Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Coordinate system conversion method for cantilever crane equipment, processor and cantilever crane equipment
The invention discloses a coordinate system conversion method for arm support type equipment, a processor and the arm support type equipment. Acquiring a first included angle between a first preset direction of a point cloud acquisition device coordinate system corresponding to the point cloud acquisition device and a second preset direction of a turntable base coordinate system corresponding to the turntable; determining a rotation transformation matrix of the coordinate system of the point cloud acquisition device around a fifth preset direction of the coordinate system of the point cloud acquisition device according to the first included angle; and based on the rotation transformation matrix and a predetermined translation transformation matrix, carrying out coordinate system transformation on the coordinate system of the point cloud acquisition device and the coordinate system of the turntable base. According to the invention, the target pose of the point cloud acquisition device is calibrated, and the coordinate system conversion is carried out according to the rotation transformation matrix in the specific direction determined when the point cloud acquisition device is in the target pose and the predetermined translation transformation matrix, so that the coordinate system conversion process can be simplified.
本申请公开了一种用于臂架类设备的坐标系转换方法、处理器及臂架类设备，该方法包括：在点云采集装置处于目标位姿的情况下，获取点云采集装置对应的点云采集装置坐标系的第一预设方向与转台对应的转台基坐标系的第二预设方向之间的第一夹角；根据第一夹角确定点云采集装置坐标系绕点云采集装置坐标系的第五预设方向的旋转变换矩阵；基于旋转变换矩阵和预确定的平移变换矩阵，对点云采集装置坐标系和转台基坐标系进行坐标系转换。本申请通过标定点云采集装置的目标位姿，进而根据点云采集装置处于目标位姿时确定的一个特定方向上的旋转变换矩阵以及预先确定的平移变换矩阵进行坐标系转换，可以简化坐标系转换过程。
Coordinate system conversion method for cantilever crane equipment, processor and cantilever crane equipment
The invention discloses a coordinate system conversion method for arm support type equipment, a processor and the arm support type equipment. Acquiring a first included angle between a first preset direction of a point cloud acquisition device coordinate system corresponding to the point cloud acquisition device and a second preset direction of a turntable base coordinate system corresponding to the turntable; determining a rotation transformation matrix of the coordinate system of the point cloud acquisition device around a fifth preset direction of the coordinate system of the point cloud acquisition device according to the first included angle; and based on the rotation transformation matrix and a predetermined translation transformation matrix, carrying out coordinate system transformation on the coordinate system of the point cloud acquisition device and the coordinate system of the turntable base. According to the invention, the target pose of the point cloud acquisition device is calibrated, and the coordinate system conversion is carried out according to the rotation transformation matrix in the specific direction determined when the point cloud acquisition device is in the target pose and the predetermined translation transformation matrix, so that the coordinate system conversion process can be simplified.
本申请公开了一种用于臂架类设备的坐标系转换方法、处理器及臂架类设备，该方法包括：在点云采集装置处于目标位姿的情况下，获取点云采集装置对应的点云采集装置坐标系的第一预设方向与转台对应的转台基坐标系的第二预设方向之间的第一夹角；根据第一夹角确定点云采集装置坐标系绕点云采集装置坐标系的第五预设方向的旋转变换矩阵；基于旋转变换矩阵和预确定的平移变换矩阵，对点云采集装置坐标系和转台基坐标系进行坐标系转换。本申请通过标定点云采集装置的目标位姿，进而根据点云采集装置处于目标位姿时确定的一个特定方向上的旋转变换矩阵以及预先确定的平移变换矩阵进行坐标系转换，可以简化坐标系转换过程。
Coordinate system conversion method for cantilever crane equipment, processor and cantilever crane equipment
用于臂架类设备的坐标系转换方法、处理器及臂架类设备
FENG SHENGRI (Autor:in) / YIN JUN (Autor:in) / LI QIYANG (Autor:in) / TAN MING (Autor:in) / XU XIANG (Autor:in) / WANG GUOQING (Autor:in)
24.09.2024
Patent
Elektronische Ressource
Chinesisch
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