激光雷达点云数据处理在汽车起重机吊臂挠度检测中的应用  

Application of Lidar Point Cloud Data Processing in Jib Deflection Detection of Truck Crane

作　　者：王兆坡 武峰雨 王欣凯 郑明刚[2] Wang Zhaopo;Wu Fengyu;Wang Xinkai

机构地区：[1]国网临沂供电公司 [2]山东建筑大学机电工程学院,250101

出　　处：《工程机械》2024年第6期97-101,I0022,共6页Construction Machinery and Equipment

基　　金：山东省科技型中小企业创新能力提升工程(2022TSGC1092)。

摘　　要：为提高汽车起重机的工作安全,创新性提出采用激光雷达识别吊臂各节臂头中心点的挠度检测方法,通过外形扫描、点云处理、DBSCAN聚类算法对汽车起重机吊臂挠度进行判断计算,并在实车上验证了系统的精度和可靠度,结果表明:利用单台激光雷达可以有效地对吊臂挠度进行实时监测,相关研究对汽车起重机工况的判断和预警有着重要意义。To improve the operating safety of truck cranes,a deflection detection method of using a lidar to identify the center point of the head of each section of the jib is innovatively proposed.Through profile scanning,point cloud processing and DBSCAN clustering algorithm,the jib deflection of the truck crane is judged and calculated,and theaccuracyand reliability of the system areverified on the real truck crane.The results show that the use of a single Lidar can effectively monitor the jib deflectionin real time,and the related research is of great significance for the judgement and early warning of the workingconditions oftruckcranes.

关 键 词：汽车起重机 激光雷达 吊臂挠度 

分 类 号：TH213.6[机械工程—机械制造及自动化] TN958.98[电子电信—信号与信息处理]