The invention discloses a multi-level environment sensing system and method for a tower crane, and the method comprises the steps: employing a plurality of laser radar devices and an integrated navigation module to scan a hanging object and a construction environment in a multi-level manner, carrying out the guidance and assistance through GNSS position information, and achieving the functions of hanging object recognition and steel wire rope point cloud removal; the collected three-dimensional point cloud information is combined with an SLAM technology for real-time mapping, semantic segmentation is carried out, a topological geometric model is constructed, coarse registration is carried out, and precise registration of the three-dimensional point cloud information is realized by adopting an ICP algorithm; a multi-level detail model is established by adopting a self-adaptive octree voxel structure, and three-dimensional point cloud information is fused and simplified in combination with an error weight accumulation summation mode, so that anti-collision early warning calculation is realized. According to the method, the multi-level environment perception capability of the tower crane can be improved, the problem of local detail three-dimensional point cloud loss caused by obstacle shielding can be relieved, the collected multi-source laser point cloud can be processed in real time, and data support is provided for autonomous obstacle avoidance and route planning of the tower crane.
本发明公开了一种塔式起重机多层次环境感知系统和方法,该方法中采用多个激光雷达设备及组合导航模块多层次扫描吊物及施工环境,利用GNSS位置信息进行引导与辅助,实现吊物识别及钢丝绳点云移除功能;利用采集到的三维点云信息结合SLAM技术实时建图,进行语义分割并构建拓扑几何模型,进行粗配准,采用ICP算法实现三维点云信息的精配准;采用自适应八叉树体素结构建立多层级细节模型,结合误差权重累加求和的方式对三维点云信息进行融合及简化,实现防碰撞预警计算。本发明可以提高塔机多层次环境感知的能力,能够缓解因障碍物遮挡导致局部细节三维点云缺失的问题,可实时对采集的多源激光点云进行处理,为塔机自主避障及航迹规划提供数据支撑。
Multi-level environment sensing system and method for tower crane
一种塔式起重机多层次环境感知系统和方法
2024-03-15
Patent
Electronic Resource
Chinese
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