三维激光技术在无人堆取料系统中应用

Application of Three-dimensional Laser Technology in Unmanned Automatic Stacker and Reclaimer System

针对堆取料机人工操作工作量大、现场环境恶劣问题,设计开发了融合三维激光技术的无人堆取料系统。该系统以三维激光技术为基础,将三维激光扫描仪与堆取料机有机结合。通过实时采集料场点云数据并滤噪处理,经3D实景还原和料堆目标分割,得到料堆三维模型数据。最后通过中控作业管理系统、PLC系统实现堆取料机无人控制。经试验场地测试,证明该系统可替代操作人员进行无人作业,安全高效完成作业任务。

In order to solve the problems of heavy workload and low safety of stacker reclaimer by manual operation,a stacker reclaimer system with autonomous operation based on 3 D laser technology is designed and developed.This system is based on 3 D laser technology,and combines 3 D laser scanner with stacker reclaimer.Through real-time collection of point cloud data of yard,filtering noise,3 D scene reduction and target segmentation,the three-dimensional model of material piles are obtained.Baes on 3 D laser technology,autonomous control of stacker reclaimer is realized by the management system and PLC system.The test results show that the system can replace worker to carry out operation,and complete the task safely and efficiently.