CN111831775A - Map building method and device for construction area of excavator - Google Patents
Map building method and device for construction area of excavator Download PDFInfo
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Abstract
The application provides a map building method and a map building device for an excavator construction area, wherein the map building method comprises the following steps: the method comprises the steps of firstly, acquiring position coordinates of a plurality of position points in an excavator construction area in a first coordinate system; then obtaining a local area image comprising a plurality of position points, establishing a second coordinate system where the local area image is located, and determining point coordinates of a reference point corresponding to each position point in the second coordinate system; determining a conversion ratio, a deviation angle and a deviation amount between a first coordinate system and a second coordinate system, determining a position coordinate of a position point in the excavator construction area corresponding to any point on the local area image in the first coordinate system based on a point coordinate of any point on the local area image in the second coordinate system, and finally determining a map of the excavator construction area in the first coordinate system. Thus, the positioning of the excavator in the work area map can be realized, and further, the automatic control and the cooperative work of the excavator can be realized.
Description
Technical Field
The application relates to the technical field of map construction, in particular to a map building method and device for an excavator construction area.
Background
With the increasing of the strength of the urbanization process, the excavator is widely applied to urban construction, is widely applied to earthwork, construction, crushing, municipal engineering, stone engineering, farmland application and mines, and is used for improving the work efficiency of the engineering.
The existing excavators are all provided with a vehicle-mounted GPS, and real-time positioning can be realized by comparing with GPS map information of a working area of the excavator, so that the position of the excavator can be grasped at any time. However, since the excavator has a large number of work areas, not all work areas have GPS map information, and when the excavator has no GPS map information in a work area, positioning of the excavator in the work area map cannot be achieved, and further, automatic control and cooperative work of the excavator cannot be performed.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a map building method and device for an excavator construction area, wherein a map of the excavator construction area in a first coordinate system is built through coordinates of any point on a local area image in a second coordinate system and a relationship between the first coordinate system and the second coordinate system, so that positioning of the excavator in a work area map can be realized, and further, automatic control and cooperative work of the excavator can be realized.
In a first aspect, an embodiment of the present application provides a map building method for an excavator construction area, where the map building method includes:
acquiring position coordinates of a plurality of position points in an excavator construction area in a first coordinate system;
acquiring a local area image comprising the plurality of position points, establishing a second coordinate system in which the local area image is located, and determining point coordinates of a reference point corresponding to each position point in the second coordinate system;
determining a conversion ratio, an offset angle, and an offset amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates;
determining the position coordinate of a position point in the excavator construction area corresponding to any point on the local area image in the first coordinate system based on the conversion proportion, the offset angle and the offset between the first coordinate system and the second coordinate system and the point coordinate of any point on the local area image in the second coordinate system;
and determining a map of the excavator construction area in the first coordinate system based on the position coordinates of the position point in the excavator construction area corresponding to any point on the local area image in the first coordinate system.
Preferably, the excavator construction area is photographed or drawn to obtain a local area image of the excavator construction area.
Preferably, the transformation ratio between the first coordinate system and the second coordinate system is determined by:
calculating a first distance between two position points within the first coordinate system based on position coordinates of the two position points in the first coordinate system;
calculating a second distance between two reference points within the second coordinate system based on point coordinates of the two reference points in the second coordinate system;
determining a transformation ratio between the first coordinate system and the second coordinate system based on a ratio between the first distance and the second distance.
Preferably, the offset angle between the first coordinate system and the second coordinate system is determined by:
determining an offset angle between the first coordinate system and the second coordinate system based on position coordinates of two position points in the first coordinate system, point coordinates of two reference points in the second coordinate system, and the first distance and the second distance.
Preferably, the offset angle between the first coordinate system and the second coordinate system is calculated by the following formula:
where θ represents an offset angle between the first coordinate system and the second coordinate system, (X4, Y4) represents a point coordinate of a first reference point within the second coordinate system, (X5, Y5) represents a point coordinate of a second reference point within the second coordinate system, (X4', Y4') represents a position coordinate of a first position point within the first coordinate system, (X5', Y5') represents a position coordinate of a second position point within the first coordinate system, | DE | represents the second distance, and | D 'E' | represents the first distance.
Preferably, the offset between the first and second coordinate systems is determined by:
and determining the offset between the first coordinate system and the second coordinate system in the X direction and the offset between the first coordinate system and the second coordinate system in the Y direction based on the position coordinates of any position point in the first coordinate system and the point coordinates of a reference point corresponding to the position point in the second coordinate system.
Preferably, the position coordinates of an arbitrary point on the local area image in the first coordinate system are determined by the following formula:
(X0'，Y0')＝(M+S(X0cosθ-Y0sinθ)，N+S(X0sinθ+Y0cosθ))；
wherein (X0', Y0') represents coordinates of a position point of the excavator construction area corresponding to an arbitrary point of the local area image in the first coordinate system, (M, N) represents offset coordinates between the first coordinate system and the second coordinate system, S represents a conversion ratio between the first coordinate system and the second coordinate system, (X0, Y0) represents coordinates of an arbitrary point of the local area image in the second coordinate system, and θ represents an offset angle between the first coordinate system and the second coordinate system.
Preferably, the determining a conversion ratio, an offset angle, and an offset amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates includes:
determining a midpoint reference point coordinate between any two reference points based on the point coordinates of the reference point corresponding to each position point in the second coordinate system;
calculating midpoint position coordinates corresponding to the midpoint reference point in the second coordinate system based on the position coordinates of a plurality of position points in the excavator construction area in the first coordinate system;
and determining a conversion ratio, an offset angle and an offset between the first coordinate system and the second coordinate system based on the midpoint reference point coordinates and the midpoint position coordinates.
Preferably, the determining a map of the excavator construction area in the first coordinate system based on the position coordinates of the position point in the excavator construction area corresponding to the arbitrary point on the local area image in the first coordinate system includes:
dividing the construction area of the excavator into a plurality of sub-construction areas, and determining a local area image corresponding to each sub-construction area;
and determining the position coordinates of the position points of the excavator construction area corresponding to any point on all the local area images in the first coordinate system to obtain a map of the excavator construction area.
Preferably, the distance between any two position points in the first coordinate system is greater than or equal to one tenth of the maximum boundary distance of the excavator construction area.
In a second aspect, an embodiment of the present application provides a map building apparatus for an excavator construction area, where the map building apparatus includes:
the acquisition module is used for acquiring position coordinates of a plurality of position points in the construction area of the excavator in a first coordinate system;
the first processing module is used for acquiring a local area image comprising the plurality of position points, establishing a second coordinate system in which the local area image is located, and determining point coordinates of a reference point corresponding to each position point in the second coordinate system;
a determination module for determining a conversion ratio, an offset angle, and an offset amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates;
the second processing module is used for determining the position coordinates of the position points in the excavator construction area corresponding to any point on the local area image in the first coordinate system based on the conversion proportion, the offset angle and the offset between the first coordinate system and the second coordinate system and the point coordinates of any point on the local area image in the second coordinate system;
and the third processing module is used for determining a map of the excavator construction area in the first coordinate system based on the position coordinates of the position points in the excavator construction area corresponding to any point on the local area image in the first coordinate system.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is running, the machine-readable instructions when executed by the processor performing the steps of the map building method of an excavator construction area as described above.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to execute the steps of the map building method for an excavator construction area as described above.
The embodiment of the application provides a map building method and a map building device for an excavator construction area, wherein the map building method comprises the following steps: the method comprises the steps of firstly, acquiring position coordinates of a plurality of position points in an excavator construction area in a first coordinate system; then obtaining a local area image comprising a plurality of position points, establishing a second coordinate system where the local area image is located, and determining point coordinates of a reference point corresponding to each position point in the second coordinate system; and then, determining a conversion ratio, a deviation angle and a deviation amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates, determining the position coordinates of the position points in the excavator construction area corresponding to any point on the local area image in the first coordinate system based on the point coordinates of any point on the local area image in the second coordinate system, and finally determining the map of the excavator construction area in the first coordinate system.
In this way, the map of the excavator construction area in the first coordinate system is established through the coordinates of any point on the local area image in the second coordinate system and the relation between the first coordinate system and the second coordinate system, so that the positioning of the excavator in the work area map can be realized, and further, the automatic control and the cooperative operation of the excavator can be realized.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a flowchart of a map building method for an excavator construction area according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of determining a center position point in a first coordinate system according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a map building apparatus for an excavator construction area according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. Every other embodiment that can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present application falls within the protection scope of the present application.
In a first aspect, an embodiment of the present application provides a map building method for an excavator construction area, please refer to fig. 1, and fig. 1 is a flowchart of the map building method for the excavator construction area provided in the embodiment of the present application. As shown in fig. 1, a map building method provided in an embodiment of the present application includes:
and S110, acquiring position coordinates of a plurality of position points in the construction area of the excavator in a first coordinate system.
In this step, the position coordinates of each position point in the first coordinate system are determined by a GPS receiver provided at each position point within the construction area of the excavator. The position coordinates of a plurality of position points in the construction area of the excavator in the first coordinate system are obtained through Beidou navigation.
Here, the first coordinate system is a GPS coordinate system, wherein the GPS coordinates are global positioning system coordinates, and the GPS receiver is an instrument that receives global positioning system satellite signals and determines a ground space position. According to the embodiment of the application, the GPS receiver arranged at each position point can accurately acquire the GPS coordinates of each position point, and the GPS coordinates at the moment are the position coordinates of each position point in the first coordinate system.
S120, obtaining a local area image comprising the plurality of position points, establishing a second coordinate system where the local area image is located, and determining point coordinates of a reference point corresponding to each position point in the second coordinate system.
In the step, a local area image of the excavator construction area is obtained by shooting or drawing the excavator construction area, wherein the local area image comprises the plurality of position points, and the plurality of position points are all provided with a GPS receiver, namely the plurality of position points in the local area image are all known position coordinates.
And establishing a second coordinate system based on the acquired local area image, wherein any point on the local area image is in the second coordinate system, and determining a reference point corresponding to each position point and the point coordinates of each reference point in the second coordinate system.
Here, the second coordinate system is a coordinate system artificially created and capable of expressing all arbitrary points on the local area image in the form of coordinates.
Illustratively, as shown in fig. 2, the points a, B and C are three reference points of the local area image in the second coordinate system, the three reference points form a triangle, the points D and E can be found according to the median line of the triangle, and the coordinates of the points D and E can be found according to the median coordinate formula when the point coordinates of the three reference points are known.
Specifically, the point coordinates of the point a, the point B, and the point C in the second coordinate system are (X1, Y1), (X2, Y2), and (X3, Y3), respectively; the corresponding position points of the point a, the point B and the point C in the first coordinate system are the point a ', the point B ', and the point C ', and the position coordinates of the point a ', the point B ' and the point C in the first coordinate system are (X1', Y1'), (X2', Y2') and (X3', Y3'), respectively.
And S130, determining a conversion ratio, a deviation angle and a deviation amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates.
In this step, based on the position coordinates of the plurality of position points in the first coordinate system and the point coordinates of the reference point corresponding to each position point in the second coordinate system, a conversion ratio, an offset angle, and an offset amount between the first coordinate system and the second coordinate system are calculated, thereby determining a mapping relationship between the first coordinate system and the second coordinate system.
Preferably, step S130 includes:
determining a midpoint reference point coordinate between any two reference points based on the point coordinates of the reference point corresponding to each position point in the second coordinate system;
calculating midpoint position coordinates corresponding to the midpoint reference point in the second coordinate system based on the position coordinates of a plurality of position points in the excavator construction area in the first coordinate system;
and determining a conversion ratio, an offset angle and an offset between the first coordinate system and the second coordinate system based on the midpoint reference point coordinates and the midpoint position coordinates.
In this step, in order to reduce the influence of the position coordinates of each position point actually received by the GPS receiver on the subsequent calculation, the midpoint position coordinates are used in the process of determining the conversion ratio, the offset angle, and the offset amount between the first coordinate system and the second coordinate system. Further, by the difference calculation, the coordinate conversion deviation between the first coordinate system and the second coordinate system is reduced.
Illustratively, the midpoint reference point coordinates of the D-point and the E-point in the second coordinate system are (X4, Y4) and (X5, Y5), respectively, wherein,
further, the midpoint position coordinates of D 'and E' in the first coordinate system are (X4', Y4') and (X5', Y5'), respectively, wherein,
in the embodiment of the present application, as a preferred embodiment, the conversion ratio between the first coordinate system and the second coordinate system is determined by the following steps:
calculating a first distance between two position points within the first coordinate system based on position coordinates of the two position points in the first coordinate system;
calculating a second distance between two reference points within the second coordinate system based on point coordinates of the two reference points in the second coordinate system;
determining a transformation ratio between the first coordinate system and the second coordinate system based on a ratio between the first distance and the second distance.
Illustratively, the transformation ratio between the first coordinate system and the second coordinate system is
In the embodiment of the present application, as a preferred embodiment, the offset angle between the first coordinate system and the second coordinate system is calculated by the following formula:
where θ represents an offset angle between the first coordinate system and the second coordinate system, (X4, Y4) represents a point coordinate of a first reference point within the second coordinate system, (X5, Y5) represents a point coordinate of a second reference point within the second coordinate system, (X4', Y4') represents a position coordinate of a first position point within the first coordinate system, (X5', Y5') represents a position coordinate of a second position point within the first coordinate system, | DE | represents the second distance, and | D 'E' | represents the first distance.
In the embodiment of the present application, as a preferred embodiment, the offset between the first coordinate system and the second coordinate system is determined by the following steps:
and determining the offset between the first coordinate system and the second coordinate system in the X direction and the offset between the first coordinate system and the second coordinate system in the Y direction based on the position coordinates of any position point in the first coordinate system and the point coordinates of a reference point corresponding to the position point in the second coordinate system.
Illustratively, the offset coordinate (M, N) between the first coordinate system and the second coordinate system is (X4'-X4, Y4' -Y4).
And S140, determining the position coordinate of the position point in the excavator construction area corresponding to any point on the local area image in the first coordinate system based on the conversion ratio, the offset angle and the offset between the first coordinate system and the second coordinate system and the point coordinate of any point on the local area image in the second coordinate system.
In this step, based on the point coordinates of the arbitrary point on the local area image in the second coordinate system and the determined mapping relationship between the first coordinate system and the second coordinate system, the position coordinates of the position point corresponding to the arbitrary point in the first coordinate system can be calculated under the condition that the point coordinates of the arbitrary point in the second coordinate system are known.
Illustratively, the position coordinates of an arbitrary point on the local area image in the first coordinate system are determined by the following formula:
(X0'，Y0')＝(M+S(X0cosθ-Y0sinθ)，N+S(X0sinθ+Y0cosθ))；
wherein (X0', Y0') represents coordinates of a position point of the excavator construction area corresponding to an arbitrary point of the local area image in the first coordinate system, (M, N) represents offset coordinates between the first coordinate system and the second coordinate system, S represents a conversion ratio between the first coordinate system and the second coordinate system, (X0, Y0) represents coordinates of an arbitrary point of the local area image in the second coordinate system, and θ represents an offset angle between the first coordinate system and the second coordinate system.
And S150, determining a map of the excavator construction area in the first coordinate system based on the position coordinates of the position point in the excavator construction area corresponding to the arbitrary point on the local area image in the first coordinate system.
In the step, after obtaining the position coordinates of the position points in the excavator construction area corresponding to all the points on the local area images in the first coordinate system, determining a plurality of local area images of the excavator construction area, and converting the point coordinates on all the local area images into the position coordinates in the first coordinate system, so as to obtain a map formed by converging all the position points.
Specifically, dividing the construction area of the excavator into a plurality of sub-construction areas, and determining a local area image corresponding to each sub-construction area;
and determining the position coordinates of the position points of the excavator construction area corresponding to any point on all the local area images in the first coordinate system to obtain a map of the excavator construction area.
In the embodiment of the present application, as a preferred embodiment, a distance between any two position points in the first coordinate system is greater than or equal to one tenth of a maximum boundary distance of the excavator construction area.
In the step, the distance between any two position points in the first coordinate system is set to be greater than or equal to one tenth of the maximum boundary distance of the excavator construction area, so that the scaling ratio between the reference point in the second coordinate system and the position point in the first coordinate system is more accurate, the obtained error of the mapping relation between the two coordinate systems is smaller, and the coordinate conversion deviation between the first coordinate system and the second coordinate system is reduced.
The embodiment of the application provides a map building method for an excavator construction area, a map of the excavator construction area in a first coordinate system is built through coordinates of any point on a local area image in a second coordinate system and a relation between the first coordinate system and the second coordinate system, positioning of the excavator in a work area map can be achieved, and further automatic control and cooperative operation of the excavator are achieved.
Based on the same inventive concept, the embodiment of the application provides a map building device for an excavator construction area, and as the principle of solving the problem of the device in the embodiment of the application is similar to the map building method for the excavator construction area in the embodiment of the application, the implementation of the device can refer to the implementation of the method, and repeated parts are not repeated.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a map building apparatus for an excavator construction area according to an embodiment of the present application. As shown in fig. 3, the map building apparatus 300 includes:
the acquiring module 310 is configured to acquire position coordinates of a plurality of position points in a construction area of the excavator in a first coordinate system;
a first processing module 320, configured to obtain a local area image including the plurality of position points, establish a second coordinate system in which the local area image is located, and determine point coordinates of a reference point in the second coordinate system, where the reference point corresponds to each position point in the second coordinate system;
a determining module 330, configured to determine a transformation ratio, an offset angle, and an offset amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates;
a second processing module 340, configured to determine, based on a conversion ratio between the first coordinate system and the second coordinate system, an offset angle, an offset amount, and a point coordinate of any point on the local area image in the second coordinate system, a position coordinate of a position point in the excavator construction area corresponding to the any point on the local area image in the first coordinate system;
a third processing module 350, configured to determine a map of the excavator construction area in the first coordinate system based on a position coordinate of a position point in the excavator construction area in the first coordinate system, where the position point corresponds to any point on the local area image.
Preferably, the determining module 330 is configured to determine the conversion ratio between the first coordinate system and the second coordinate system by:
calculating a first distance between two position points within the first coordinate system based on position coordinates of the two position points in the first coordinate system;
calculating a second distance between two reference points within the second coordinate system based on point coordinates of the two reference points in the second coordinate system;
determining a transformation ratio between the first coordinate system and the second coordinate system based on a ratio between the first distance and the second distance.
Preferably, the determining module 330 is configured to calculate the offset angle between the first coordinate system and the second coordinate system by the following formula:
where θ represents an offset angle between the first coordinate system and the second coordinate system, (X4, Y4) represents a point coordinate of a first reference point within the second coordinate system, (X5, Y5) represents a point coordinate of a second reference point within the second coordinate system, (X4', Y4') represents a position coordinate of a first position point within the first coordinate system, (X5', Y5') represents a position coordinate of a second position point within the first coordinate system, | DE | represents the second distance, and | D 'E' | represents the first distance.
Preferably, the determining module 330 is configured to determine the offset between the first coordinate system and the second coordinate system by:
and determining the offset between the first coordinate system and the second coordinate system in the X direction and the offset between the first coordinate system and the second coordinate system in the Y direction based on the position coordinates of any position point in the first coordinate system and the point coordinates of a reference point corresponding to the position point in the second coordinate system.
Preferably, the determining module 330 is configured to determine the position coordinates of any point on the local area image in the first coordinate system by the following formula:
(X0'，Y0')＝(M+S(X0cosθ-Y0sinθ)，N+S(X0sinθ+Y0cosθ))；
wherein (X0', Y0') represents coordinates of a position point of the excavator construction area corresponding to an arbitrary point of the local area image in the first coordinate system, (M, N) represents offset coordinates between the first coordinate system and the second coordinate system, S represents a conversion ratio between the first coordinate system and the second coordinate system, (X0, Y0) represents coordinates of an arbitrary point of the local area image in the second coordinate system, and θ represents an offset angle between the first coordinate system and the second coordinate system.
Preferably, when the determining module 330 determines the conversion ratio, the offset angle and the offset amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates, the determining module 330 is configured to:
determining a midpoint reference point coordinate between any two reference points based on the point coordinates of the reference point corresponding to each position point in the second coordinate system;
calculating midpoint position coordinates corresponding to the midpoint reference point in the second coordinate system based on the position coordinates of a plurality of position points in the excavator construction area in the first coordinate system;
and determining a conversion ratio, an offset angle and an offset between the first coordinate system and the second coordinate system based on the midpoint reference point coordinates and the midpoint position coordinates.
Preferably, when the third processing module 350 is configured to determine the map of the excavator construction area in the first coordinate system based on the position coordinates of the position point in the excavator construction area corresponding to the arbitrary point on the local area image in the first coordinate system, the third processing module 350 is configured to:
dividing the construction area of the excavator into a plurality of sub-construction areas, and determining a local area image corresponding to each sub-construction area;
and determining the position coordinates of the position points in the excavator construction area corresponding to any point on all the local area images in the first coordinate system to obtain a map of the excavator construction area in the first coordinate system.
Preferably, the distance between any two position points in the first coordinate system is greater than or equal to one tenth of the maximum boundary distance of the excavator construction area.
The embodiment of the application provides a map building device for an excavator construction area, which comprises an acquisition module, a first processing module, a determination module, a second processing module and a third processing module, wherein the acquisition module is used for determining position coordinates of a plurality of position points in the excavator construction area in a first coordinate system; the first processing module is used for acquiring a local area image comprising a plurality of position points, establishing a second coordinate system in which the local area image is positioned, and determining point coordinates of a reference point, corresponding to each position point in the second coordinate system, in the second coordinate system; the determining module is used for determining a conversion ratio, a deviation angle and a deviation amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates; the second processing module is used for determining the position coordinates of the position points in the excavator construction area corresponding to any point on the local area image in the first coordinate system based on the conversion proportion, the offset angle and the offset between the first coordinate system and the second coordinate system and the point coordinates of any point on the local area image in the second coordinate system; the third processing module is used for determining a map of the excavator construction area in the first coordinate system based on the position coordinates of the position points in the excavator construction area corresponding to any point on the local area image in the first coordinate system. Furthermore, the positioning of the excavator in the work area map can be realized, and further, the automatic control and the cooperative operation of the excavator can be realized.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure. As shown in fig. 4, the electronic device 400 includes a processor 410, a memory 420, and a bus 430.
The memory 420 stores machine-readable instructions executable by the processor 410, when the electronic device 400 runs, the processor 410 communicates with the memory 420 through the bus 430, and when the machine-readable instructions are executed by the processor 410, the steps of the map building method for the excavator construction area as described in fig. 1 may be executed.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the map building method for an excavator construction area as described in fig. 1 may be executed.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A map building method for an excavator construction area is characterized by comprising the following steps:
acquiring position coordinates of a plurality of position points in an excavator construction area in a first coordinate system;
acquiring a local area image comprising the plurality of position points, establishing a second coordinate system in which the local area image is located, and determining point coordinates of a reference point corresponding to each position point in the second coordinate system;
determining a conversion ratio, an offset angle, and an offset amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates;
determining the position coordinate of a position point in the excavator construction area corresponding to any point on the local area image in the first coordinate system based on the conversion proportion, the offset angle and the offset between the first coordinate system and the second coordinate system and the point coordinate of any point on the local area image in the second coordinate system;
and determining a map of the excavator construction area in the first coordinate system based on the position coordinates of the position point in the excavator construction area corresponding to any point on the local area image in the first coordinate system.
2. The map building method according to claim 1, wherein the excavator construction area is photographed or drawn to obtain a local area image of the excavator construction area.
3. The map building method according to claim 1, wherein the conversion ratio between the first coordinate system and the second coordinate system is determined by:
calculating a first distance between two position points within the first coordinate system based on position coordinates of the two position points in the first coordinate system;
calculating a second distance between two reference points within the second coordinate system based on point coordinates of the two reference points in the second coordinate system;
determining a transformation ratio between the first coordinate system and the second coordinate system based on a ratio between the first distance and the second distance.
4. The map building method according to claim 3, wherein the offset angle between the first coordinate system and the second coordinate system is calculated by the following formula:
where θ represents an offset angle between the first coordinate system and the second coordinate system, (X4, Y4) represents a point coordinate of a first reference point within the second coordinate system, (X5, Y5) represents a point coordinate of a second reference point within the second coordinate system, (X4', Y4') represents a position coordinate of a first position point within the first coordinate system, (X5', Y5') represents a position coordinate of a second position point within the first coordinate system, | DE | represents the second distance, and | D 'E' | represents the first distance.
5. The map building method according to claim 4, wherein the offset between the first coordinate system and the second coordinate system is determined by:
and determining the offset between the first coordinate system and the second coordinate system in the X direction and the offset between the first coordinate system and the second coordinate system in the Y direction based on the position coordinates of any position point in the first coordinate system and the point coordinates of a reference point corresponding to the position point in the second coordinate system.
6. The map building method according to claim 5, wherein the position coordinates of an arbitrary point on the local area image in the first coordinate system are determined by the following formula:
(X0'，Y0')＝(M+S(X0cosθ-Y0sinθ)，N+S(X0sinθ+Y0cosθ))；
wherein (X0', Y0') represents coordinates of a position point of the excavator construction area corresponding to an arbitrary point of the local area image in the first coordinate system, (M, N) represents offset coordinates between the first coordinate system and the second coordinate system, S represents a conversion ratio between the first coordinate system and the second coordinate system, (X0, Y0) represents coordinates of an arbitrary point of the local area image in the second coordinate system, and θ represents an offset angle between the first coordinate system and the second coordinate system.
7. The map building method according to claim 1, wherein the determining a conversion ratio, an offset angle, and an offset amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates comprises:
determining a midpoint reference point coordinate between any two reference points based on the point coordinates of the reference point corresponding to each position point in the second coordinate system;
calculating midpoint position coordinates corresponding to the midpoint reference point in the second coordinate system based on the position coordinates of a plurality of position points in the excavator construction area in the first coordinate system;
and determining a conversion ratio, an offset angle and an offset between the first coordinate system and the second coordinate system based on the midpoint reference point coordinates and the midpoint position coordinates.
8. The map building method according to claim 1, wherein the determining the map of the excavator construction area in the first coordinate system based on the position coordinates of the position point in the excavator construction area corresponding to the arbitrary point on the local area image in the first coordinate system comprises:
dividing the construction area of the excavator into a plurality of sub-construction areas, and determining a local area image corresponding to each sub-construction area;
and determining the position coordinates of the position points in the excavator construction area corresponding to any point on all the local area images in the first coordinate system to obtain a map of the excavator construction area in the first coordinate system.
9. The map building method according to claim 1, wherein a distance between any two location points in the first coordinate system is greater than or equal to one tenth of a maximum boundary distance of an excavator construction area.
10. A map building apparatus for an excavator construction area, characterized by comprising:
the acquisition module is used for acquiring position coordinates of a plurality of position points in the construction area of the excavator in a first coordinate system;
the first processing module is used for acquiring a local area image comprising the plurality of position points, establishing a second coordinate system in which the local area image is located, and determining point coordinates of a reference point corresponding to each position point in the second coordinate system;
a determination module for determining a conversion ratio, an offset angle, and an offset amount between the first coordinate system and the second coordinate system based on the position coordinates and the point coordinates;
the second processing module is used for determining the position coordinates of the position points in the excavator construction area corresponding to any point on the local area image in the first coordinate system based on the conversion proportion, the offset angle and the offset between the first coordinate system and the second coordinate system and the point coordinates of any point on the local area image in the second coordinate system;
and the third processing module is used for determining a map of the excavator construction area in the first coordinate system based on the position coordinates of the position points in the excavator construction area corresponding to any point on the local area image in the first coordinate system.
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