基于激光雷达探测技术的列车车厢载货体积测量方法研究  

Measurement method of volume of freight carriages based on laser radar detection technology

作　　者：孔德明[1] 张娜[1] 黄紫双 陈晓玉[2] 沈阅 KONG Deming;ZHANG Na;HUANG Zishuang;CHEN Xiaoyu;SHEN Yue(School of Electrical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;School of Information Science and Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;Qinhuangdao Yanda Intelligent Information Technology Limited Liability Company,Qinhuangdao,Hebei 066000,China)

机构地区：[1]燕山大学电气工程学院,河北秦皇岛066004 [2]燕山大学信息科学与工程学院,河北秦皇岛066004 [3]秦皇岛燕大智能信息技术有限责任公司,河北秦皇岛066000

出　　处：《燕山大学学报》2019年第2期160-168,共9页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(61501394;61601399);河北省自然科学基金资助项目(F2016203155)

摘　　要：针对港口作业区自动化程度低、作业低效的特点,提出一种采用激光雷达探测技术高效测量列车车厢载货体积的方法。该方法利用二维激光扫描仪搭配OPC_Client系统将测得的扫描数据结合位置变化信息联合解算,获取车厢在重车状态与空车状态下的三维点云数据。经下采样处理及去除冗余点处理后,构建重车载货面处三维点云数据的Delaunay三角网,所得三角网向空车底面处投影得到的集合体体积即为车厢的总载货量。同时根据装配于载货轨道上的轨道衡提供的重量数据计算所载货物的体密度参数,利用该参数可对货物的品质优劣进行判定。得出的实测数据证实该方法的测量精度较高,可实现车厢货物的自动化检测。Considering the characteristics of low degree of automation and inefficient operation in the port operation area,an efficient method for measuring volume of freight carriages is put forward based on laser radar detection technology.The scanning data obtained by a two dimensional laser scanner and the location change information provided by OPC_Client system,3D point cloud of vehicles with bulk cargo and 3D point cloud of vehicles with empty cargo are jointly settlement generated.After down-sampling processing and removing irrelevant points processing,Delaunay triangulation of 3D point cloud with bulk cargo is constructed.The triangulation is projected at the bottom of vehicles with empty cargo and the volume of freight carriages is translated into the volume of polyhedrons.The cargo density parameters is calculated by weight data provided by railway scale on the track.This parameter can be used to determine the quality of the goods.The proposed method has high accuracy verified by measured data,which can meet the actual needs of automatic inspection for freight carriages.

关 键 词：散杂货物检测 三维激光扫描 DELAUNAY三角网 投影法 品质分析 

分 类 号：TN247[电子电信—物理电子学]