一种基于标定板的集装箱起重机3D激光扫描标定方法

3D laser scanning calibration method for container crane based on calibration plate

为了使3D扫描仪在使用过程中标定及维护方便,文中提出了一种基于标定板的3D激光扫描标定方法。该方法需要3个特殊反光板,利用莱卡全站仪建立集装箱起重机坐标系wxyz,测量3个标定板的中心坐标Pw;在3D激光扫描仪坐标系Oxyz中,利用算法识别出3个标定板的中心坐标P o;利用Pw和P o之间的关系,建立3D激光器扫描仪坐标系Oxyz到集装箱起重机坐标系wxyz转换关系;如果更换激光器或更换转动机构后,控制系统发送标定指令给激光扫描系统,可实现自动标定,减少标定时间、提高标定精度。3D激光扫描系统能够检测集装箱位置信息,控制系统利用集装箱位置信息自动抓箱;实验表明:标定方法合理有效,标定精度坐标误差<10 mm,集装箱位置检测精度误差<30 m,满足自动化抓箱需求。

In order to facilitate the calibration and maintenance of 3D scanner in use,a calibration method of 3D laser scanning based on calibration board is proposed.In this method,three special reflectors need to be used,the container crane coordinate system wxyz was established by using Leica total station,and the central coordinates Pw of three calibration plates were measured in the coordinate system Oxyz of 3D laser scanner,the central coordinates PO of three calibration plates were identified by the algorithm.According to the relationship between Pw and PO,the transformation relationship between 3D laser scanner coordinate system Oxyz and container crane coordinate system wxyz was obtained.If the laser is replaced or the rotating mechanism is replaced,the control system sends calibration instructions to the laser scanning system,which can realize automatic calibration,reduce calibration time and improve calibration accuracy.The 3D laser scanning system can detect the position of the container,and the control system can automatically grab containers according to position information received.Experiments show that the calibration method is reasonable and effective,the coordinate error of calibration accuracy is less than 10 mm,and the precision error of container position detection is less than 30 m,meeting requirements of automatic container grabbing.