Methods and systems for estimating the position of a loader bucket relative to a target point.

Abstract

This invention belongs to the field of position estimation. It provides a method and system for estimating the position of a loader bucket relative to a target point. The method involves acquiring point cloud data from a lidar system, optimizing and segmenting the point cloud data to obtain non-ground point cloud data; extracting features from the target point's position to cluster the non-ground point cloud, thus obtaining the target point's position information relative to the lidar; constructing a coordinate system for the loader and establishing a kinematic model between the loader's working device (including the bucket) and its power source, thus obtaining the loader's working device's position information relative to the lidar; and combining the two position information sets to obtain the final positional relationship between the loader bucket and the target point. This invention can acquire the positional relationship between the loader bucket and the target point in real time, enabling the estimation of the target point's distance.

Description

Technical Field

[0001] This invention belongs to the field of position estimation, specifically relating to a method and system for estimating the position of a loader bucket relative to a target work point. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] When a loader is in operation, the operator needs to precisely control the boom cylinder and bucket cylinder to load and unload materials. This places higher demands on the operator's skills, and therefore, the training cost for loader operators is usually higher than that for ordinary passenger car drivers. If operators lack the skills and experience to operate a loader, accidents are easily caused. Moreover, loaders often work in harsh environments such as mines and construction sites. Dust and other particles can not only affect the operator's judgment, but also harm the operator's health if they work inside the vehicle for extended periods. Therefore, with the continuous development of intelligent technology in the construction machinery field, achieving automation and intelligence in loaders has become a new goal for the industry.

[0004] Automated operation of loaders requires precise positioning of the target point to ensure the bucket accurately aligns with the target for loading or unloading. Real-time acquisition of the loader bucket's position relative to the target point is crucial for ensuring precise operation, improving efficiency, guaranteeing safety, and enhancing system intelligence. By acquiring this positional relationship, the specific relative displacement can be calculated and precisely controlled; real-time adjustments and optimizations can be made during operation to determine the optimal path and machine motion control strategy, thereby improving work efficiency and job quality; effective collision avoidance and safety control can be achieved; and real-time feedback and decision-making support can enhance the system's intelligence and autonomous decision-making capabilities.

[0005] However, loader operations often take place in complex environments, such as stockyards and construction sites, where various obstacles and complex terrains exist. The targets being worked on can also be diverse, including different shapes, sizes, and orientations. Therefore, obtaining precise target location information through sensors and then calculating the relative positional relationship between the bucket and the target is a challenging problem.

[0006] In summary, how to obtain the positional relationship between the loader bucket and the target point in real time is a key technical problem that urgently needs to be solved in the process of realizing the automation of loader operation. Summary of the Invention

[0007] To address the aforementioned problems, this invention proposes a method and system for estimating the position of a loader bucket relative to a target point. This invention can acquire the positional relationship between the loader bucket and the target point in real time, thereby estimating the distance to the target point.

[0008] According to some embodiments, the present invention adopts the following technical solution:

[0009] A method for estimating the position of a loader bucket relative to a target work point includes the following steps:

[0010] Acquire point cloud data from LiDAR, optimize the point cloud data and perform ground segmentation, and obtain non-ground point cloud data through point cloud ground segmentation;

[0011] Feature extraction is performed on the location of the target point to achieve clustering of non-ground point clouds and obtain the position information of the target point relative to the lidar.

[0012] A coordinate system is constructed for the loader, and a kinematic model is established between the loader working device including the bucket and the power source to obtain the position information of the loader working device relative to the lidar.

[0013] By combining the two types of positional information, the final positional relationship between the loader bucket and the target point is obtained.

[0014] As an alternative implementation, the point cloud data is acquired by a lidar system installed on the loader.

[0015] As an alternative implementation, feature extraction of the target point's location is performed based on the Euclidean method.

[0016] As an alternative implementation, feature extraction of the target point's position is performed based on the Euclidean method to obtain the object's position in the lidar coordinate system {L}, labeled as... L l OL (x OL ,y OL ,z OL The relative positions of the lidar coordinate system and the frame coordinate system are fixed, and their positional relationship is expressed as... L l JL (x JL ,y KL ,z jL This indicates that if the positional relationship of the bucket in the frame coordinate system is obtained... J l CJ (x CJ ,y CJ ,z CJ The coordinates of the bucket in the lidar coordinate system are calculated, and then the distance of the clustered target points to the bucket coordinate system is calculated.

[0017] As a further implementation method, the coordinates of the bucket in the lidar coordinate system are calculated as follows: L l CL (x CL ,y CL ,z CL )= J l CJ (x CJ ,y CJ ,z CJ )+ L l JL (x JL ,y JL ,z JL ).

[0018] As a further implementation, the distance of the clustering target point to the bucket coordinate system is calculated as follows: C l OC (x OC ,y OC ,z OC )= L l OL (x OL ,y OL ,z OL )- L l CL (x CL ,y CL ,z CL ).

[0019] As an alternative implementation method, the specific process of constructing the coordinate system for the loader includes: constructing a Cartesian coordinate system {G} with the connection point between the boom and the frame as the origin, with the positive direction of the X axis horizontally to the right of the origin, and determining the direction of the Y axis according to the right-hand rule. The {G} coordinate system is fixed to the loader frame, and the pose of all subsequent points will be transformed to the {G} coordinate system through DH transformation; establishing a Cartesian coordinate system {A} with the connection point between the bucket cylinder and the boom as the origin, with the positive direction of the X axis horizontally to the right; constructing Cartesian coordinate systems {B}, {C}, {D}, {E}, and {F} with the connection points between the bucket cylinder and the boom, the bucket cylinder and the rocker arm, the rocker arm and the boom, the connecting rod and the rocker arm, and the connecting rod and the bucket as the origins, respectively.

[0020] As a further implementation, the process of establishing a kinematic model between the loader working device including the bucket and the power source includes: based on the coordinate transformation relationship of the DH transformation, writing the transformation matrix from coordinate system {E} to coordinate system {D}, the transformation matrix from coordinate system {D} to coordinate system {C}, the transformation matrix from coordinate system {C} to coordinate system {B}, the transformation matrix between coordinate system {B} and coordinate system {A}, the transformation matrix between coordinate system {G} and coordinate system {A}, and the transformation matrix between coordinate system {F} and coordinate system {E}; solving for the key parameters of the transformation matrix; calculating the coordinates of the connection point between the boom and the bucket in the fixed coordinate system {G}; thereby obtaining the coordinates of the connection point between the boom and the bucket in the fixed coordinate system {A}, as well as the position coordinates of the connection point between the link and the bucket in the fixed coordinate system {A}.

[0021] As a further implementation method, the azimuth angle formula is used to calculate the loader bucket tilt angle. In the coordinate system of the loader's working device, the bottom surface of the bucket is taken as the origin, and the positive X direction is horizontal to the right. The Y-axis direction is determined according to the right-hand rule to establish a Cartesian coordinate system {H}. The connection point between the boom and the bucket is taken as the origin, and the positive X direction is horizontal to the right to establish a Cartesian coordinate system {I}. The universal azimuth angle calculation formula is used to solve for the motion trajectory of the bucket tip and the horizontal angle α between the bottom surface of the bucket and the ground. hOrizon Then, the pose of the loader bucket relative to the lidar above the loader can be determined.

[0022] A system for estimating the position of a loader bucket relative to a target work point includes:

[0023] The data processing module is configured to acquire point cloud data from the lidar, optimize the point cloud data and perform ground segmentation, and acquire non-ground point cloud data through point cloud ground segmentation.

[0024] The first position calculation module is configured to extract features of the target point's position, realize the clustering of non-ground point clouds, and obtain the position information of the target point relative to the lidar.

[0025] The second position calculation module is configured to construct a coordinate system for the loader, establish a kinematic model between the loader working device including the bucket and the power source, and obtain the position information of the loader working device relative to the lidar.

[0026] The position combination module is configured to combine two types of position information to obtain the final positional relationship between the loader bucket and the target point.

[0027] A loader includes a control system, the control system including a memory and a processor, and computer instructions stored in the memory and running on the processor, the computer instructions being executed by the processor to perform the steps in the above method;

[0028] Or, including the systems mentioned above.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] This invention employs a method for determining the positional relationship between a loader bucket and a target point based on lidar and displacement sensors. This method can estimate the distance to the target point, requires minimal investment, is easy to modify, and has a wide range of applications.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0032] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0033] Figure 1 This is a schematic diagram illustrating the principle of loader bucket distance determination in one embodiment.

[0034] Figure 2 A schematic diagram of the loader coordinate system construction in one embodiment;

[0035] Figure 3 This is data collected by sensors during the operation of the bucket cylinder in one embodiment;

[0036] Figure 4 This is a mathematical simulation model diagram of the bucket cylinder during operation, according to one embodiment.

[0037] Figure 5 This is data collected by sensors during the operation of the boom cylinder in one embodiment;

[0038] Figure 6 This is a mathematical simulation model diagram of the boom cylinder during operation, according to one embodiment.

[0039] Among them, a) boom hydraulic cylinder (or boom oil cylinder), b) boom, c) bucket oil cylinder, d) rocker arm (or boom), e) bucket, and f) connecting rod. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0041] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0042] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0043] Where there is no conflict, the embodiments and features described in this application may be combined with each other.

[0044] Example 1

[0045] It should be noted beforehand that, in order to obtain the positional relationship between the loader bucket and the target point in real time, this invention adopts a method for judging the positional relationship between the loader bucket and the target point based on lidar and displacement sensors, so as to estimate the distance to the target point.

[0046] A method for estimating the position of a loader bucket relative to a target point includes the following steps: optimizing and segmenting the point cloud data collected by a lidar above the loader, and obtaining non-ground point cloud data through point cloud ground segmentation;

[0047] Based on the Euclidean algorithm, feature extraction of the target location is performed to achieve clustering of non-ground point clouds, thereby obtaining the position information of the target point relative to the lidar.

[0048] The coordinate system of the loader working device is constructed by using the DH coordinate transformation method, and a kinematic model between the loader working device and the power source is established, thereby obtaining the position information of the loader working device relative to the lidar.

[0049] Finally, by combining the two types of positional information obtained above, the final positional relationship between the loader bucket and the target point can be obtained.

[0050] The following is a detailed description.

[0051] Figure 1 This diagram illustrates the positioning and distance determination of a loader bucket. It shows the coordinates {L} of a lidar sensor mounted on the loader roof, the frame coordinate system {J} fixed to the loader frame, and the bucket coordinate system {C} located at the bucket tip. The clustering objective in the diagram is the position of the object in the lidar coordinate system {L}, obtained using the Euclidean point cloud clustering method, and is labeled as follows. L l OL (x OL ,y OL ,z OL The relative positions of the lidar coordinate system and the frame coordinate system are fixed, and their positional relationship can be determined using...L l JL (x JL ,y JL ,z JL This indicates that if the positional relationship of the bucket in the frame coordinate system is obtained... J l CJ (x CJ ,y CJ ,z CJ Then, the coordinates of the bucket in the lidar coordinate system can be obtained according to the following formula:

[0052] L l CL (x CL ,y CL ,z CL )= J l CJ (x CJ ,y CJ ,z CJ )+ L l JL (x JL ,y JL ,z JL )

[0053] The distance of the cluster target point to the bucket coordinate system c l OC (x OC ,y OC ,z OC The above formula and the representation of clustered target points O in the lidar coordinate system can be used as a basis. L l OL get:

[0054] C l OC (x OC ,y OC ,z OC )= L l OL (x OL ,y OL ,z OL )- L l CL (x CL ,y CL ,z CL )

[0055] Therefore, the distance from the loader bucket to the target point can be indirectly calculated by real-time calculation of the positional relationship between the loader bucket and the fixed frame.

[0056] Figure 2This is a schematic diagram of the loader's working device, showing the coordinate systems used in the dynamic analysis of the loader's working device. The coordinate systems follow the right-hand rule, and the Z-axis of all coordinate systems is perpendicular to the plane of the paper and points outwards. (Reference) Figure 1 The loader's frame coordinate system is constructed using point 2 as the origin, forming a Cartesian coordinate system {G}. The positive direction of the X-axis is horizontally to the right of point 2, and the direction of the Y-axis is determined according to the right-hand rule. The {G} coordinate system is fixed to the loader frame, and the pose of all subsequent points will be transformed to the {G} coordinate system via DH transformation. A Cartesian coordinate system {A} is established with point 3 as the origin, with the positive direction of the X-axis horizontally to the right. Cartesian coordinate systems {B}, {C}, {D}, {E}, and {F} are constructed with points 3, 5, 6, 7, and 9 as origins, respectively. The X-axis directions of each coordinate system are as follows: Figure 2 As shown.

[0057] Based on the coordinate transformation relationships of the DH transformation, we can write the transformation matrices from coordinate system {E} to coordinate system {D}, from coordinate system {D} to coordinate system {C}, from coordinate system {C} to coordinate system {B}, from coordinate system {B} to coordinate system {A}, from coordinate system {G} to coordinate system {A}, and from coordinate system {F} to coordinate system {E}, which are respectively...

[0058]

[0059]

[0060] Using trigonometric formulas, θ1, θ2, θ3, θ4, and θ5 can be calculated respectively. Then, the coordinates of point 8 in the fixed coordinate system {G} can be obtained. G P8, thus the coordinates of point 8 on the bucket in the fixed coordinate system {A} can be obtained. A P8:

[0061]

[0062] Let the position of point 9 under {F} be denoted as F P9 = [0 0 0 1] T The position coordinates of point 9 in the fixed coordinate system {A} can be obtained. A P9:

[0063]

[0064] At this point, the coordinate calculations for the various points of the boom and the reversing six-bar linkage of the working device have been completed. To continuously obtain the bucket's attitude, i.e., the horizontal angle between the loader bucket plane and the ground, the bucket's azimuth needs to be calculated. The azimuth formula is used to calculate the loader bucket's tilt angle. Establishment Figure 2 The coordinate system of the bucket shown is defined with point 10 as the origin, and the positive X-direction to the right. The Y-axis direction is determined using the right-hand rule, establishing a Cartesian coordinate system {H}. A Cartesian coordinate system {I} is also defined with point 8 as the origin, and the positive X-direction to the right. The universal azimuth formula is used to calculate the trajectory of the bucket tip and the horizontal angle α between the bucket bottom and the ground. horizon This allows us to determine the pose of the loader bucket relative to the lidar above the loader.

[0065] The distances between key points in the above process can be obtained using sensors such as distance sensors, which will not be elaborated here.

[0066] Verification of Examples

[0067] Figure 3 The distance is calculated based on data measured by sensors when the boom cylinder locks the moving bucket cylinder. The blue curve represents... Figure 2 The distance between hinge points 1 and 4 of the working device of the medium loader is represented by the green curve. Figure 2 The distance between hinge points 3 and 5 of the loader's working device; the red curve represents the bucket's horizontal tilt angle, α, collected by the tilt sensor. horizon .Depend on Figure 3 It can be seen that, due to the locking of the boom cylinder, its total length is always fixed at 1805mm; when the bucket cylinder length is 1525mm, the horizontal tilt angle of the bucket is 45°; when the bucket cylinder length is 1270mm, the horizontal tilt angle of the bucket is 6.4°; when the bucket cylinder length is 940mm, the horizontal tilt angle of the bucket is -86.4°; and when the bucket cylinder length is 1180mm, the horizontal tilt angle of the bucket is -10°.

[0068] Figure 4 The figure displays the bucket tilt angle of the loader's working device, calculated based on the actual measurement results from the displacement sensor. Referring to the test conditions, the boom cylinder length was kept at 1805mm during the simulation calculation, yielding the relationship between the horizontal tilt angle and the bucket cylinder length. The figure marks the calculated tilt angle values ​​for four bucket cylinder lengths corresponding to the measured results. The error between the mathematical model and the sensor-measured angle is within 3°, and the maximum positional deviation of the bucket relative to the loader frame is 100mm.

[0069] Figure 5 The distance is calculated based on data measured by sensors when the bucket cylinder locks the boom cylinder. The blue curve represents... Figure 2 The distance between hinge points 1 and 4 of the loader's working device is represented by the red curve. Figure 2 The distance between hinge points 3 and 5 of the loader's working device; the green curve represents the horizontal tilt angle of the bucket, α, collected by the tilt sensor. horizon .Depend on Figure 5 It can be seen that, due to the locking of the bucket cylinder, its total length is always fixed at 1288mm; when the boom cylinder length is 1700mm, the horizontal tilt angle of the bucket is 7.2°; when the boom cylinder length is 1972mm, the horizontal tilt angle of the bucket is 8.5°; when the boom cylinder length is 1820mm, the horizontal tilt angle of the bucket is 10.10°; and when the bucket cylinder length is 1550mm, the horizontal tilt angle of the bucket is -2.6°.

[0070] Figure 6 The figure displays the bucket tilt angle of the loader's working device, calculated based on the actual measurement results from displacement sensors. Referring to the test conditions, the bucket cylinder length was kept at 1288mm during simulation calculations, yielding the relationship between the horizontal tilt angle and the boom cylinder length. The figure marks the calculated tilt angle values ​​for four boom cylinder lengths corresponding to the measured results. The error between the mathematical model and the sensor-measured angle is within 3°, and the maximum positional deviation of the bucket relative to the loader frame is 150mm.

[0071] It can be seen that the constructed mathematical model of the working device can effectively describe the relationship between the bucket position and the lidar during the operation of the loader. Therefore, by combining the positional relationship between the target and the lidar, the working status of the loader's working device can be monitored, and the operation process can be tracked.

[0072] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0074] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0075] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0076] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made by those skilled in the art without creative effort within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for estimating the position of a loader bucket relative to a target work point, characterized in that, Includes the following steps: Acquire point cloud data from LiDAR, optimize the point cloud data and perform ground segmentation, and obtain non-ground point cloud data through point cloud ground segmentation; Feature extraction is performed on the location of the target point to achieve clustering of non-ground point clouds and obtain the position information of the target point relative to the lidar. A coordinate system is constructed for the loader, and a kinematic model is established between the loader working device including the bucket and the power source to obtain the position information of the loader working device relative to the lidar. By combining the two types of positional information, the final positional relationship between the loader bucket and the target point is obtained; Constructing a Cartesian coordinate system { A }、{ G }、{ B }、{ C }、{ D }、{ E }and{ F The process of establishing a kinematic model of the loader's working device, including the bucket, and its power source includes: writing out the coordinate system { based on the coordinate transformation relationship of the DH transformation.} E } to coordinate system { D The transformation matrix and coordinate system of} D } to coordinate system { C The transformation matrix and coordinate system of} C } to coordinate system { B The transformation matrix and coordinate system of} B } to coordinate system { A Transformation matrices and coordinate systems between} G } to coordinate system { A Transformation matrix between}, coordinate system { F } to coordinate system { E The transformation matrix between {} is solved, the key parameters of the transformation matrix are obtained, and the connection point of the boom and bucket in the fixed coordinate system is calculated. G The coordinates of the connection point between the boom and the bucket in the fixed coordinate system { are obtained. A The coordinates under} and the connection point of the linkage and the bucket in the fixed coordinate system { A The position coordinates below; The loader bucket tilt angle is calculated using a coordinate azimuth formula. In the coordinate system of the loader's working device, the bottom surface of the bucket is taken as the origin, and the horizontal direction to the right is... X Positive direction, determined by the right-hand rule. Y The axial direction determines the Cartesian coordinate system. H }, with the connection point between the boom and the bucket as the origin of the coordinate system, and horizontally to the right as... X Positive direction, determining the Cartesian coordinate system { I The universal azimuth formula is used to solve for the trajectory of the bucket tip and the horizontal angle between the bucket bottom and the ground. Then, the pose of the loader bucket relative to the lidar above the loader can be determined.

2. The method for estimating the position of a loader bucket relative to a target work point as described in claim 1, characterized in that, The point cloud data was collected by a lidar system installed on the loader.

3. The method for estimating the position of a loader bucket relative to a target work point as described in claim 1, characterized in that, Feature extraction of the target point's location is performed based on the Euclidean method.

4. The method for estimating the position of a loader bucket relative to a target work point as described in claim 3, characterized in that, Based on the Euclidean algorithm, feature extraction is performed on the target point's position to obtain the object's position in the lidar coordinate system. L The position below is marked as The relative positions of the lidar coordinate system and the frame coordinate system are fixed, and their positional relationship is expressed using... This indicates that if the positional relationship of the bucket in the frame coordinate system is obtained... The coordinates of the bucket in the lidar coordinate system are calculated, and then the distance of the clustered target points to the bucket coordinate system is calculated.

5. The method for estimating the position of a loader bucket relative to a target work point as described in claim 4, characterized in that, The coordinates of the bucket in the lidar coordinate system are calculated as follows: ; Calculate the distance of the cluster target point to the bucket coordinate system. .

6. The method for estimating the position of a loader bucket relative to a target work point as described in claim 1, characterized in that, The specific process of constructing the coordinate system for a loader includes: constructing a Cartesian coordinate system with the connection point between the boom and the frame as the origin. G The coordinate axes are horizontally to the right of the origin. X The positive direction is used to determine the coordinate axes according to the right-hand rule. Y The direction, { G The coordinate system is fixed to the loader frame, and the pose of all subsequent points will be transformed to { using the DH transformation.} G Coordinate system; a Cartesian coordinate system is established with the connection point between the bucket cylinder and the boom as the origin. A }, coordinate axes X The positive direction is horizontally to the right; a Cartesian coordinate system is constructed with the connection points of the bucket cylinder and boom, the bucket cylinder and rocker arm, the rocker arm and boom, the connecting rod and rocker arm, and the connecting rod and bucket as the origins. B }、{ C }、{ D }、{ E }and{ F } 7. A system for estimating the position of a loader bucket relative to a target work point, using the method of claim 1, characterized in that, include: The data processing module is configured to acquire point cloud data from the lidar, optimize the point cloud data and perform ground segmentation, and acquire non-ground point cloud data through point cloud ground segmentation. The first position calculation module is configured to extract features of the target point's position, realize the clustering of non-ground point clouds, and obtain the position information of the target point relative to the lidar. The second position calculation module is configured to construct a coordinate system for the loader, establish a kinematic model between the loader working device including the bucket and the power source, and obtain the position information of the loader working device relative to the lidar. The position combination module is configured to combine two types of position information to obtain the final positional relationship between the loader bucket and the target point.

8. A loader, characterized in that, The system includes a control system comprising a memory and a processor, and computer instructions stored in the memory and running on the processor, wherein the computer instructions, when executed by the processor, perform the steps of the method according to any one of claims 1-6. Or, including the system as described in claim 7.

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