基于激光雷达点云图像的大型货车散装物料高度检测方法  

A height detection method for bulk materials in a large truck based on LiDAR point cloud images

作　　者：张锦宇 刘甲甲 马忠丽 周巧 ZHANG Jinyu;LIU Jiajia;MA Zhongli;ZHOU Qiao(College of Electronic Information and Computer Engineering,Sichuan Institute of Industrial Technology,Deyang 618500,China;School of Automation,Chengdu University of Information Technology,Chengdu 610225,China)

机构地区：[1]四川工业科技学院电子信息与计算机工程学院,四川德阳618500 [2]成都信息工程大学自动化学院,四川成都610225

出　　处：《应用科技》2025年第1期159-165,共7页Applied Science and Technology

基　　金：四川省科技厅项目(2023YFG0196,2023YFN0077,2023JDZH0023,2023YFG0045).

摘　　要：大型货车散装物料装载现场的智能化和自主化装车技术的研究是提高物料装载效率、保障货车路上行驶安全的重要前提。本文针对散装物料智能装车系统中物料高度检测的智能化和准确化需求,设计了基于激光雷达点云图像的散装物料高度智能检测方法。首先,通过装车现场勘查,根据需求进行了系统整体设计,并对激光雷达进行了选型、安装和点云数据采集;然后,对点云预处理方法进行了研究,重点给出基于条件滤波的感兴趣区域提取方法和基于统计滤波的去噪方法;接下来,重点研究了车厢中物料高度检测流程和具体算法,并给出高度数据输出和可视化结果;最后,在搭建的模拟物料装车实验平台和物料装车现场采集的点云数据流上进行分析和验证。结果表明设计的方法能够满足物料高度检测的准确性和实时性要求。The research on intelligent and autonomous loading technology for the bulk materials loading site of a large truck is an important prerequisite for improving material loading efficiency and ensuring the safety of truck driving on the road.In order to meet the requirements of intelligence and accuracy of material height detection in the intelligent loading system for bulk materials,this study designed an intelligent detection method for the height of bulk materials based on the laser radar point cloud image.First of all,the overall design of the system was carried out according to the requirement through the on-site survey of loading,and the selection,installation and point cloud data acquisition of the laser radar were carried out.Then,the point cloud preprocessing method was studied,focusing on the region of interest extraction method based on conditional filtering and the denoising method based on statistical filtering.Next,the study focused on the material height detection process and specific algorithm in the carriage,and gave the height data output and visualization results.Finally,analysis and verification were carried out on the built experimental platform for simulating material loading and the point cloud data stream collected on the material loading site.The results show that the designed method can meet the accuracy and real-time requirements of material height detection.

关 键 词：激光雷达 点云图像 散装物料 高度检测 点云库 可视化 模拟平台 实时性 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]