激光探测与测量视觉技术在堆取料机全自动控制中的应用

Application of laser detection and measurement vision technology in automatic control of stacker reclaimer

针对散货料场堆取料机人工操作堆取作业随意性大、精度差、效率低等现状,设计了一种堆取料机全自动控制系统。该系统基于激光雷达(Lidar)机器视觉技术,通过3D激光扫描仪实时获取料堆形状的点云数据,并完成对目标料堆的在线实时建模,最后控制堆取料机完成自动作业;提出了一种基于视觉图像处理算法的作业路径规划算法,通过实时提前预测作业轨迹来指导堆取料机自动作业。实践表明该控制系统提高了设备的作业效率,降低了作业成本。

In view of the large randomness,poor accuracy and low efficiency of stacking and reclaiming operation in bulk material handling stockyard,this paper presents a fully-automation control system for stacker-reclaimer.This system is based on Lidar machine vision technology.3D laser scanner is used to acquire the real-time point cloud data of the object stockpile shape in order to accomplish the on-line real-time modeling for the target stockpile,and control the stacker-reclaimer to fulfil automatic operation.An operation path planning algorithm based on visual image processing algorithm is designed,which can continuously guide the automatic operation of stacker-relaimer by predicting route in advance in real time.Practice shows that the control system improves the machine’s working efficiency and reduces operation cost remarkably.