基于激光雷达扫描的料仓原料储料量测量方法  

A method for measuring storage capacity of raw materials in storage tower based on laser radar scanning

作　　者：牛智有[1] 沈柏胜 路开新 徐志杰 江善晨 刘静[1] 刘梅英[1] NIU Zhiyou;SHEN Bosheng;LU Kaixin;XU Zhijie;JIANG Shanchen;LIU Jing;LIU Meiying(College of Engineering/Ministry of Agriculture and Rural Affairs Key Laboratory of Smart Farming for Agricultural Animals,Huazhong Agricultural University,Wuhan 430070,China)

机构地区：[1]华中农业大学工学院/农业农村部智慧养殖技术重点实验室,武汉430070

出　　处：《华中农业大学学报》2024年第3期293-301,共9页Journal of Huazhong Agricultural University

基　　金：国家重点研发计划项目(2021YFD1300300)。

摘　　要：为提高仓内原料储料量测量自动化和智能化水平,设计了一种基于二维激光雷达扫描的储料量测量装置与系统。本系统采用RPLIDARS1型二维激光雷达扫描获取不同储料量物料的原始点云数据,通过坐标变换、重叠点提取、滤波、分割等方法对原始点云进行预处理,采用贪婪投影三角化算法将预处理后的点云进行三维重建,获得仓内原料的三维模型,结合物料三维模型和物料的容重获得仓内原料的储料量,从而实现储料量的自动测量。以玉米为试验对象,测量小型储料塔内玉米储料量并对玉米不同储料量进行扫描测量,验证模型的准确性,结果显示:测量结果的平均绝对误差为8.05kg,平均相对误差为1.52%。研究结果表明,基于二维激光雷达扫描的储料量测量方法是可行的,具有较好的稳定性和测量精度,能够满足实际生产需求。A device and system for measuring storage capacity based on two-dimensional laser radar scanning was designed to improve the automation and intelligence level of measuring storage capacity of raw materials in storage tower and explore the feasibility of measuring storage capacity based on two-dimensional laser radar scanning.The system used RPLIDAR S1 two-dimensional laser radar scanning to obtain the original point cloud data of material with different storage capacity.The original point cloud was preprocessed with methods including coordinate transformation,overlapping point extraction,filtering,segmentation and others.The greedy projection triangulation algorithm was used to reconstruct the preprocessed point cloud in 3D to obtain a 3D model of the raw materials in the storage tower.The storage capacity of raw materials in the storage tower was obtained by combining the three-dimensional model of material and the bulk density of materials,thereby realizing automatic measurement of storage capacity.Maize was used to measure the amount stored in a small storage tower,and scan and measure different amounts stored to verify the accuracy of the model.The results showed that the average absolute error of the measurement results was 8.05 kg,with the average relative error of 1.52%.It is indicated that the method for measuring storage capacity based on two-dimensional laser radar scanning is feasible,with good stability and accuracy of measurement,and can meet the needs of production in practice.It will provide a new method and technical support for automatically measuring the storage capacity of raw materials in large storage tower.

关 键 词：料仓 储料量 激光雷达 点云处理 三维重建 

分 类 号：TN958.98[电子电信—信号与信息处理] S816[电子电信—信息与通信工程]