data within the maximum and minimum values ​​of the X-axis. In this way, the point cloud data within the limit area is determined, and the limit area includes the first target range, the second target range, and the third target range.

[0099] In step S612, second point cloud data of the boom within the restricted area is extracted.

[0100] Figure 7 FIG. 2 is a flow chart showing a method for processing point cloud data according to other embodiments of the present disclosure. Figure 7 As shown, the method of this embodiment includes steps S702 to S708.

[0101] In step S702, a first target range, a second target range, and a third target range within the restricted area are determined, which correspond to the restricted area of ​​the boom, the restricted area of ​​the arm, and the restricted area of ​​the bucket, respectively.

[0102] In step S704, extracting point cloud data of the boom within the restricted area of ​​the boom includes the following steps:

[0103] S7041, determine the center plane of the boom.

[0104] S7042: For any point cloud data within the restricted area of ​​the boom, determine the distance Dboom from the point cloud data to the center plane of the boom.

[0105] S7043, determine whether Dboom is less than a first threshold.

[0106] S7044: Determine the point cloud data whose Dboom is less than the first threshold as the point cloud data of the boom.

[0107] In step S705, extracting point cloud data of the boom within the restricted area of ​​the boom includes the following steps:

[0108] S7051, determine the center plane of the boom.

[0109] S7052, for any point cloud data within the restricted area of ​​the boom, determine its distance Dstick to the center plane of the boom.

[0110] S7053, determine whether Dstick is less than a second threshold.

[0111] S7054, determine the point cloud data whose Dstick is less than the second threshold as the point cloud data of the stick.

[0112] In step S706, extracting point cloud data of the bucket within the restricted area of ​​the bucket includes the following steps:

[0113] S7061, determine the center plane of the bucket.

[0114] S7062, for any point cloud data within the restricted area of ​​the bucket, determine its distance Dbucket to the center plane of the bucket.

[0115] S7063, determine whether Dbucket is less than a third threshold.

[0116] S7064: Determine the point cloud data whose Dbucket is smaller than the third threshold as the point cloud data of the bucket.

[0117] In step S708, the point cloud data of the boom, the point cloud data of the arm, and the point cloud data of the bucket are merged into the point cloud data of the arm.

[0118] Figure 8 FIG. 2 shows a schematic diagram of the structure of a point cloud data processing device according to some embodiments of the present disclosure. Figure 8 As shown, the point cloud data processing device 80 includes the following modules:

[0119] An acquisition module 810 is configured to acquire first point cloud data scanned by a laser radar installed on an excavator;

[0120] The first determination module 820 is configured to determine the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator, wherein the center plane is the plane where the center of the boom is located, and the center plane is parallel to the rotation axis of the boom;

[0121] The second determination module 830 is configured to determine second point cloud data of the boom from the first point cloud data based on the center plane of the boom, wherein the second point cloud data is point cloud data within a target range of the first point cloud data, and the target range is determined according to the size of the boom;

[0122] A removal module 840 is configured to remove the second point cloud data from the first point cloud data to obtain third point cloud data;

[0123] The construction module 850 is configured to construct a point cloud map of the working scene of the excavator based on the third point cloud data.

[0124] In some embodiments, the boom includes a movable arm, a dipper arm and a bucket, and the hinge points of the boom include a first hinge point, a second hinge point and a third hinge point. The movable arm rotates around the first hinge point, the dipper arm rotates around the second hinge point, and the bucket rotates around the third hinge point.

[0125] In some embodiments, the first determination module 820 is configured to determine the position information of the first hinge and the second hinge based on the inclination angle of the boom and the distance between the first hinge and the second hinge; determine the center plane of the boom based on the position information of the first hinge and the second hinge and the size of the boom, wherein the center plane of the boom is parallel to the rotation axis of the boom.

[0126] In some embodiments, the first determination module 820 is configured to determine a first temporary plane based on position information of the first hinge point and the second hinge point, wherein the first temporary plane is parallel to the rotation axis of the boom; and determine the center plane of the boom based on the size of the boom and the first temporary plane.

[0127] In some embodiments, the first determination module 820 is configured to determine the position information of the second hinge point and the third hinge point based on the inclination angle of the boom and the distance between the second hinge point and the third hinge point; determine the center plane of the boom based on the position information of the second hinge point and the third hinge point and the size of the boom, wherein the center plane of the boom is parallel to the rotation axis of the boom.

[0128] In some embodiments, the first determination module 820 is configured to determine a second temporary plane based on position information of the second hinge point and the third hinge point, wherein the second temporary plane is parallel to the rotation axis of the boom; and determine the center plane of the boom based on the size of the boom and the second temporary plane.

[0129] In some embodiments, the first determination module 820 is configured to determine the position information of the third hinge point and the tooth tip of the bucket based on the inclination angle of the bucket and the distance between the third hinge point and the tooth tip of the bucket; determine the center plane of the bucket based on the position information of the third hinge point and the tooth tip of the bucket and the size of the bucket, wherein the center plane of the bucket is parallel to the rotation axis of the bucket.

[0130] In some embodiments, the first determination module 820 is configured to determine a third temporary plane based on position information of the third hinge point and the tooth tip of the bucket, wherein the third temporary plane is parallel to the rotation axis of the bucket; and determine the center plane of the bucket based on the size of the bucket and the third temporary plane.

[0131] In some embodiments, the second determination module 830 is configured to determine point cloud data of a first target range from the first point cloud data according to the size of the boom; determine point cloud data of a second target range from the first point cloud data according to the size of the boom; determine point cloud data of a third target range from the first point cloud data according to the size of the bucket; and obtain second point cloud data of the boom based on the point cloud data of the first target range, the point cloud data of the second target range, and the point cloud data of the third target range.

[0132] In some embodiments, the second point cloud data includes point cloud data of a boom, point cloud data of an arm, and point cloud data of a bucket, and the second determination module 830 is configured to determine the point cloud data of the boom from the point cloud data of a first target range based on a center plane of the boom; determine the point cloud data of the arm from the point cloud data of a second target range based on a center plane of the arm; and determine the point cloud data of the bucket from the point cloud data of a third target range based on a center plane of the bucket.

[0133] In some embodiments, the second determination module 830 is configured to, for any point cloud data in the first target range, determine that the point cloud data is point cloud data of the boom when the distance from the position of the point cloud data to the center plane of the boom is less than a first threshold;

[0134] In some embodiments, the second determination module 830 is configured to, for any point cloud data in the second target range, determine that the point cloud data is the point cloud data of the boom if the distance from the position of the point cloud data to the center plane of the boom is less than a second threshold;

[0135] In some embodiments, the second determination module 830 is configured to determine that any point cloud data in the third target range is point cloud data of the bucket if the distance from the position of the point cloud data to the center plane of the bucket is less than a third threshold.

[0136] In some embodiments, the construction module 850 is configured to construct a point cloud map of the excavator's working scene based on the turntable posture data of the excavator and the third point cloud data.

[0137] In some embodiments, the turntable attitude data includes time information, rotation angle, rotation angular velocity, pitch angle, and roll angle.

[0138] In some embodiments, the first point cloud data includes a frame start time, a frame length, and frame point cloud data.

[0139] The point cloud data processing device disclosed in the present invention determines the center plane of the boom based on the hinge point, inclination angle and size of the boom of the excavator, and then determines the second point cloud data of the boom from the first point cloud data scanned by the laser radar based on the center plane of the boom, so that the second point cloud data can be eliminated from the first point cloud data to obtain the third point cloud data. The second point cloud data of the boom is determined by using the inclination angle of the boom and its own structure, which has low complexity and high calculation efficiency, thereby not only improving the accuracy of the constructed point cloud map, but also improving the efficiency of the constructed point cloud map.

[0140] The point cloud data processing device in the embodiment of the present disclosure can be implemented by various computing devices or computer systems. Fig. 9 as well as Fig.10 Give a description.

[0141] Fig. 9 FIG. 4 shows a schematic diagram of the structure of a domain controller according to some embodiments of the present disclosure. Fig. 9 As shown, the domain controller 90 of this embodiment includes: a memory 910 and a processor 920 coupled to the memory 910 , and the processor 920 is configured to execute the point cloud data processing method in any of some embodiments of the present disclosure based on instructions stored in the memory 910 .

[0142] The memory 910 may include, for example, a system memory, a fixed non-volatile storage medium, etc. The system memory may store, for example, an operating system, an application program, a boot loader, a database, and other programs.

[0143] Fig.10 FIG. 2 shows a schematic diagram of the structure of a domain controller according to some other embodiments of the present disclosure. Fig.10 As shown, the domain controller 100 of this embodiment includes: a memory 1010 and a processor 1020, which are similar to the memory 910 and the processor 920 respectively. It can also include an input and output interface 1030, a network interface 1040, a storage interface 1050, etc. These interfaces 1030, 1040, 1050 and the memory 1010 and the processor 1020 can be connected, for example, through a bus 1060. Among them, the input and output interface 1030 provides a connection interface for input and output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 1040 provides a connection interface for various networked devices, for example, it can be connected to a database server or a cloud storage server. The storage interface 10550 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0144] Fig.11 FIG. 2 shows a schematic diagram of the structure of a point cloud data processing system according to some embodiments of the present disclosure. Fig.11As shown, the point cloud data processing system 110 includes the point cloud data processing device or domain controller 1110 as described above, and a laser radar 1120 installed on the excavator, configured to collect first point cloud data and send the first point cloud data to the point cloud data processing device or domain controller 1110.

[0145] In some embodiments, the data processing device or the domain controller is installed on the excavator. The point cloud data collected by the laser radar is sent to the data processing device or the domain controller via the UDP network protocol.

[0146] In some embodiments, the point cloud data processing system also includes an inclination sensor installed on the boom, configured to measure the inclination of the boom and send the inclination of the boom to the point cloud data processing device or the domain controller.

[0147] In some embodiments, the point cloud data processing system also includes a turntable attitude sensor installed on the excavator, configured to collect turntable attitude data of the excavator and send the turntable attitude data to the point cloud data processing device or the domain controller.

[0148] In some embodiments, the turntable posture data is sent to the point cloud data acquisition device or the domain controller via the CAN bus protocol.

[0149] An embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, wherein the program implements any of the aforementioned point cloud data processing methods when executed by a processor.

[0150] An embodiment of the present disclosure further provides a computer program product, comprising instructions, which, when executed by a processor, enable the processor to perform a point cloud data processing method.

[0151] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0152] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0153] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0154] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0155] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A point cloud data processing method, comprising: Acquire first point cloud data scanned by a laser radar installed on the excavator; For each frame in the first point cloud data, perform the following operations: Determine the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator, wherein the center plane is the plane where the center of the boom is located, and the center plane is parallel to the rotation axis of the boom; Based on the center plane of the boom, determining second point cloud data of the boom from the first point cloud data, wherein the second point cloud data is point cloud data within a target range of the first point cloud data, and the target range is determined according to the size of the boom; Eliminate the second point cloud data from the first point cloud data to obtain third point cloud data; A point cloud map of the working scene of the excavator is constructed based on the third point cloud data.

2. The point cloud data processing method according to claim 1, wherein: The boom includes a movable arm, a dipper arm and a bucket. The hinge points of the boom include a first hinge point, a second hinge point and a third hinge point. The movable arm rotates with the first hinge point as the origin, the dipper arm rotates with the second hinge point as the origin, and the bucket rotates with the third hinge point as the origin.

3. The point cloud data processing method according to claim 2, wherein: Determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator comprises: Determine position information of the first hinge point and the second hinge point based on the inclination angle of the boom and the distance between the first hinge point and the second hinge point; Based on the position information of the first hinge point and the second hinge point and the size of the boom, a center plane of the boom is determined, wherein the center plane of the boom is parallel to the rotation axis of the boom.

4. The point cloud data processing method according to claim 3, wherein: The determining the center plane of the movable arm based on the position information of the first hinge point and the second hinge point and the size of the movable arm comprises: Determine a first temporary plane according to the position information of the first hinge point and the second hinge point, wherein the first temporary plane is parallel to the rotation axis of the movable arm; The center plane of the boom is determined according to the size of the boom and the first temporary plane.

5. The point cloud data processing method according to claim 2, wherein: Determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator comprises: Determine position information of the second hinge point and the third hinge point based on the inclination angle of the bucket arm and the distance between the second hinge point and the third hinge point; Based on the position information of the second hinge point and the third hinge point and the size of the boom, the center plane of the boom is determined, wherein the center plane of the boom is parallel to the rotation axis of the boom.

6. The point cloud data processing method according to claim 5, wherein: The determining the center plane of the boom based on the position information of the second hinge point and the third hinge point and the size of the boom comprises: Determine a second temporary plane according to the position information of the second hinge point and the third hinge point, wherein the second temporary plane is parallel to the rotation axis of the boom; The center plane of the boom is determined according to the size of the boom and the second temporary plane.

7. The point cloud data processing method according to claim 2, wherein: Determining the center plane of the boom according to the hinge point, inclination angle and size of the boom of the excavator comprises: Determine position information of the third hinge point and the tooth tip of the bucket based on the inclination angle of the bucket and the distance between the third hinge point and the tooth tip of the bucket; Based on the position information of the third hinge point and the tooth tip of the bucket and the size of the bucket, the center plane of the bucket is determined, wherein the center plane of the bucket is parallel to the rotation axis of the bucket.

8. The point cloud data processing method according to claim 7, wherein: The determining the center plane of the bucket based on the position information of the third hinge point and the tooth tip of the bucket and the size of the bucket comprises: Determine a third temporary plane according to the position information of the third hinge point and the tooth tip of the bucket, wherein the third temporary plane is parallel to the rotation axis of the bucket; The center plane of the bucket is determined according to the size of the bucket and the third temporary plane.

9. The point cloud data processing method according to claim 2, wherein: The determining the second point cloud data of the boom from the first point cloud data comprises: Determining point cloud data of a first target range from the first point cloud data according to the size of the boom; Determining point cloud data of a second target range from the first point cloud data according to the size of the stick; Determining point cloud data of a third target range from the first point cloud data according to the size of the bucket; The second point cloud data of the boom is acquired according to the point cloud data of the first target range, the point cloud data of the second target range and the point cloud data of the third target range.

10. The point cloud data processing method according to claim 9, wherein: The second point cloud data includes point cloud data of the boom, point cloud data of the dipper arm, and point cloud data of the bucket, and the step of acquiring the second point cloud data of the boom according to the point cloud data of the first target range, the point cloud data of the second target range, and the point cloud data of the third target range includes: Based on the central plane of the boom, determining the point cloud data of the boom from the point cloud data of the first target range; Based on the center plane of the bucket arm, determining the point cloud data of the bucket arm from the point cloud data of the second target range; Based on the center plane of the bucket, point cloud data of the bucket is determined from the point cloud data of the third target range.

11. The point cloud data processing method according to claim 10, wherein: The method meets at least one of the following requirements: The step of determining the point cloud data of the movable arm from the point cloud data of the first target range based on the central plane of the movable arm comprises: for any point cloud data of the first target range, when the distance from the position of the point cloud data to the central plane of the movable arm is less than a first threshold, determining the point cloud data to be the point cloud data of the movable arm; or The determining the point cloud data of the boom from the point cloud data of the second target range based on the center plane of the boom comprises: for any point cloud data of the second target range, when the distance from the position of the point cloud data to the center plane of the boom is less than a second threshold, determining the point cloud data as the point cloud data of the boom; or The method of determining the point cloud data of the bucket from the point cloud data of the third target range based on the center plane of the bucket includes: for any point cloud data in the third target range, when the distance from the position of the point cloud data to the center plane of the bucket is less than a third threshold, determining the point cloud data as the point cloud data of the bucket.

12. The point cloud data processing method according to claim 1, wherein: The step of constructing a point cloud map of the working scene of the excavator based on the third point cloud data includes: A point cloud map of the working scene of the excavator is constructed based on the turntable posture data of the excavator and the third point cloud data.

13. The point cloud data processing method according to claim 12, wherein: The turntable posture data includes time information, rotation angle, rotation angular velocity, pitch angle and roll angle.

14. The point cloud data processing method according to any one of claims 1 to 13, wherein: The first point cloud data includes frame start time, frame length and frame point cloud data.

15. A point cloud data processing device, comprising: An acquisition module is configured to acquire first point cloud data scanned by a laser radar installed on an excavator; A first determination module is configured to determine a center plane of the boom according to a hinge point, an inclination angle and a size of the boom of the excavator, wherein the center plane is a plane where the center of the boom is located, and the center plane is parallel to a rotation axis of the boom; A second determination module is configured to determine second point cloud data of the boom from the first point cloud data based on the center plane of the boom, wherein the second point cloud data is point cloud data within a target range of the first point cloud data, and the target range is determined according to the size of the boom; a removal module, configured to remove the second point cloud data from the first point cloud data to obtain third point cloud data; A construction module is configured to construct a point cloud map of the excavator's working scene based on the third point cloud data.

16. A domain controller comprising Processor; and A memory coupled to the processor is used to store instructions, and when the instructions are executed by the processor, the processor executes the point cloud data processing method according to any one of claims 1 to 14.

17. A point cloud data processing system, comprising: The point cloud data processing device according to claim 15 or the domain controller according to claim 16; The laser radar is installed on the excavator and is configured to collect first point cloud data and send the first point cloud data to the point cloud data processing device or the domain controller.

18. The point cloud data processing system according to claim 17, further comprising: The inclination sensor is installed on the boom and is configured to measure the inclination of the boom and send the inclination of the boom to the point cloud processing device or the domain controller.

19. The point cloud data processing system according to claim 18, further comprising: The turntable attitude sensor is installed on the excavator and is configured to collect the turntable attitude data of the excavator and send the turntable attitude data to the point cloud data processing device or the domain controller.

20. A computer-readable storage medium having a computer program stored thereon, wherein: When the program is executed by a processor, the point cloud data processing method according to any one of claims 1 to 14 is implemented.

21. A computer program product comprising instructions, which, when executed by a processor, cause the processor to perform the point cloud data processing method according to any one of claims 1 to 14.

Images