CN110388877A - A kind of identifying system carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument - Google Patents
A kind of identifying system carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument Download PDFInfo
- Publication number
- CN110388877A CN110388877A CN201910734807.0A CN201910734807A CN110388877A CN 110388877 A CN110388877 A CN 110388877A CN 201910734807 A CN201910734807 A CN 201910734807A CN 110388877 A CN110388877 A CN 110388877A
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- China
- Prior art keywords
- laser scanning
- scanning instrument
- dimensional laser
- dimensional
- holder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/005—General purpose rendering architectures
Abstract
The invention discloses a kind of identifying systems for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument, including holder transmission mechanism, two dimensional laser scanning instrument, holder bracket and mounting rack, mounting rack is welded at the top of the holder transmission mechanism, the bottom of the holder transmission mechanism is welded with holder bracket, the bottom front of the holder bracket is equipped with two dimensional laser scanning instrument, and the bottom of the holder bracket is connected with platform-limited switch.This carries out the identifying system of three-dimensional reconstruction based on two dimensional laser scanning instrument to compartment, the data that two dimensional laser scanning instrument can be obtained, pass through software systems operation, accurate identification and positioning are carried out to vehicle, two dimensional laser scanning instrument automatic detection system is combined with robot technology, pass through the intelligent recognition to vehicle, optimal stacking pile type is determined to realize full-automatic intelligent high speed entrucking, reasonable arrangement material position, realize the defects of confined space maximally utilizes, effectively material avoided to fall.
Description
Technical field
The present invention relates to automatic loading technical fields, specially a kind of to carry out three to compartment based on two dimensional laser scanning instrument
Tie up the identifying system rebuild.
Background technique
Entrucking industry is high-risk-type at present, and weight physical strength industry, labor intensity is high, and big to the harm of people, labor efficiency is low,
It is imperative to design a kind of automated system that can substitute people with machine.
In order to make up the defect of domestic automatic loading industry, the present invention is by laser scanner automatic detection system and machine
Device people's technology combines, and by the intelligent recognition to vehicle, determines optimal stacking pile type to realize full-automatic intelligent height
Quick-mounting vehicle.
Summary of the invention
(1) the technical issues of solving
The purpose of the present invention is to provide a kind of identification systems for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument
System, solves the problems, such as proposed in background technique.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: one kind being based on two dimensional laser scanning instrument
The identifying system of three-dimensional reconstruction, including holder transmission mechanism, two dimensional laser scanning instrument, holder bracket and installation are carried out to compartment
Frame is welded with mounting rack at the top of the holder transmission mechanism, and the bottom of the holder transmission mechanism is welded with holder bracket, institute
The bottom front for stating holder bracket is equipped with two dimensional laser scanning instrument, and the bottom of the holder bracket is connected with platform-limited switch.
Preferably, the side of the holder transmission mechanism is equipped with through-hole, and the top of the holder transmission mechanism passes through for one week
Positioning bolt is distributed in threaded connection.
Preferably, the top of the mounting rack is connected with mounting plate by fastening screw, and the both ends of the mounting plate are L
Type structure.
Preferably, the holder transmission mechanism is electrically connected at two dimensional laser scanning instrument, and the two dimensional laser scanning instrument turns
It is dynamic to be connected to holder bracket.
Preferably, the two dimensional laser scanning instrument and platform-limited switch are connected to controller by conducting wire.
Preferably, including and it is not limited to the holder bracket and the two dimensional laser scanning instrument may be implemented horizontal direction and turn
90 ° dynamic, vertical direction rotation may be implemented in the holder bracket and the two dimensional laser scanning instrument.
Preferably, the two dimensional laser scanning instrument is realized by holder: transversal scanning, longitudinal scanning, rotary scanning etc. are no
Same forms of motion, any of them one achievable three dimensional data collection of movement.
Preferably, the holder transmission mechanism is used for installing holder bracket and platform-limited switch, the holder bracket
In installation two dimensional laser scanning instrument.
Preferably, sweeping for compartment length-width direction is realized by holder linkage rotation in the two dimensional laser scanning instrument scanning compartment
It retouches.
Preferably, the holder bracket and two dimensional laser scanning instrument manner of execution:: level is counterclockwise, rotates clockwise, and indulges
To counterclockwise, rotate clockwise, laterally counterclockwise, rotate clockwise and scanner test certain altitude then it is flat counterclockwise,
Rotate clockwise, it is longitudinal counterclockwise, rotate clockwise, laterally counterclockwise and rotate clockwise, one manner of execution of any of them
Achievable three dimensional data collection.
(3) beneficial effect
The present invention provides a kind of identifying systems for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument.Have with
It is lower the utility model has the advantages that
(1), the data that can be obtained two dimensional laser scanning instrument carry out vehicle accurate by software systems operation
Identification and positioning, two dimensional laser scanning instrument automatic detection system are combined with robot technology, are known by the intelligence to vehicle
Not, optimal stacking pile type is determined to realize full-automatic intelligent high speed entrucking.
(2), this system carries out ranging scan, scanning recognition and positioning to vehicle with 360 ° using two dimensional laser scanning instrument,
Accurate scan goes out vehicle commander, vehicle width and overall height, and error is within 0.1cm, to the discharge position of the different vehicles such as flat car, engineering truck
It is distinguish, reasonable arrangement material position, realizes that the confined space maximally utilizes, effectively avoid and caused because of manual operation
Material arrange it is unreasonable caused by space irrational utilization, the defects of causing material to fall because of road conditions.
(3), the three-dimensional reconstruction of compartment pedestal is carried out by OpengL, OpenGL independently of window system and operating system,
It is two open X-Y scheme software packages, the application program developed based on it can be very easily between various platforms
Transplanting, OpenGL with visual c++ tight interface, can be easy to implement related calculating and the pattern algorithm of industrial robot, can
Guarantee the correctness and reliability of algorithm, OpenGL is high-efficient using simplicity.
(4), the sensor communication pattern is TCP+HTTP mode, and TCP biggest advantage is reliable, http protocol support visitor
Family/server mode operates simple and quick, and very flexibly, the communication mode operation that the two combines is simple and very may be used
It leans on.
(5), the development platform of the control system is VS2010, which joined more compatible with win7, Vista
Function is more stable, is not in collapse, and compiling will not malfunction, co mpiler optimization, and program is allowed to execute more efficient, debugging
" by debugging " in the process function-stables such as " breakpoint " and powerful, greatly shorten debug time, more comprehensive miscue,
And several modifications are provided, it is that operating system is relatively reliable.
Detailed description of the invention
Fig. 1 is that a kind of the whole of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument of the present invention is tied
Structure schematic diagram；
Fig. 2 is that the present invention is a kind of to be tied based on side of the two dimensional laser scanning instrument to the identifying system that compartment carries out three-dimensional reconstruction
Structure schematic diagram；
Fig. 3 is that the present invention is a kind of to be tied based on bottom of the two dimensional laser scanning instrument to the identifying system that compartment carries out three-dimensional reconstruction
Structure schematic diagram；
Fig. 4 is that the present invention is a kind of to be tied based on rear portion of the two dimensional laser scanning instrument to the identifying system that compartment carries out three-dimensional reconstruction
Structure schematic diagram.
In figure: holder transmission mechanism -1, two dimensional laser scanning instrument -2, holder bracket -3, mounting rack -4, mounting plate -5, tight
Gu screw rod -6, positioning bolt -7, platform-limited switch -8.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-4 is please referred to, the embodiment of the present invention provides a kind of technical solution: one kind is based on two dimensional laser scanning instrument to compartment
The identifying system of three-dimensional reconstruction, including holder transmission mechanism 1, two dimensional laser scanning instrument 2, holder bracket 3 and mounting rack 4 are carried out,
The top of the holder transmission mechanism 1 is welded with mounting rack 4, and the bottom of the holder transmission mechanism 1 is welded with holder bracket 3,
The bottom front of the holder bracket 3 is equipped with two dimensional laser scanning instrument 2, and the bottom of the holder bracket 3 is connected with platform-limited
Switch 8.
The side of the holder transmission mechanism 1 is equipped with through-hole, and the top of the holder transmission mechanism 1 is connected for one week by screw thread
It connects and positioning bolt 7 is distributed with, installation fastening, convenient for operation.
The top of the mounting rack 4 is connected with mounting plate 5 by fastening screw 6, and the both ends of the mounting plate 5 are L-type
Structure can be stably mounted in support device.
The holder transmission mechanism 1 is electrically connected at two dimensional laser scanning instrument 2, including and is not limited to the holder bracket 3
90 ° of horizontal direction rotation, the holder bracket 3 and the two dimensional laser scanning may be implemented with the two dimensional laser scanning instrument 2
Vertical direction rotation may be implemented in instrument 2, and two dimensional laser scanning instrument can be realized by holder: transversal scanning, longitudinal scanning, rotation
The different motions forms such as scanning, any of them one achievable three dimensional data collection of movement.
The two dimensional laser scanning instrument 2 is connected to controller by conducting wire with platform-limited switch 8, platform-limited to open
8 are closed for position and the holder extreme position of two dimensional laser scanning instrument 2 to be accurately positioned.
Including and be not limited to the holder bracket 3 and the two dimensional laser scanning instrument 2 horizontal direction rotation may be implemented
90 °, vertical direction rotation may be implemented with the two dimensional laser scanning instrument 2 in the holder bracket 3.
The two dimensional laser scanning instrument 2 is realized by holder: the different motions such as transversal scanning, longitudinal scanning, rotary scanning
Form, any of them one achievable three dimensional data collection of movement.
The holder transmission mechanism 1 is for installing holder bracket 3 and platform-limited switch 8, and the holder bracket 3 is for pacifying
Fill two dimensional laser scanning instrument 2.
The two dimensional laser scanning instrument 2 scans the scanning that compartment length-width direction is realized in compartment by holder linkage rotation.
The holder bracket 3 and 2 manner of execution of two dimensional laser scanning instrument:: level is counterclockwise, rotates clockwise, and indulges
To counterclockwise, rotate clockwise, laterally counterclockwise, rotate clockwise and scanner test certain altitude then it is flat counterclockwise,
Rotate clockwise, it is longitudinal counterclockwise, rotate clockwise, laterally counterclockwise and rotate clockwise, one manner of execution of any of them
Achievable three dimensional data collection.
Laser scanner carries out compartment pedestal by OpengL and carries out three-dimensional reconstruction, which is TCP+
HTTP mode: development platform VS2010.The three-dimensional point cloud that identifying system obtains can be extracted and be handled by the present invention, right
Vehicle is identified and is positioned.
Two dimensional laser scanning instrument 2 carries out compartment pedestal by OpengL and carries out three-dimensional reconstruction, which is
The three-dimensional point cloud that identifying system obtains can be extracted and be handled, to vehicle by TCP+HTTP mode, development platform VS2010
It is identified and is positioned.Two dimensional laser scanning instrument 2 starts to scan after vehicle enters holding areas, and scan data is with Ethernet
Vehicle identification and positioning system of the communications to industrial personal computer, scanner scanning compartment are read in scanning zigzag flute karr translation specifications
D2 is taken, if D2 subtracts d2 greater than n, records x2, if D2 subtracts d2 less than n, continues to judge, passes through holder driver
Structure 1,2 horizontal direction of two dimensional laser scanning instrument are rotated by 90 °, and system reads the second calibration point distance D3, according to agreement reading order
Range points d3 records Y1 if D2 subtracts d3 greater than k, if D3 subtracts d3 less than k, continues to judge, remember in summary
Y2 is recorded, vehicle location, size coordinate are exported.Operator judges scan data, starts to allow industrial personal computer if correct
Data processing is carried out, if mistake rescans Data duplication.
Holder transmission mechanism 1 of the invention, two dimensional laser scanning instrument 2, holder bracket 3, mounting rack 4, mounting plate 5, fastening
Screw rod 6, positioning bolt 7, platform-limited switch 8, component are universal standard part or component as known to those skilled in the art,
Structure and principle are all that this technology personnel can be learnt by technical manual or be known by routine experiment method, and the present invention solves
The problem of be entrucking industry be high-risk-type, weight physical strength industry, labor intensity is high, big to the harm of people, and labor efficiency is low etc. asks
Topic, the present invention are combined with each other by above-mentioned component, the data that two dimensional laser scanning instrument is obtained, by software systems operations,
Accurate identification is carried out to vehicle and positioning, two dimensional laser scanning instrument automatic detection system are combined with robot technology, is led to
The intelligent recognition to vehicle is crossed, determines optimal stacking pile type to realize full-automatic intelligent high speed entrucking.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument, it is characterised in that: including holder
Transmission mechanism (1), two dimensional laser scanning instrument (2), holder bracket (3) and mounting rack (4), the top of the holder transmission mechanism (1)
Portion is welded with mounting rack (4), and the bottom of the holder transmission mechanism (1) is welded with holder bracket (3), the holder bracket (3)
Bottom front be equipped with two dimensional laser scanning instrument (2), the bottom of the holder bracket (3) is connected with platform-limited switch (8).
2. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument according to claim 1,
It is characterized by: the side of the holder transmission mechanism (1) is equipped with through-hole, the top of the holder transmission mechanism (1) leads to for one week
It crosses threaded connection and positioning bolt (7) is distributed with.
3. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument according to claim 1,
It is characterized by: the top of the mounting rack (4) is connected with mounting plate (5) by fastening screw (6), the mounting plate (5)
Both ends are L-type structure.
4. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument according to claim 1,
It is characterized by: the holder transmission mechanism (1) is electrically connected at two dimensional laser scanning instrument (2), the two dimensional laser scanning instrument
(2) holder bracket (3) are rotationally connected with.
5. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument according to claim 1,
It is characterized by: the two dimensional laser scanning instrument (2) and platform-limited switch (8) are connected to controller by conducting wire.
6. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument according to claim 1,
It is characterized by comprising and be not limited to the holder bracket (3) and horizontal direction may be implemented in the two dimensional laser scanning instrument (2)
Vertical direction rotation may be implemented in 90 ° of rotation, the holder bracket (3) and the two dimensional laser scanning instrument (2).
7. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument according to claim 1,
It is characterized by: the two dimensional laser scanning instrument (2) is realized by holder: the differences such as transversal scanning, longitudinal scanning, rotary scanning
Forms of motion, any of them one achievable three dimensional data collection of movement.
8. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument according to claim 1,
It is characterized by: the holder transmission mechanism (1) is for installing holder bracket (3) and platform-limited switch (8), the holder branch
Frame (3) is for installing two dimensional laser scanning instrument (2).
9. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument according to claim 1,
It is characterized by: sweeping for compartment length-width direction is realized by holder linkage rotation in two dimensional laser scanning instrument (2) the scanning compartment
It retouches.
10. a kind of identifying system for carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument according to claim 1,
It is characterized by: the holder bracket (3) and two dimensional laser scanning instrument (2) manner of execution: level is counterclockwise, rotates clockwise,
It is longitudinal counterclockwise, rotate clockwise, laterally counterclockwise, rotate clockwise and scanner test certain altitude then flat inverse time
Needle rotates clockwise, it is longitudinal counterclockwise, rotate clockwise, laterally counterclockwise and rotate clockwise, one movement side of any of them
The achievable three dimensional data collection of formula.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910734807.0A CN110388877A (en) | 2019-08-09 | 2019-08-09 | A kind of identifying system carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910734807.0A CN110388877A (en) | 2019-08-09 | 2019-08-09 | A kind of identifying system carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110388877A true CN110388877A (en) | 2019-10-29 |
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ID=68288706
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910734807.0A Pending CN110388877A (en) | 2019-08-09 | 2019-08-09 | A kind of identifying system carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument |
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| CN (1) | CN110388877A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116594024A (en) * | 2023-07-13 | 2023-08-15 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
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| CN101900527A (en) * | 2010-07-20 | 2010-12-01 | 凯迈（洛阳）测控有限公司 | System and method for measuring boxcar volume |
| CN107150911A (en) * | 2017-05-15 | 2017-09-12 | 烟台博特自动化设备有限公司 | A kind of bag-shaped material loader device people vehicle identification and control system |
| CN107738930A (en) * | 2017-11-07 | 2018-02-27 | 烟台博特自动化设备有限公司 | A kind of planer-type liftable supply of material platform bagged material intelligence carloader |
| CN107934591A (en) * | 2017-11-07 | 2018-04-20 | 烟台博特自动化设备有限公司 | A kind of fixation based on truss-like supplies load bed bagged material intelligence carloader |
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2019
- 2019-08-09 CN CN201910734807.0A patent/CN110388877A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101900527A (en) * | 2010-07-20 | 2010-12-01 | 凯迈（洛阳）测控有限公司 | System and method for measuring boxcar volume |
| CN107150911A (en) * | 2017-05-15 | 2017-09-12 | 烟台博特自动化设备有限公司 | A kind of bag-shaped material loader device people vehicle identification and control system |
| CN107738930A (en) * | 2017-11-07 | 2018-02-27 | 烟台博特自动化设备有限公司 | A kind of planer-type liftable supply of material platform bagged material intelligence carloader |
| CN107934591A (en) * | 2017-11-07 | 2018-04-20 | 烟台博特自动化设备有限公司 | A kind of fixation based on truss-like supplies load bed bagged material intelligence carloader |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116594024A (en) * | 2023-07-13 | 2023-08-15 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
| CN116594024B (en) * | 2023-07-13 | 2023-10-20 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
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Application publication date: 20191029 |
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