基于点云数据处理技术测量车厢剩余冻煤体积研究

Research on Volume of Residual Frozen Coal Measured by Using Point Cloud Data Processing Technology 112

针对北方散杂货港口严寒天气造成敞车车厢卸载时冻煤黏连在车厢难以测量的问题,提出基于点云数据处理技术的计算敞车车厢剩余冻煤体积测量方法。首先,利用翻车机房出口上方的激光雷达获得敞车车厢的点云数据;然后,利用基于M估计随机采样一致性拟合平面的方法剔除侧墙的点云数据,采用欧氏聚类的方法对敞车车厢剩余点云数据进行聚类,得到敞车车厢剩余冻煤表面的点云数据;最后利用Delaunay三角化的方法重建剩余冻煤表面,计算Delaunay三角网格每个三角形投影到敞车车厢车底所形成的三棱柱的体积并且求和,实现对敞车车厢剩余冻煤计算体积的目的。

To solve the difficulty of measuring frozen coal attached to open carriage in unloading process caused by severe cold weather in northern bulk cargo ports,the calculation method based on point cloud data processing technology is proposed to measure the volume of frozen coal remained in open carriage.Firstly,point cloud data on open carriage is obtained by using the lidar above the exit of car-dumper room;Secondly,the point cloud data on side wall is excluded by using random sampling consistent plane fitting method based on M estimation,and the residual point cloud data within the range of open carriage is clustered by using Euclidean clustering method,which produces the point cloud data on the surface of the remaining frozen coal in open carriage.Finally the surface of the remaining frozen coal is reconstructed by using Delaunay triangulation method,complete with the summation and calculation of the volumes of the triangular prism formed by projecting each triangle of Delaunay triangle grid onto the bottom of open carriage,which achieves the calculation of the volume of the remaining frozen coal in open carriage.