基于机器视觉的车辆外廓尺寸与位置测量方法研究  

Research on Measurement Method of Vehicle Profile Dimensions and Position Based on Machine Vision

作　　者：王欣凯 张鹏 胡晓旭 郑明刚[1] Wang Xinkai;Zhang Peng;Hu Xiaoxu

机构地区：[1]山东建筑大学机电工程学院,250101 [2]山东时风(集团)有限责任公司

出　　处：《工程机械》2025年第1期1-6,I0007,共7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(2023TSGC0173)。

摘　　要：为提高现有的运输车车厢内机械手自动取样的工作安全性和取样精度,需要提高车厢尺寸测量精度。针对传统的运输车车厢尺寸测量技术存在的局限性和精度不高的问题,提出采用激光雷达检测运输车车厢尺寸的方法。通过外形扫描、点云处理、点云聚类对运输车点云做出车头、车厢分割,对分割后得到的特定点云进行实时计算输出所需尺寸参数,并在实车上验证了系统的精度和可靠度。研究结果表明利用激光雷达可以有效改进对运输车车厢尺寸的测量精度,对机械手进行车厢内货物自动取样等工作有着积极意义。To improve the working safety and sampling accuracy of automatic sampling of the existing robotic arms in the carriage of the transport vehicle,it is necessary to improve the measurement accuracy of carriage dimensions.In view of the limitations and low accuracy of the traditional transport vehicle carriage dimension measurement technology,a method of detecting the transport vehicle carriage dimensions with lidar is proposed.Through profile scanning,point cloud processing and point cloud clustering,the transport vehicle's point cloud is segmented into front end and carriage,the specific point cloud obtained after segmentation is calculated in real-time to output the required dimensional parameters,and the accuracy and reliability of the system are verified on a real vehicle.The research results show that the use of lidar can effectively improve the measurement accuracy of the transport vehicle carriage dimensions and has a positive significance for automatic sampling of goods in the carriage by using the robotic arms.

关 键 词：运输车 激光雷达 车辆外廓尺寸测量 

分 类 号：TN958.98[电子电信—信号与信息处理] U495[电子电信—信息与通信工程]