基于球形标靶的激光扫描仪位姿测量技术

Pose Measurement Technology of Laser Scanner Based on Spherical Target

基于点云去噪后的球形标靶在激光扫描仪位姿测量技术中的应用,将扫描仪姿态测量方法应用于斗轮堆取料机无人化控制中,采用设备自带的位置、角度传感器构建全局坐标模型,实现激光扫描仪与俯仰机构、回转机构、行走机构的位姿关系标定。测试表明,在多个大机位姿下,扫描仪点云数据变换到全局坐标系误差小于100 mm,能够满足堆取料机无人化控制要求。

In view of the application of spherical target after point cloud denoising in laser scanner pose measurement technology,the scanner attitude measurement method is applied to the unmanned control of bucket wheel stacking and reclaiming machine,the position and angle sensors of the device are used to construct the global coordinate model,and the calibration of the pose relationship between laser scanner and pitching mechanism,slewing mechanism and walking mechanism is realized.The test shows that in multiple large machine poses,the error of the scanner point cloud data transformation to the global coordinate system is less than 100 mm,which can meet the unmanned control requirements of the stacking and reclaiming machine.