Positioning accuracy measurement method of bucket-wheel reclaimer based on 3D lidar

Three-Dimensional LiDAR is one of the sensors used for Simultaneous Localization and Mapping (SLAM) algorithms. SLAM algorithms are widely applied in the field of autonomous driving and mobile robotics, providing a framework for autonomous motion by incorporating data acquisition, front-end odometry, loop detection, back-end optimization, and accuracy evaluation. Accuracy evaluation in SLAM algorithms typically involves comparing the measured trajectory obtained from SLAM with a reference trajectory computed using higher-precision sensors such as motion capture systems or laser total stations. In this study, to achieve unmanned operation of bucket-wheel reclaimer in material yards, a three-dimensional LiDAR sensor is utilized for SLAM algorithms to achieve precise positioning of the wheel loader and establish a three-dimensional digital model of the material pile. To verify the positioning accuracy of the SLAM algorithms in a dusty environment of the material yard, a least squares method is employed to calculate the actual trajectory of the bucket-wheel reclaimer (make its arm performing a circular motion This actual trajectory serves as the reference for evaluation of SLAM), thereby avoiding the need for expensive high-precision sensors. By utilizing this approach, the accuracy of the SLAM algorithms in material yard environments is obtained. To validate the reliability of this method and the accuracy evaluation, this study first verifies the fitting performance of the reference trajectory using the mechanical dimensions of the bucket-wheel reclaimer itself. Furthermore, the accuracy evaluated through this method is validated by assessing the mapping results (mapping and Positioning is Simultaneous for SLAM. Positioning accuracy is same with Mapping).