一种无人化气压沉箱三维地貌建模、测量及避碰系统  

A 3D Reconstruction,Measurement and Collision System for Unmanned Pneumatic Caisson

作　　者：李宝顺[1] 曹其新[1] 张蕾[1] 李杰 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]辛辛纳提大学智能维护中心,辛辛纳提210072

出　　处：《上海交通大学学报》2008年第10期1717-1720,1725,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50705054);上海市科委重大科技攻关项目(04DZ12006);上海交通大学青年教师启动基金(A2846B)

摘　　要：针对无人化气压沉箱的三维建模和测量问题,提出了一种无人化气压沉箱三维地貌建模、测量及避碰系统.系统利用多个二维激光传感器,实现沉箱地貌扫描;提出了配准、三维数据分割和重建方法,实现了沉箱内的三维场景重建和实时测量;通过多个传感器融合,实现了挖掘机避碰、沉箱姿态测量.实验表明:系统工作稳定,各项指标满足现场要求,系统已可应用于实际.A 3D surface modeling, measuring and excavator collision detection system was presented. By using several 2D laser scanning sensors, the system can scan the whole surface in the pneumatic caisson. After registration and segmentation of point cloud, a real 3D scene ofthe working chamber of the pneumatic caisson can be modeled. With multi-sensor fusion, the collision detection of excavators and measurement of the pose of the pneumatic caisson can be done. The experiments show that the system has good performance and good stability and can be put into practical use.

关 键 词：三维建模 气压沉箱 激光扫描 深度测量 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]