A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Excavator autonomous operation method based on laser radar assistance
The invention provides an excavator autonomous operation method based on laser radar assistance, and the method comprises the steps: turning on a laser radar, connecting the laser radar to a Raspberry Pi 4B embedded system, and connecting the Raspberry Pi 4B embedded system to an excavator processor; the excavation working face is scanned through a laser radar, and scanned three-dimensional point cloud data is transmitted to the Raspberry Pi 4B embedded system; filtering the received point cloud data through a gradient filtering algorithm imported into the Raspberry Pi 4B embedded system, and outputting an excavation point coordinate to an excavator processor; and after the excavator processor receives the coordinates of the excavation point, the excavator bucket can act to the excavation point to complete the excavation action through track planning of the excavator bucket. Only the laser radar sensor is used for assisting the operation process of the excavator, the data size is small, the processing speed is high, and the laser radar scanning precision is effectively improved.
本发明提供一种基于激光雷达辅助的挖掘机自主作业方法，包括：打开激光雷达，将激光雷达连接至树莓派4B嵌入式系统，并将树莓派4B嵌入式系统连接至挖掘机处理器；通过激光雷达对挖掘工作面进行扫描，并将扫描的三维点云数据传输至树莓派4B嵌入式系统；通过导入至树莓派4B嵌入式系统的坡度滤波算法对接收到的点云数据进行滤波处理，并输出一个挖掘点坐标至挖掘机处理器；挖掘机处理器接收到挖掘点坐标后，通过对挖掘机铲斗的轨迹规划使其能够动作至挖掘点完成挖掘动作。本发明仅使用激光雷达传感器辅助挖掘机的作业过程，数据量较小，处理速度快，并且有效提升了激光雷达扫描的精度。
Excavator autonomous operation method based on laser radar assistance
The invention provides an excavator autonomous operation method based on laser radar assistance, and the method comprises the steps: turning on a laser radar, connecting the laser radar to a Raspberry Pi 4B embedded system, and connecting the Raspberry Pi 4B embedded system to an excavator processor; the excavation working face is scanned through a laser radar, and scanned three-dimensional point cloud data is transmitted to the Raspberry Pi 4B embedded system; filtering the received point cloud data through a gradient filtering algorithm imported into the Raspberry Pi 4B embedded system, and outputting an excavation point coordinate to an excavator processor; and after the excavator processor receives the coordinates of the excavation point, the excavator bucket can act to the excavation point to complete the excavation action through track planning of the excavator bucket. Only the laser radar sensor is used for assisting the operation process of the excavator, the data size is small, the processing speed is high, and the laser radar scanning precision is effectively improved.
本发明提供一种基于激光雷达辅助的挖掘机自主作业方法，包括：打开激光雷达，将激光雷达连接至树莓派4B嵌入式系统，并将树莓派4B嵌入式系统连接至挖掘机处理器；通过激光雷达对挖掘工作面进行扫描，并将扫描的三维点云数据传输至树莓派4B嵌入式系统；通过导入至树莓派4B嵌入式系统的坡度滤波算法对接收到的点云数据进行滤波处理，并输出一个挖掘点坐标至挖掘机处理器；挖掘机处理器接收到挖掘点坐标后，通过对挖掘机铲斗的轨迹规划使其能够动作至挖掘点完成挖掘动作。本发明仅使用激光雷达传感器辅助挖掘机的作业过程，数据量较小，处理速度快，并且有效提升了激光雷达扫描的精度。
Excavator autonomous operation method based on laser radar assistance
一种基于激光雷达辅助的挖掘机自主作业方法
LIU YU (author) / ZHANG DONG (author) / CHEN DEMING (author)
2025-01-10
Patent
Electronic Resource
Chinese
AUTONOMOUS WORKING EXCAVATOR AND OPERATION METHOD THEREOF
| European Patent Office | 2022