Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
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.
本公开涉及一种点云数据处理方法、装置、系统、存储介质和产品，涉及工程机械技术领域。点云数据处理方法包括获取安装于挖掘机的激光雷达扫描的第一点云数据；对于第一点云数据中的每一帧，执行以下操作：根据挖掘机的臂架的铰点、倾角和尺寸，确定臂架的中心平面，其中，中心平面为臂架的中心所在平面，中心平面与臂架的旋转轴平行；基于臂架的中心平面，从第一点云数据中确定臂架的第二点云数据，其中，第二点云数据为第一点云数据的目标范围内的点云数据，目标范围根据臂架的尺寸确定；从第一点云数据中剔除第二点云数据，获得第三点云数据；基于第三点云数据构建挖掘机的作业场景的点云地图。
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.
本公开涉及一种点云数据处理方法、装置、系统、存储介质和产品，涉及工程机械技术领域。点云数据处理方法包括获取安装于挖掘机的激光雷达扫描的第一点云数据；对于第一点云数据中的每一帧，执行以下操作：根据挖掘机的臂架的铰点、倾角和尺寸，确定臂架的中心平面，其中，中心平面为臂架的中心所在平面，中心平面与臂架的旋转轴平行；基于臂架的中心平面，从第一点云数据中确定臂架的第二点云数据，其中，第二点云数据为第一点云数据的目标范围内的点云数据，目标范围根据臂架的尺寸确定；从第一点云数据中剔除第二点云数据，获得第三点云数据；基于第三点云数据构建挖掘机的作业场景的点云地图。
Point cloud data processing method, device and system, storage medium and product
点云数据处理方法、装置、系统、存储介质和产品
10.01.2025
Patent
Elektronische Ressource
Chinesisch
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