文中针对港口散货料堆三维重建与参数获取问题,对自动化抓取中散货料堆的三维重建方式和料堆参数测算方法进行了研究.首先对港口散货料堆的作业方式和作业环境进行分析,设计并搭建了三维重建实验平台,然后对点云数据进行旋转变换,利用点云拼接技术实现从二维点云到三维点云的转换,最后通过求取极值并利用极值索引来获取最高点的坐标,通过AABB包围盒获取料堆的长宽高等数据,以此计算出散货料堆的占地面积.
In this paper,for the three-dimensional reconstruction and parameter acquisition of port bulk cargo pile,the three-dimensional reconstruction method and parameter calculation method of bulk cargo pile in automatic grasping are studied.Firstly,the operation mode and environment of port bulk cargo pile were analyzed,and a three-dimensional reconstruction experimental platform was designed and built.Secondly,the point cloud data was rotated and transformed from two-dimensional point cloud to three-dimensional point cloud by using point cloud mosaic technology.Finally,the coordinates of the highest point were obtained by calculating the extreme value and using the extreme value index,and the length,width and other data of the pile were obtained through the AABB bounding box for the calculation of the floor area of the bulk cargo pile.
曹小华;侯文晟;韩红安;武超
武汉理工大学交通与物流工程学院 武汉 430063河南卫华重型机械股份有限公司 新乡 453499
机械工程
激光雷达;三维重建;自动化;料堆参数
lidar;3D reconstruction;automation;material pile parameters
《起重运输机械》 2024 (007)
31-37 / 7
河南省科技研发计划联合基金项目(225101610079)、湖北省重点研发专项(2023BEB046)
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