A laser radar extrinsic parameter calibration method and device for an excavator without a common view area

Abstract

The present invention discloses a laser radar external parameter calibration method and device for an excavator without a common view area in the field of engineering machinery technology. The method comprises: setting a calibration target; rotating the excavator to make the calibration target in the central area of ​​the first / second laser radar scanning range in turn, and respectively obtaining the rotation angle of the excavator and the measurement point cloud of the first / second laser radar for the calibration target; calculating the coordinate transformation matrix Tr rotating around the Z axis based on the rotation angle of the excavator; obtaining the coordinate transformation matrix Tf2e of the first laser radar and the excavator, and calculating the intermediate result point cloud; calculating the intermediate result and the coordinate transformation matrix Tft2s of the second laser radar based on the intermediate result point cloud; calculating the coordinate transformation matrix Tf2s of the first / second laser radar based on the above coordinate transformation matrix; the present invention can significantly improve the calibration efficiency of each laser radar external parameter on the excavator, with good effect and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a laser radar extrinsic parameter calibration method and device on an excavator that does not have a common view area. Background Art

[0002] During the construction of an unmanned excavator system, it is often necessary to deploy lidars at different locations to fully perceive information such as distance surface parameters of the construction environment. These lidars often have large deflection angles, which means that there is no common view area between different lidars. It is also impossible to deploy targets such as calibration plates in the common view area, so that two lidars can scan a common target and perform point cloud registration to obtain the transformation matrix between the two lidars. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a method and device for calibrating external parameters of a laser radar on an excavator that does not have a common view area, so as to solve the technical problem that the transformation matrix between different laser radars on the excavator cannot be obtained due to the lack of a common view area between different laser radars.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a laser radar extrinsic parameter calibration method on an excavator that does not have a common view area, the excavator comprising an excavator upper vehicle and an excavator lower vehicle that are rotatably connected, comprising: The calibration target is set so that when the excavator vehicle rotates, the calibration target can be in the center area of ​​the scanning range of the first laser radar and the second laser radar on the excavator vehicle that do not have a common viewing area; Rotate the excavator so that the calibration target is in the center of the scanning range of the first laser radar and the second laser radar, and obtain the rotation angle of the excavator and the measurement point cloud of the first laser radar and the second laser radar for the calibration target respectively; Calculate the coordinate transformation matrix Tr corresponding to the rotation around the Z axis based on the rotation angle of the excavator vehicle; Obtain the coordinate transformation matrix Tf2e of the first laser radar and the excavator, and calculate the intermediate result point cloud by combining the coordinate transformation matrix Tr and the measurement point cloud of the first laser radar for the calibration target; According to the intermediate result point cloud and the measurement point cloud of the second laser radar for the calibration target, the coordinate transformation matrix Tft2s of the intermediate result and the second laser radar is calculated; The coordinate transformation matrix Tf2s of the first laser radar and the second laser radar is calculated based on the coordinate transformation matrix Tr, the coordinate transformation matrix Tf2e and the coordinate transformation matrix Tft2s.

[0005] Optionally, the excavator vehicle rotation angle is obtained in the following manner: The relative rotation angle between the excavator getting on and the excavator getting off is obtained through the excavator's on-board rotary encoder.

[0006] Optionally, the first laser radar and the second laser radar acquire the measurement point cloud of the calibration target in the following manner: The calibration target is scanned by the first laser radar and the second laser radar, and the scanning results of 3 seconds are accumulated as a measurement point cloud.

[0007] Optionally, the coordinate transformation matrix Tr is: ; In the formula, The rotation angle of the excavator vehicle feedback corresponding to the second laser radar and the first laser radar.

[0008] Optionally, the obtaining of the coordinate transformation matrix Tf2e of the first laser radar and the excavator includes: Taking a point on the excavator within the scanning range of the first laser radar as a base point, the point cloud coordinates of the base point are obtained through the first laser radar; The three-dimensional coordinates of the base point in the excavator coordinate system are obtained, and the coordinate transformation matrix of the first laser radar and the excavator is calculated according to the point cloud coordinates and the three-dimensional coordinates of the base point.

[0009] Optionally, the intermediate result point cloud pcd_front_temp is: pcd_front_temp = Tf2e -1 × Tr×Tf2e×pcd_front Where pcd_front is the measurement point cloud of the first laser radar for the calibration target; The coordinate transformation matrix Tft2s is: Tft2s= pcd_side / pcd_front_temp Where pcd_side is the measurement point cloud of the second laser radar for the calibration target; The coordinate transformation matrix Tf2s is: Tf2s = Tft2s × ​​Tf2e -1 ×Tr×Tf2e.

[0010] In a second aspect, the present invention provides a laser radar external parameter calibration device on an excavator without a common view area, the excavator comprising an excavator upper vehicle and an excavator lower vehicle which are rotatably connected, comprising: A calibration target setting module is configured to set a calibration target so that when the excavator vehicle rotates, the calibration target can be in a central area of ​​a scanning range of a first laser radar and a second laser radar on the excavator vehicle that do not have a common viewing area; The calibration target measurement module is configured to rotate the excavator vehicle so that the calibration target is located in the center area of ​​the scanning range of the first laser radar and the second laser radar, and respectively obtain the rotation angle of the excavator vehicle and the measurement point cloud of the first laser radar and the second laser radar for the calibration target; A rotation coordinate transformation module is configured to obtain a coordinate transformation matrix Tr of the first laser radar and the second laser radar rotating around the Z axis based on the rotation angle of the excavator vehicle; An intermediate point cloud computing module is configured to obtain a coordinate transformation matrix Tf2e of the first laser radar and the excavator, and calculate an intermediate result point cloud by combining the coordinate transformation matrix Tr and the measurement point cloud computing of the calibration target by the first laser radar; An intermediate matrix calculation module is configured to calculate the intermediate result and the coordinate transformation matrix Tft2s of the second laser radar based on the intermediate result point cloud and the measurement point cloud of the calibration target by the second laser radar; The coordinate transformation calculation module is configured to calculate the coordinate transformation matrix Tf2s of the first laser radar and the second laser radar based on the coordinate transformation matrix Tr, the coordinate transformation matrix Tf2e and the coordinate transformation matrix Tft2s.

[0011] In a third aspect, the present invention provides an electronic device, including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps according to the above method.

[0012] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

[0013] In a fifth aspect, the present invention provides a computer program product, comprising a computer program / instruction, which implements the steps of the above method when executed by a processor.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a method and device for calibrating external parameters of a laser radar on an excavator without a common view area. By setting a calibration target, the excavator is rotated so that the two laser radars to be calibrated that do not have a common view area respectively scan the calibration target to obtain point cloud data and obtain the corresponding rotation angle; on this basis, the calibration of the transformation matrix between the two laser radar coordinate systems can be realized. It provides a fast and convenient perception method for the perception of information at various angles on the excavator, significantly improves the calibration efficiency of each laser radar external parameter on the excavator, and has good effect and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a flow chart of a laser radar extrinsic parameter calibration method for an excavator without a common view area provided by an embodiment of the present invention; Figure 2 Schematic diagram of the scanning area of ​​three laser radars on an excavator provided by an embodiment of the present invention; Figure 3 Schematic diagram of the scanning area of ​​the forward-looking laser radar on the excavator provided by the embodiment of the present invention; Figure 4 It is a schematic diagram of the scanning area of ​​the side-looking laser radar on the excavator provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0017] Embodiment 1:

[0018] like Figure 1 As shown, an embodiment of the present invention provides a laser radar extrinsic parameter calibration method on an excavator without a common view area, wherein the excavator includes an excavator upper vehicle and an excavator lower vehicle that are rotatably connected, and includes the following steps: Step S1, setting a calibration target so that when the excavator vehicle rotates, the calibration target can be in the central area of ​​the scanning range of the first laser radar and the second laser radar on the excavator vehicle that do not have a common viewing area.

[0019] This embodiment takes DJI's Livox-avia model Lidar as an example to illustrate the external parameter calibration method of the Lidar on an excavator that does not have a common view area. In other optional implementations, it can also be applied to other types and models of radars such as Livox-MID70, Livox-40, and Ouster radar on the basis of adaptive modification.

[0020] The Livox-avia LiDAR scanning area is circular, and its FOV is 70.4° (horizontal) × 77.2° (vertical); the resolution of the point cloud is improved by integration, and at 10 Hz, the horizontal is >1.4°, and the vertical is >1.5°. Figure 2-Figure 4 As shown in the figure, three laser radars La, Lb, and Lc are respectively set in the front view direction on the top of the excavator cab and the side view directions on both sides of the excavator.

[0021] Set the calibration target. Specifically, you can select an open flat area as the calibration area, insert a round long stick into the center of the calibration area, or place irregular stones, boxes, cars and other calibration objects as the calibration target. The calibration target is placed in the center of the range that the calibrated LiDAR can scan.

[0022] Step S2, rotate the excavator so that the calibration target is in the center area of ​​the scanning range of the first laser radar and the second laser radar, and obtain the rotation angle of the excavator and the measurement point cloud of the first laser radar and the second laser radar for the calibration target respectively.

[0023] Take the laser radars La and Lb as the first laser radar and the second laser radar as an example: Rotate the excavator so that the calibration target is in the center of the first laser radar scanning range. Use the first laser radar to continuously scan the calibration target for 3 seconds, and accumulate the scanned point cloud frames into a point cloud pcd file, recorded as the measured point cloud pcd_front; at the same time, the relative rotation angle between the excavator and the excavator is obtained through the excavator's on-board rotary encoder. .

[0024] Rotate the excavator again so that the calibration target is in the center of the second laser radar scanning range. Use the second laser radar to scan the calibration target for 3 seconds, and accumulate the scanned point cloud frames into a point cloud pcd file, recorded as the measured point cloud pcd_side. At the same time, the relative rotation angle between the excavator and the excavator is obtained through the excavator's on-board rotary encoder. .

[0025] Step S3: Calculate the coordinate transformation matrix Tr corresponding to the rotation around the Z axis based on the rotation angle of the excavator vehicle.

[0026] The coordinate transformation matrix Tr is: ; In the formula, The rotation angle of the excavator vehicle feedback corresponding to the second laser radar and the first laser radar.

[0027] Step S4, obtaining the coordinate transformation matrix Tf2e of the first laser radar and the excavator, and combining the coordinate transformation matrix Tr and the measurement point cloud of the first laser radar for the calibration target to calculate the intermediate result point cloud.

[0028] Obtaining the coordinate transformation matrix Tf2e of the first laser radar and the excavator includes: Take a point on the excavator within the scanning range of the first laser radar as the base point (such as Figure 3 As shown, taking the tip of the excavator bucket tooth as the base point), the point cloud coordinates of the base point are obtained by the first laser radar; The three-dimensional coordinates of the base point in the excavator coordinate system are obtained, and the coordinate transformation matrix of the first laser radar and the excavator is calculated according to the point cloud coordinates and the three-dimensional coordinates of the base point.

[0029] The intermediate result point cloud is calculated as: pcd_front_temp = (Tf2e -1 ×(Tr×(Tf2e×pcd_front))=Tf2e -1 × Tr×Tf2e×pcd_front.

[0030] Step S5, computing the intermediate result and the coordinate transformation matrix Tft2s of the second laser radar based on the intermediate result point cloud and the measurement point cloud of the calibration target by the second laser radar.

[0031] The pcd_front_temp point cloud file is registered with the pcd_side point cloud file. The registration can be performed automatically by the ndt or icp algorithm, or multiple sets of matching point cloud coordinates between the two point cloud frames can be manually selected, and the transformation matrix Tfronttemp2side between the two point cloud frames of the pcd_front_temp point cloud file and the pcd_side point cloud file is calculated by the svd algorithm, referred to as Tft2s.

[0032] The coordinate transformation matrix Tft2s is: Tft2s=pcd_side / pcd_front_temp.

[0033] Step S6, calculate the coordinate transformation matrix Tf2s of the first laser radar and the second laser radar according to the coordinate transformation matrix Tr, the coordinate transformation matrix Tf2e and the coordinate transformation matrix Tft2s.

[0034] The coordinate transformation matrix Tf2s is: Tf2s = Tft2s × ​​Tf2e -1 ×Tr×Tf2e.

[0035] The laser radar external parameter calibration method provided by the embodiment of the present invention uses the coordinates of the excavator bucket tooth tip in the forward-looking radar coordinate system and the coordinates of the bucket tooth tip in the excavator coordinate system to generate the transformation matrix parameters from the forward-looking radar to the excavator coordinate system. Then, the rotary encoder on the excavator is used to measure the rotation angle between the upper vehicle and the lower vehicle, which is used to calibrate the transformation matrix between the forward-looking laser radar on the top of the cab of the excavator and the laser radar installed on the side of the excavator, or the transformation matrix between two other laser radars with large deflection angles that do not have a common view area. On this basis, the calibration of the transformation matrix between the side-looking laser radar coordinate system and the forward-looking laser radar coordinate system can be achieved. It provides a fast and convenient perception method for the perception of information at various angles on the excavator, significantly improves the calibration efficiency of each laser radar external parameter on the excavator, and has good effect and low cost.

[0036] Furthermore, when it is necessary to perform external parameter calibration on the laser radars La and Lc, the transformation matrix Tf2s of the laser radar La and the laser radar Lb, and the transformation matrix Tf3s of the laser radar La and the laser radar Lc are obtained by the above method, and the transformation matrix of the laser radar La and the laser radar Lc is calculated by the transformation matrix Tf2s and the transformation matrix Tf3s.

[0037] During the construction process, the laser radar on the excavator may become loose or change angle due to the vibration of the excavator. As a result, the laser radar coordinate system changes relative to other laser radar coordinate systems or relative to the excavator coordinate system. Therefore, a fast method is needed to regularly detect the transformation matrix between laser radars.

[0038] When the excavator rotates one circle, the laser radar La and Lb scan the calibration target used for calibration. During the rotation of the excavator, the rotation angle of the excavator output by the rotary encoder is recorded in real time. .

[0039] The laser radar La and Lb use a frequency of 10 Hz, and the rotary encoder records angles at a frequency of 100 Hz, that is, each frame of point cloud data corresponds to 10 rotation angles recorded by the rotary encoder. Each frame of point cloud data recorded by the laser radar La and Lb is multiplied by the radar to excavator coordinate system transformation matrix Tlidar2excavator by each frame of point cloud data collected by La, so as to transform the point cloud data to the excavator coordinate system. After that, each frame of point cloud data is evenly divided into 10 equal parts according to the order of collection.

[0040] The point cloud collected by the laser radar La at time t is pcd_t0000, the point cloud collected at time t+100ms is pcd_t0100, the point cloud collected at time t+200ms is pcd_t0200... and so on, the point cloud collected at t+900ms is pcd_t0900. For the livox_avia model laser radar, the number of point clouds collected per frame is 24,000 points. For the 24,000 points collected at t+100ms, they are divided into 10 equal parts according to the order of the point cloud. The serial number of the point cloud pcd_t0010 collected at t+10ms is 0:2400-1; the serial number of the point cloud pcd_t0020 collected at t+20ms is 2400:2400*2-1; the serial number of the point collected at t+20ms is 2400:2400*2-1; the serial number of the point cloud pcd_t0030 collected at t+30ms is 2400*2:24 00*3-1; the serial number of the point cloud pcd_t0040 collected at t+40ms is 2400*3:2400*4-1; the serial number of the point cloud pcd_t0050 collected at t+50ms is 2400*4:2400*5-1; the serial number of the point cloud pcd_t0060 collected at t+60ms is 2400*5:2400*6-1; ... the serial number of the point cloud pcd_t0100 collected at t+100ms is 2400*9:2400*10-1.

[0041] The angle collected by the rotary encoder at time t is angle_ t0000, the angle collected by the rotary encoder at time t+10ms is angle_ t0010, the angle collected by the rotary encoder at time t+20ms is angle_ t0020, the angle collected by the rotary encoder at time t+30ms is angle_ t0030, the angle collected by the rotary encoder at time t+40ms is angle_ t0040, …, the angle collected by the rotary encoder at time t+210ms is angle_ t0210.

[0042] Rotate point cloud pcd_t0100 by angle_ t0100; rotate point cloud pcd_t0110 by angle_ t0110; rotate point cloud pcd_t0120 by angle_ t0120; ... rotate point cloud pcd_t0220 by angle_ t0220 ... the rotation angle is from 0 to 360 degrees. Each point cloud is accumulated after the above transformation, so that the z-axis of the excavator coordinate system is the rotation axis and the distance from the laser radar to the z-axis is the radius of the point cloud scanning range. After the excavator rotates and retains the point clouds of the laser radar La and the laser radar Lb and performs the above transformation, two sets of point cloud maps around the excavator are obtained. Through the de-distortion measures based on the rotary encoder, all point cloud frames are transformed to the excavator coordinate system for accumulation. Both the laser radar La and the laser radar Lb obtain the point cloud maps mapa and mapb of the surrounding area.

[0043] The obstacle point clouds and the point clouds within 30cm of the same target in mapa and mapb are retained. Then the point clouds are registered. If the obtained transformation matrix is ​​the same or close to the transformation matrix Tfront2side generated by the laser radar calibration, it means that there is no deformation such as rotation or displacement between the laser radars. No recalibration is required. Otherwise, it means that there is a deformation between the two laser radars, and the laser radar transformation matrix needs to be recalibrated.

[0044] Embodiment 2: An embodiment of the present invention provides a laser radar external parameter calibration device on an excavator without a common view area, wherein the excavator includes an excavator upper vehicle and an excavator lower vehicle which are rotatably connected, and includes: A calibration target setting module is configured to set a calibration target so that when the excavator vehicle rotates, the calibration target can be in a central area of ​​a scanning range of a first laser radar and a second laser radar on the excavator vehicle that do not have a common viewing area; The calibration target measurement module is configured to rotate the excavator vehicle so that the calibration target is located in the center area of ​​the scanning range of the first laser radar and the second laser radar, and respectively obtain the rotation angle of the excavator vehicle and the measurement point cloud of the first laser radar and the second laser radar for the calibration target; A rotation coordinate transformation module is configured to obtain a coordinate transformation matrix Tr of the first laser radar and the second laser radar rotating around the Z axis based on the rotation angle of the excavator vehicle; An intermediate point cloud computing module is configured to obtain a coordinate transformation matrix Tf2e of the first laser radar and the excavator, and calculate an intermediate result point cloud by combining the coordinate transformation matrix Tr and the measurement point cloud computing of the calibration target by the first laser radar; An intermediate matrix calculation module is configured to calculate the intermediate result and the coordinate transformation matrix Tft2s of the second laser radar based on the intermediate result point cloud and the measurement point cloud of the calibration target by the second laser radar; The coordinate transformation calculation module is configured to calculate the coordinate transformation matrix Tf2s of the first laser radar and the second laser radar based on the coordinate transformation matrix Tr, the coordinate transformation matrix Tf2e and the coordinate transformation matrix Tft2s.

[0045] Embodiment three:

[0046] Based on the laser radar extrinsic calibration method provided in the first embodiment, the embodiment of the present invention provides an electronic device, including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps according to the above method.

[0047] Embodiment 4:

[0048] Based on the laser radar external parameter calibration method provided in Example 1, an embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented.

[0049] Embodiment five:

[0050] Based on the laser radar external parameter calibration method provided in Example 1, an embodiment of the present invention provides a computer program product, including a computer program / instructions, which implement the steps of the above method when executed by a processor.

[0051] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented 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.

[0052] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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 produce 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.

[0053] 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.

[0054] 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 The steps for the functions specified in one or more boxes.

[0055] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A laser radar external parameter calibration method for an excavator without a common view area, wherein the excavator comprises an excavator upper vehicle and an excavator lower vehicle which are rotatably connected, characterized in that: include: The calibration target is set so that when the excavator vehicle rotates, the calibration target can be in the center area of ​​the scanning range of the first laser radar and the second laser radar on the excavator vehicle that do not have a common viewing area; Rotate the excavator so that the calibration target is in the center of the scanning range of the first laser radar and the second laser radar, and obtain the rotation angle of the excavator and the measurement point cloud of the first laser radar and the second laser radar for the calibration target respectively; Calculate the coordinate transformation matrix Tr corresponding to the rotation around the Z axis based on the rotation angle of the excavator vehicle; Obtain the coordinate transformation matrix Tf2e of the first laser radar and the excavator, and calculate the intermediate result point cloud of the measurement point cloud of the calibration target by combining the coordinate transformation matrix Tr and the first laser radar; According to the intermediate result point cloud and the measurement point cloud of the second laser radar for the calibration target, the coordinate transformation matrix Tft2s of the intermediate result and the second laser radar is calculated; The coordinate transformation matrix Tf2s of the first laser radar and the second laser radar is calculated based on the coordinate transformation matrix Tr, the coordinate transformation matrix Tf2e and the coordinate transformation matrix Tft2s.

2. The laser radar extrinsic parameter calibration method for an excavator without a common view area according to claim 1, characterized in that: The method for obtaining the rotation angle of the excavator vehicle is as follows: The relative rotation angle between the excavator getting on and the excavator getting off is obtained through the excavator's on-board rotary encoder.

3. The laser radar extrinsic parameter calibration method for an excavator without a common view area according to claim 1, characterized in that: The first laser radar and the second laser radar acquire the measurement point cloud of the calibration target in the following manner: The calibration target is scanned by the first laser radar and the second laser radar, and the scanning results of 3 seconds are accumulated as a measurement point cloud.

4. The laser radar extrinsic parameter calibration method for an excavator without a common view area according to claim 1, characterized in that: The coordinate transformation matrix Tr is: ； In the formula, The rotation angle of the excavator vehicle feedback corresponding to the second laser radar and the first laser radar.

5. The laser radar extrinsic parameter calibration method for an excavator without a common view area according to claim 1, characterized in that: The obtaining of the coordinate transformation matrix Tf2e of the first laser radar and the excavator includes: Taking a point on the excavator within the scanning range of the first laser radar as a base point, the point cloud coordinates of the base point are obtained through the first laser radar; The three-dimensional coordinates of the base point in the excavator coordinate system are obtained, and the coordinate transformation matrix of the first laser radar and the excavator is calculated according to the point cloud coordinates and the three-dimensional coordinates of the base point.

6. The laser radar extrinsic parameter calibration method for an excavator without a common view area according to claim 1, characterized in that: The intermediate result point cloud pcd_front_temp is: pcd_front_temp= Tf2e -1 × Tr×Tf2e×pcd_front Where pcd_front is the measurement point cloud of the first laser radar for the calibration target; The coordinate transformation matrix Tft2s is: Tft2s= pcd_side / pcd_front_temp Where pcd_side is the measurement point cloud of the second laser radar for the calibration target; The coordinate transformation matrix Tf2s is: Tf2s= Tft2s×Tf2e -1 ×Tr×Tf2e。 7. A laser radar external parameter calibration device on an excavator without a common view area, the excavator comprising an excavator upper vehicle and an excavator lower vehicle rotatably connected, characterized in that: include: A calibration target setting module is configured to set a calibration target so that when the excavator vehicle rotates, the calibration target can be in a central area of ​​a scanning range of a first laser radar and a second laser radar on the excavator vehicle that do not have a common viewing area; The calibration target measurement module is configured to rotate the excavator vehicle so that the calibration target is located in the center area of ​​the scanning range of the first laser radar and the second laser radar, and respectively obtain the rotation angle of the excavator vehicle and the measurement point cloud of the first laser radar and the second laser radar for the calibration target; A rotation coordinate transformation module is configured to obtain a coordinate transformation matrix Tr of the first laser radar and the second laser radar rotating around the Z axis based on the rotation angle of the excavator vehicle; The intermediate point cloud computing module is configured to obtain the coordinate transformation matrix Tf2e of the first laser radar and the excavator, and calculate the intermediate result point cloud by combining the coordinate transformation matrix Tr and the measurement point cloud computing of the calibration target by the first laser radar; An intermediate matrix calculation module is configured to calculate the intermediate result and the coordinate transformation matrix Tft2s of the second laser radar based on the intermediate result point cloud and the measurement point cloud of the calibration target by the second laser radar; The coordinate transformation calculation module is configured to calculate the coordinate transformation matrix Tf2s of the first laser radar and the second laser radar based on the coordinate transformation matrix Tr, the coordinate transformation matrix Tf2e and the coordinate transformation matrix Tft2s.

8. An electronic device, characterized in that: including processor and storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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