基于多定点激光扫描的散货堆盘点方法  

Bulk cargo pile inventory method based on multi-point laser scanning

作　　者：杨德山 YANG Deshan(School of Mechanical Engineering,Tianjin University,Tianjin 300072,China;College of Information Science and Engineering,Jiaxing University,Jiaxing,Zhejiang 314001,China;Zhejiang Chengshi Robot Co.,Ltd.,Jiaxing,Zhejiang 314001,China)

机构地区：[1]天津大学机械工程学院,天津300072 [2]嘉兴大学信息科学与工程学院,浙江嘉兴314001 [3]浙江丞士机器人有限公司,浙江嘉兴314001

出　　处：《计算机应用文摘》2025年第3期58-60,共3页

基　　金：通信类课程软硬件结合实践教学改革与实践(230805078303931)。

摘　　要：大型散货堆盘点是料场管理中的重要工作之一。为此,文章设计并实现了一种基于二维激光雷达、差分GPS、二维转台和姿态测量装置的多定点散货堆激光盘点系统。在定点测量过程中,差分GPS记录系统的位置信息,二维转台旋转带动激光雷达扫描堆体表面数据,同时姿态测量装置同步记录系统的实时姿态。最终,将各定点的测量数据进行融合,生成堆体的点云模型,并利用三角剖分体积算法计算堆体的体积。实际测量结果表明,采用该系统可以在5 min内完成69 m³散货堆的测量,且平均测量误差小于1.18%,完全满足实际工业应用的需求。Inventory of large bulk cargo piles is one of the important tasks in material yard management.For this purpose,the article designs and implements a multi point bulk cargo pile laser inventory system based on twodimensional LiDAR,differential GPS,two-dimensional turntable,and attitude measurement device.During the fixed-point measurement process,the differential GPS records the position information of the system,and the twodimensional turntable rotates to drive the laser radar to scan the surface data of the stack.At the same time,the attitude measurement device synchronously records the real-time attitude of the system.Finally,the measurement data from each fixed point are fused to generate a point cloud model of the stack,and the volume of the stack is calculated using the triangulation volume algorithm.The actual measurement results show that the system can complete the measurement of a 69 m³bulk cargo stack within 5 minutes,with an average measurement error of less than 1.18%,fully meeting the needs of practical industrial applications.

关 键 词：体积测量 激光测量 散货 点云边缘 

分 类 号：TN248[电子电信—物理电子学]