The invention discloses a repositioning method for an intelligent bridge crane, which comprises the following steps of: acquiring environmental data in a process in real time through a solid-state laser radar in a sensing system, and converting original point cloud data acquired by the solid-state laser radar into an octree map format in real time so as to establish an environmental map and update the environmental map; after establishment, octree map data is converted into point cloud data, and a prior environment map of the bridge crane can be obtained in the process; and then estimating the position and attitude of the bridge crane in a priori environment map by adopting rough matching based on a point cloud descriptor through the obtained data of the solid-state laser radar. Fine matching and rough matching of an ICP algorithm are fused, and the initial pose of the bridge crane is determined; after the initial pose is obtained, the relative pose of the bridge crane in a map is estimated by combining a priori environment map and observation data of the solid-state laser radar, and the positioning result of the bridge crane is realized by utilizing a fusion scheme of tight coupling of the solid-state laser radar and IMU data.

    本发明公开了一种用于智能桥式起重机的重定位方法,通过感知系统中的固态激光雷达实时采集进行过程中的环境数据,将固态激光雷达采集到的原始点云数据实时转换为八叉树地图格式以此来建立环境地图并进行更新,建成后再将八叉树地图数据转换为点云数据,该过程会获得桥式起重机的先验环境地图;然后通过获得的固态激光雷达的数据,采用基于点云描述子的粗匹配来估计桥式起重机在先验环境地图中的位置与姿态。利用ICP算法的精匹配和粗匹配进行融合,确定桥式起重机的初始位姿;得到初始位姿后,结合先验环境地图和固态激光雷达的观测数据,估计桥式起重机在地图中的相对位姿,利用固态激光雷达和IMU数据紧耦合的融合方案实现桥式起重机的定位结果。


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    Title :

    Repositioning method for intelligent bridge crane


    Additional title:

    一种用于智能桥式起重机的重定位方法


    Contributors:
    YE BIN (author) / ZONG SHIHENG (author) / LI HUIJUN (author) / YIN YINGWEN (author)

    Publication date :

    2023-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B66C Krane , CRANES / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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