堆取料机激光雷达系统参数的校准  

Calibration of lidar system parameters of stacker-reclaimer

作　　者：路万林[1] 熊文羽 姜炎城 刘礼杰 LU Wanlin;XIONG Wenyu;JIANG Yancheng;LIU Lijie(WISDRI Engineering&Research Incorporation Limited,Wuhan 430023,Hubei,China)

机构地区：[1]中冶南方工程技术有限公司,湖北武汉430023

出　　处：《烧结球团》2023年第1期93-97,共5页Sintering and Pelletizing

基　　金：863计划(2014AA041803)。

摘　　要：料场在堆取料机上安装激光雷达扫描仪可以获取料堆三维模型、实现堆取料的自动化。针对由于激光雷达系统的安装参数不易直接测量,且参数误差对料堆三维成像效果影响很大,堆取料机上激光雷达系统的参数难校准的问题,本文提出了一套激光雷达系统参数校准的方法,其先根据堆取料机的结构建立各个关节的坐标系,然后根据各个坐标系之间的相对位置关系测量激光雷达系统的参数初始值,最后根据激光雷达扫描到的现场墙面信息建立优化问题,并设计遗传算法求解该优化问题得到最终的系统参数。校准标定后的料场三维模型效果表明,该方法具有很强的实用价值。The three-dimensional model of the stock pile can be obtained and the automation of stacking and reclaiming can be realized by installing lidar scanner on stacker-reclaimer in stockyard.Aiming at the problems that the installation parameters of the lidar system are not easy to measure directly,the parameter error has a great impact on the three-dimensional imaging effect of the stock pile,and the parameters of the lidar system on the stackerreclaimer are difficult to calibrate,a set of methods for parameter calibration of the lidar system is proposed,which first establishes the coordinate system of each joint according to the structure of the stacker-reclaimer,and measures the initial value of the parameters of the lidar system according to the relative position relationship between the coordinate systems,then establishes the optimization problem according to the on-site wall information scanned by the lidar,and finally designs a genetic algorithm to solve the optimization problem and obtain the final system parameters.The effect of the three-dimensional model of the stockyard after calibration shows that the method has strong practical value.

关 键 词：激光雷达 参数标定 堆取料机 点云 遗传算法 

分 类 号：TF31[冶金工程—冶金机械及自动化] TN249[电子电信—物理电子学] TN958.98TF089