应用激光, 2019, 39 (2): 340, 网络出版: 2019-06-10   

基于三维激光扫描的散货堆快速建模

Rapid Modeling of Stockpile Based on 3D Laser Scanning
作者单位
1 大连海事大学信息科学技术学院,辽宁 大连 116026
2 嘉兴学院机电工程学院,浙江 嘉兴 314001
摘要
为了克服传统散货堆体积测量方法效率低下的不足,设计并实现了一套基于三维激光扫描的散货堆建模系统,使得操作者仅需手提扫描设备绕行被测货堆一周便可快速获得细节特征明显的三维模型。该系统以二维激光扫描仪为核心对散货堆形貌进行测量,辅以高精度传感器跟踪扫描仪的位置和姿态,进而整合离散的扫描点形成建模所需的三维点云。数据处理过程中,根据激光扫描仪特性和货堆结构特点进行了算法优化,降低了扫描点降噪消耗的时间,提高了三维建模和体积计算的效率。对多个3 000~30 000 m3煤垛的测量实验表明,该套系统仅需几分钟即可完成对大型散货堆的三维建模,时间长短主要取决于操作者围绕货堆的步行速度,而测量结束后的20 s之内就能够给出三维模型和体积计算结果,精度可达0.75%以内。
Abstract
In order to overcome the inefficiency of traditional stockpile volume measurement methods, a 3D laser scanning technology based stockpile modeling system was designed and implemented, which allows the operator to quickly make a characteristically-detailed 3D model by circling the stockpile with the scanning device in hand. The scanning device uses a 2D laser scanner to scan the stockpile with high-precision sensors to track its position and orientation, and then integrates discrete scanning points into a 3D point cloud for modeling. The algorithm optimization was conducted upon the characteristics of the scanner and the stockpile to reduce the time consumed for the noise reduction of scanning points and to improve the efficiency of 3D modeling and volume calculation. As shown by the measuring experiment of several 3000~30000 m3 coal piles, the 3D modeling of the stockpile can be completed in a few minutes which mainly dependent on the walking speed of the operator circling the stockpile. The 3D model and its volume can be acquired within 20 seconds after the measurement completes, and the accuracy is within 0.75%.

张望, 李瑛, 杨德山. 基于三维激光扫描的散货堆快速建模[J]. 应用激光, 2019, 39(2): 340. Zhang Wang, Li Ying, Yang Deshan. Rapid Modeling of Stockpile Based on 3D Laser Scanning[J]. APPLIED LASER, 2019, 39(2): 340.

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