A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
The invention relates to the technical field of excavators, in particular to an excavator auxiliary sensing method and device and an excavator. When the method is applied, after the scene three-dimensional data of the current operation area where the excavator is located is obtained, the scene three-dimensional data is cut to obtain the simplified effective scene three-dimensional data, so that the data volume is reduced, the overall execution efficiency of the excavator auxiliary sensing method can be improved, and the computing power can be saved. According to the current posture data and the structure parameters of the excavator, the first space position of the bucket in the current state relative to the fixed vehicle body can be obtained, conversion is conducted according to the effective scene three-dimensional data and the first space position, and then the second space position of the bucket in the current state relative to the current operation area can be obtained; the specific position of the bucket in the current state is obtained, accurate control can be executed according to the specific position, and collision accidents are avoided.
本申请涉及挖掘机技术领域，具体涉及挖掘机辅助感知方法及装置、挖掘机。本申请在应用时，获取挖掘机所在的当前作业区域的场景三维数据后，对场景三维数据进行裁剪以得到精简后的有效场景三维数据，从而减少了数据量，能够提高该挖掘机辅助感知方法的整体执行效率以及节省算力。然后根据挖掘机的当前姿态数据和结构参数，可以获知铲斗在当前状态下相对于固定车体的第一空间位置，再根据有效场景三维数据和第一空间位置进行换算，便可以得知铲斗在当前状态下相对于当前作业区域的第二空间位置，即得到了铲斗当前状态下的具体位置，根据具体位置可以执行精准的操控以及避免发生碰撞事故。
The invention relates to the technical field of excavators, in particular to an excavator auxiliary sensing method and device and an excavator. When the method is applied, after the scene three-dimensional data of the current operation area where the excavator is located is obtained, the scene three-dimensional data is cut to obtain the simplified effective scene three-dimensional data, so that the data volume is reduced, the overall execution efficiency of the excavator auxiliary sensing method can be improved, and the computing power can be saved. According to the current posture data and the structure parameters of the excavator, the first space position of the bucket in the current state relative to the fixed vehicle body can be obtained, conversion is conducted according to the effective scene three-dimensional data and the first space position, and then the second space position of the bucket in the current state relative to the current operation area can be obtained; the specific position of the bucket in the current state is obtained, accurate control can be executed according to the specific position, and collision accidents are avoided.
本申请涉及挖掘机技术领域，具体涉及挖掘机辅助感知方法及装置、挖掘机。本申请在应用时，获取挖掘机所在的当前作业区域的场景三维数据后，对场景三维数据进行裁剪以得到精简后的有效场景三维数据，从而减少了数据量，能够提高该挖掘机辅助感知方法的整体执行效率以及节省算力。然后根据挖掘机的当前姿态数据和结构参数，可以获知铲斗在当前状态下相对于固定车体的第一空间位置，再根据有效场景三维数据和第一空间位置进行换算，便可以得知铲斗在当前状态下相对于当前作业区域的第二空间位置，即得到了铲斗当前状态下的具体位置，根据具体位置可以执行精准的操控以及避免发生碰撞事故。
Excavator auxiliary sensing method and device and excavator
挖掘机辅助感知方法及装置、挖掘机
2023-06-06
Patent
Electronic Resource
Chinese
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