激光三维点云在散料储库自动化起重搬运系统的应用研究  

Research on the application of laser 3D point cloud in automatic hoisting and handling system of bulk material storage

作　　者：袁旭潞 吴昊罡 包龙飞 Yuan Xulu;Wu Haogang;Bao Longfei

机构地区：[1]北京起重运输机械设计研究院有限公司,北京100007

出　　处：《起重运输机械》2024年第15期58-62,共5页Hoisting and Conveying Machinery

摘　　要：文中针对散料储库自动化起重搬运系统中物料检测、车辆定位、物料堆取与投放等问题,提出了点云处理工程方案以及处理流程的设计。使用激光雷达扫描获取储库作业区域三维点云,经过数据去噪、配准、滤波,简化数据处理和存储的复杂性,实现散料储库点云数据的可视化建模,并构建栅格高程模型,引导起重机根据高程模型对物料进行自动化搬运。利用聚类算法和边缘检测算子对装载卡车的点云数据分析处理,实现卡车车斗的定位和斗内物料分布,引导起重机进行自动化均衡装载。In this paper,considering material detection,vehicle positioning,material stacking and throwing in the automatic hoisting and handling system of bulk material storage,a point cloud processing engineering proposal and the design of processing flow are put forward.Three-dimensional point cloud in the warehouse operation area was obtained by laser radar scanning.After data denoising,registration and filtering,the complexity of data processing and storage was simplified,the visual modeling of point cloud data in bulk material warehouse was realized,and the grid elevation model was constructed to guide the crane to carry out automatic material handling according to the elevation model.Clustering algorithm and edge detection operator were used to analyze and process the point cloud data of loading trucks,the positioning of truck hopper and the distribution of materials in the hopper were realized,and the crane was guided to carry out automatic and balanced loading.

关 键 词：自动化起重机 激光点云 散料储库 

分 类 号：TG156[金属学及工艺—热处理]