CN116594024B - Carriage measurement and positioning method and scanning system based on two-dimensional laser radar - Google Patents

Carriage measurement and positioning method and scanning system based on two-dimensional laser radar Download PDF

Info

Publication number
CN116594024B
CN116594024B CN202310854248.3A CN202310854248A CN116594024B CN 116594024 B CN116594024 B CN 116594024B CN 202310854248 A CN202310854248 A CN 202310854248A CN 116594024 B CN116594024 B CN 116594024B
Authority
CN
China
Prior art keywords
scanning
carriage
laser radar
point
turntable
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.)
Active
Application number
CN202310854248.3A
Other languages
Chinese (zh)
Other versions
CN116594024A (en
Inventor
闫冰
闫吉祥
谢东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anqiu Boyang Machinery Manufacture Co Ltd
Original Assignee
Anqiu Boyang Machinery Manufacture Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Anqiu Boyang Machinery Manufacture Co Ltd filed Critical Anqiu Boyang Machinery Manufacture Co Ltd
Priority to CN202310854248.3A priority Critical patent/CN116594024B/en
Publication of CN116594024A publication Critical patent/CN116594024A/en
Application granted granted Critical
Publication of CN116594024B publication Critical patent/CN116594024B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

A carriage measurement and positioning method and a scanning system based on a two-dimensional laser radar belong to the technical field of laser scanning and positioning, and comprise the following steps: step 1, scanning, measuring and obtaining the vertical distance H between a carriage chassis and a scanning system; step 2, recording the position of a front baffle when the scanning point satisfies h smaller than an empirical value A for the first time; step 3, when the scanning point satisfies h being larger than an empirical value B for the first time, recording the position and elevation of the top end of the rear baffle; step 4, when the scanning point satisfies h being larger than the empirical value B for the first time, recording the position and elevation of the top end of the left baffle; and 5, recording the position and elevation of the top end of the right baffle when the scanning point satisfies h being larger than the empirical value B for the first time. According to the invention, the servo motor drives the turntable to rotate so as to drive the laser radar to rotate, and 3D point cloud construction is carried out to obtain a three-dimensional coordinate system, so that the measurement and the positioning of a carriage are realized; in addition, the measurement and the positioning of the carriage posture can be performed, so that the measurement and the positioning of the carriage are more accurate.

Description

Carriage measurement and positioning method and scanning system based on two-dimensional laser radar
Technical Field
The invention relates to the technical field of laser scanning and positioning, in particular to a carriage measuring and positioning method and a scanning system based on a two-dimensional laser radar.
Background
Carriage loading and unloading is one of important links of logistics transportation. In order to improve the working efficiency, automatic loading and unloading equipment is often used for loading and unloading instead of manual work. The automatic loading and unloading equipment in the operation needs to accurately know the carriage size and positioning information to smoothly finish the automatic operation. In practice, in order to develop the work demands, the vehicle position needs to be controlled within a specific range, and thus, in practice, the vehicle position is often repeatedly adjusted to meet the position meeting the work conditions. However, the control of the vehicle position is difficult to be precise, so that a carriage positioning detection method is needed to realize accurate measurement of carriage size and positioning information, so that the loading and unloading equipment can realize accurate positioning and calibration by using the measured data, and the relevant parameters of the equipment are adjusted to carry out subsequent automatic operation.
There are two main non-contact automatic measuring means, one based on machine vision; one is based on laser scanning. The two measuring means are characterized in that compared with a vision-based measuring mode, the requirements on illumination and color of a field measuring environment are more strict, and the measurement of large-size objects can be completed by splicing a plurality of images, so that the method is not suitable for automatic measurement of trucks in a complex and changeable cargo loading field, for example, more dust or dark weather can occur in the field. The measuring mode based on laser scanning has the characteristics of high measuring speed, large sensing range, good environment interference resistance and the like, and is very suitable for acquiring space point cloud data of a truck; however, to measure and position the carriage to realize automatic loading, at least the elevation of the carriage and the positions of the front, rear, left and right baffles are measured and positioned, the carriage cannot be measured and positioned by the two-dimensional laser radar in the prior art, and in addition, to realize accurate loading, the gesture of the carriage needs to be acquired, and the gesture of the carriage is also a difficult problem to be positioned by the two-dimensional laser radar.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides a carriage measurement and positioning method based on a two-dimensional laser radar scanning system and a scanning system, wherein a servo motor drives a turntable to rotate to drive a laser radar to rotate, a 3D point cloud is constructed to obtain a three-dimensional coordinate system, and 2D measurement is converted into 3D measurement to realize the measurement and positioning of the carriage; in addition, the measurement and the positioning of the carriage posture can be performed, so that the measurement and the positioning of the carriage are more accurate.
In order to solve the technical problems, the invention adopts the following technical scheme:
a carriage measurement and positioning method based on a two-dimensional laser radar comprises the following steps:
step 1, scanning, measuring and obtaining the vertical distance H between a carriage chassis and a scanning system, thereby obtaining the elevation of the carriage chassis;
step 2, in a plane parallel to the side surface of the carriage, the laser radar rotates clockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point meets h being smaller than an empirical value A for the first time, the projection position of the scanning point on the chassis of the carriage is determined as the position of a front baffle of the carriage, and the position of the front baffle is recorded;
step 3, rotating the laser radar anticlockwise in a plane parallel to the side surface of the carriage, continuously reading the vertical distance h between a scanning point and a scanning system, and when the scanning point satisfies h being greater than an empirical value B for the first time, determining the searched front critical scanning point of the scanning point as the top end position of a carriage rear baffle, and recording the position and elevation of the top end of the rear baffle;
step 4, in a plane vertical to the side surface of the carriage, the turntable drives the laser radar to rotate clockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point satisfies h for the first time and is larger than an empirical value B, the searched front critical scanning point of the scanning point is considered to be the top end position of a left baffle of the carriage, and the position and elevation of the top end of the left baffle are recorded;
and 5, in a plane vertical to the side surface of the carriage, the turntable drives the laser radar to rotate anticlockwise, the vertical distance between the scanning point and the scanning system is continuously read to be h, when the scanning point satisfies h being greater than an empirical value B for the first time, the searched front critical scanning point of the scanning point is determined to be the top end position of the right baffle of the carriage, and the position and elevation of the top end of the right baffle are recorded.
Further, in order to determine the position coordinates of the scanning points, a three-dimensional point cloud coordinate system O needs to be defined, a system mathematical model is modeled, and point cloud construction is completed, wherein the point cloud construction is to determine the position coordinates of the scanning points through the rotation angle and the position relation of the turntable and the laser radar, a first coordinate system O1 is arranged on the rotation plane of the turntable, a second coordinate system O2 is arranged on the rotation plane of the laser radar, the first coordinate system O1 and the second coordinate system O2 are two-dimensional coordinate systems which are mutually perpendicular, and the origin of the three-dimensional point cloud coordinate system O coincides with the origin of the first coordinate system O1.
Further, the mathematical model formula of the point cloud construction is as follows:
the values of x, y and z are coordinate values of the measuring point relative to a three-dimensional point cloud coordinate system O, alpha is a rotation angle of the laser radar, theta is a rotation angle of the turntable, d is a measuring distance of the laser radar, and b is a perpendicular distance between a second coordinate system O2 and an axis of the turntable.
Further, in the step 2, the empirical value A is H-0.5m.
Further, in step 3, step 4 and step 5, the empirical value B is h+0.3m.
Further, the method for measuring and positioning the carriage posture comprises the following steps:
step S1, scanning, measuring and obtaining the vertical distance H of a carriage chassis moment scanning system, so as to obtain the elevation of the carriage chassis;
step S2, in a plane parallel to the side surface of the carriage, the laser radar rotates clockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point meets h being smaller than an empirical value A for the first time, the projection position of the scanning point on the chassis of the carriage is determined as the position of a front baffle of the carriage, and the position of the front baffle is recorded;
step S3, rotating the laser radar anticlockwise in a plane parallel to the side surface of the carriage, continuously reading the vertical distance h between a scanning point and a scanning system, and when the scanning point satisfies h being greater than an empirical value B for the first time, determining the searched front critical scanning point of the scanning point as the top end position of a carriage rear baffle, and recording the position and elevation of the top end of the rear baffle;
step S4, in a plane parallel to the side surface of the carriage, the included angle a between the connecting line of the rear baffle and the laser radar and the perpendicular line of the carriage bottom plate is obtained in the step S3, then the included angle a is equally divided into a plurality of equal parts, and when the laser radar rotates to each angle position in sequence, the operation of the step 4 and the step 5 is executed, so that a plurality of scanning points at the top end of the left carriage and a plurality of scanning points at the top end of the right carriage can be obtained;
and S5, fitting scanning points at the top ends of a plurality of left carriages into a straight line L1, fitting scanning points at the top ends of a plurality of right carriages into a straight line L2 through a Hough algorithm, fitting the straight line L1 and the straight line L2 out of the central line of the carriage, and extracting the slope of the central line to be regarded as the carriage posture.
A scanning system comprises an on-site scanning component and a scanning control component, wherein the on-site scanning component comprises a servo motor, a turntable, a laser radar and a photoelectric switch;
the servo motor and the turntable are fixed on the support frame, the laser radar is fixedly connected with the turntable through the connecting rod, the servo motor drives the turntable to rotate so as to drive the laser radar to rotate, and the laser radar can self-rotate.
Further, the on-site scanning component is fixed at a position, close to the headstock, right above the carriage through the support frame to scan the carriage, the rotation plane of the turntable is perpendicular to the rotation plane of the laser radar, scanning of front and rear baffles of the carriage is achieved through rotation of the laser radar, and the turntable drives the laser radar to rotate to achieve scanning of left and right baffles of the carriage.
Further, the scanning control part comprises an industrial personal computer, a touch screen, a card swiping machine and a PLC (programmable logic controller), the card swiping machine and the touch screen carry out parameter setting and instruction issuing on the industrial personal computer, the industrial personal computer issues control instructions on the PLC through TCP (transmission control protocol) communication, the PLC carries out high-precision angle control on a servo motor, the servo motor drives a turntable to rotate so as to drive the laser radar to rotate, 2D measurement is converted into 3D measurement, angle values of a servo motor encoder and scanning values of the laser radar are transmitted to the industrial personal computer through TCP communication, and the industrial personal computer carries out operation analysis to finish measurement and positioning work.
After the technical scheme is adopted, compared with the prior art, the invention has the following advantages:
1. the method comprises the steps of constructing a 3D point cloud to obtain a three-dimensional coordinate system, constructing a mathematical model to obtain coordinate values of scanning points, scanning the front baffle and the rear baffle through autorotation of a laser radar according to the positions and elevations of the front baffle and the rear baffle, and judging the positions of the front baffle and the rear baffle according to empirical values; the positions and elevations of the left baffle and the right baffle are that the turntable is driven to rotate by the servo motor to drive the laser radar to rotate, the left baffle and the right baffle are scanned, and the positions of the left baffle and the right baffle are judged according to the empirical value;
2. the method comprises the steps of firstly positioning the positions of a front baffle and a rear baffle through one scanning point, then scanning the positions of a left baffle and a right baffle for multiple times to obtain scanning points of the left baffle and the right baffle respectively, fitting the scanning points at the top ends of a plurality of left carriages into a straight line L1, fitting the scanning points at the top ends of a plurality of right carriages into a straight line L2, and finally obtaining the carriage posture, so that the position of the carriage is more accurately obtained, and the automatic loading effect is improved;
3. the scanning control part gives a control instruction to the on-site scanning part, so that the laser radar rotates to realize 3D scanning of the carriage, and meanwhile, the on-site scanning part feeds back the position and the angle value of the laser radar to the scanning control part in real time, and the scanning control part records the position and the angle value of the laser radar and makes judgment.
The invention will now be described in detail with reference to the drawings and examples.
Drawings
FIG. 1 is a logic flow diagram of a car measurement and positioning method of the present invention;
FIG. 2 is a schematic view of a scanning of the front and rear baffles of a vehicle cabin in the present invention;
FIG. 3 is a schematic view of a scanning of the left and right side dams of a vehicle cabin in accordance with the present invention;
FIG. 4 is a logic flow diagram of a method for measuring and locating car attitude in accordance with the present invention;
FIG. 5 is a scanning schematic diagram of a method for measuring and locating car attitude in the present invention;
FIG. 6 is a schematic view of the structure of the field scanning unit of the present invention;
fig. 7 is a control flow chart of the scanning system in the present invention.
In the figure, 1-laser radar, 2-servo motor, 3-revolving stage, 4-connecting rod, 5-photoelectric switch, 6-support frame, 7-on-the-spot scanning part.
Detailed Description
For a clearer understanding of technical features, objects, and effects of the present invention, a specific embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the present invention provides a carriage measurement and positioning method based on a two-dimensional laser radar, comprising the following steps:
step 1, scanning, measuring and obtaining the vertical distance H between a carriage chassis and a scanning system, thereby obtaining the elevation of the carriage chassis;
step 2, in a plane parallel to the side surface of the carriage, the laser radar 1 rotates clockwise, the vertical distance h between a scanning point and a scanning system is continuously read, the scanning point moves continuously along with the rotation of the laser radar 1, so that h also changes continuously, when the scanning point satisfies h smaller than an empirical value A for the first time, the projection position of the searched scanning point on the chassis of the carriage is determined to be the position of a front baffle of the carriage, and the position of the front baffle is recorded;
step 3, in a plane parallel to the side surface of the carriage, the laser radar 1 rotates anticlockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point satisfies h being greater than an empirical value B for the first time, the searched front critical scanning point of the scanning point is considered as the top end position of a carriage back baffle, and the position and elevation of the top end of the back baffle are recorded;
step 4, in a plane vertical to the side surface of the carriage, the turntable 3 drives the laser radar 1 to rotate clockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point satisfies h for the first time and is larger than an empirical value B, the searched front critical scanning point of the scanning point is considered to be the top end position of a left baffle of the carriage, and the position and elevation of the top end of the left baffle are recorded;
and 5, in a plane vertical to the side surface of the carriage, the turntable 3 drives the laser radar 1 to rotate anticlockwise, the vertical distance between the continuous reading scanning point and the scanning system is h, when the scanning point satisfies h being greater than an empirical value B for the first time, the searched front critical scanning point of the scanning point is determined to be the top end position of the right baffle of the carriage, and the position and elevation of the top end of the right baffle are recorded.
In order to determine the position coordinates of the scanning points, a three-dimensional point cloud coordinate system O is required to be defined, a system mathematical model is modeled, and 3D point cloud construction is completed, wherein the position coordinates of the scanning points are determined through the rotation angle and the position relation of the turntable and the laser radar, as shown in fig. 6, a first coordinate system O1 is arranged on the rotation plane of the turntable 3, a second coordinate system O2 is arranged on the rotation plane of the laser radar 1, the first coordinate system O1 and the second coordinate system O2 are two-dimensional coordinate systems which are mutually perpendicular, and the origin of the three-dimensional point cloud coordinate system O coincides with the origin of the first coordinate system O1.
The coordinate position of the measurement point relative to the three-dimensional point cloud coordinate system O is the position of the measurement point relative to the scanning system, the vertical distance h between the scanning point and the scanning system is the distance between the scanning point and the origin of the three-dimensional point cloud coordinate system O, and along with the rotation of the laser radar 1, the scanning point also moves continuously, so that h also changes continuously.
The mathematical model formula for 3D point cloud construction is as follows:
the values of x, y and z are coordinate values of the measuring point relative to a three-dimensional point cloud coordinate system O, α is a rotation angle of the laser radar 1, θ is a rotation angle of the turntable 3, d is a measuring distance of the laser radar 1, and b is a perpendicular distance between the second coordinate system O2 and an axis of the turntable 3.
In step 2, the front side of the front baffle of the carriage is a carriage, the distance S between the top of the carriage and the chassis of the carriage is generally 1-2.5m, the vertical distance between the scanning point and the scanning system is not changed greatly when the laser radar 1 rotates and the scanning point falls to the position of the carriage along with the rotation of the laser radar 1, the vertical distance between the scanning point and the scanning system is gradually reduced, the minimum vertical distance between the carriage and the scanning system is H-S, when H is smaller than an empirical value a, the scanning point is considered to be the boundary point between the front baffle of the carriage and the carriage, the empirical value a is obtained through multiple experiments and is H-0.5m (when the scanning point approaches the roof position, h=h-S < a=h-0.5 m), and the projection position of the scanning point on the chassis of the carriage is the position of the rear baffle.
In the steps 3, 4 and 5, because the elevation D of the chassis of the carriage is generally about 0.9-1.5m, along with the rotation of the laser radar 1, when the scanned scanning point is outside the carriage, the scanning point falls onto the ground, the vertical distance between the ground and the scanning system is equal to h+d, when the scanning point moves from the inside of the carriage to the outside of the carriage, the vertical distance between the scanning point and the scanning system suddenly increases, when H is greater than the empirical value B, the boundary point between the carriage tailgate and the left and right side shutters and the ground is found, the empirical value B is obtained through multiple experiments, and the front critical scanning point of the scanning point is the position and the elevation of the top ends of the carriage tailgate and the left and right side shutters.
The measuring principle of carriage measurement and positioning is as follows: and 3D point cloud construction is carried out to obtain a three-dimensional point cloud coordinate system, a mathematical model is constructed, and 2D measurement is converted into 3D measurement to obtain coordinate values of scanning points. The position of the front baffle and the position and elevation of the rear baffle are scanned through the autorotation of the laser radar 1, and the position and elevation of the front baffle and the position and elevation of the rear baffle are judged according to the empirical value; the positions and the elevations of the left baffle and the right baffle are determined according to the empirical values by driving the turntable 3 to rotate through the servo motor 2 to drive the laser radar 1 to rotate so as to scan the left baffle and the right baffle.
Since the lidar 1 scans in a plane parallel to the side of the cabin and a plane perpendicular to the side of the cabin, respectively, in determining the front and rear fenders and the left and right side fenders, the position of the front fender and the positions and elevations of the rear fender and the left and right fenders are located by only one point. However, when the vehicle body enters the measuring position, the driver aligns the vehicle body through experience, the carriage is inclined, the inclination of the baffle cannot be determined through a scanning point, and the requirement of robot loading cannot be met, so that the posture of the carriage needs to be measured and positioned, and as shown in fig. 4 and 5, the measuring and positioning method of the posture of the carriage comprises the following steps:
step S1, scanning, measuring and obtaining the vertical distance H of a carriage chassis moment scanning system, so as to obtain the elevation of the carriage chassis;
step S2, in a plane parallel to the side surface of the carriage, the laser radar 1 rotates clockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point meets h being smaller than an empirical value A for the first time, the projection position of the scanning point on the chassis of the carriage is determined to be the position of a front baffle of the carriage, and the position of the front baffle is recorded;
step S3, in a plane parallel to the side surface of the carriage, the laser radar 1 rotates anticlockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point satisfies h being greater than an empirical value B for the first time, the searched front critical scanning point of the scanning point is considered to be the top end position of a carriage back baffle, and the top end position and elevation of the back baffle are recorded;
step S4, in a plane parallel to the side surface of the carriage, an included angle a between the connecting line of the rear baffle and the laser radar 1 and the perpendicular line of the carriage bottom plate is obtained in the step S3, then the included angle a is divided into a plurality of equal parts, preferably 30 equal parts, and when the laser radar 1 rotates to each angular position in sequence, the operations in the step 4 and the step 5 are executed, so that a plurality of scanning points at the top end of the left carriage and a plurality of scanning points at the top end of the right carriage can be obtained;
and S5, fitting scanning points at the top ends of a plurality of left carriages into a straight line L1, fitting scanning points at the top ends of a plurality of right carriages into a straight line L2 through a Hough algorithm, fitting the straight line L1 and the straight line L2 out of the central line of the carriage, and extracting the slope of the central line to be regarded as the carriage posture.
The carriage pose measurement and positioning principle is as follows: the positions of the front baffle and the rear baffle are respectively positioned through one scanning point, then the positions of the left baffle and the right baffle are scanned for multiple times, the scanning points of the left baffle and the right baffle are respectively obtained, the scanning points at the top ends of a plurality of left carriages are fitted into a straight line L1, the scanning points at the top ends of a plurality of right carriages are fitted into a straight line L2, and finally the carriage posture is obtained, so that the position of the carriage is more accurately obtained, and the automatic loading effect is improved.
In order to realize the carriage measuring and positioning method based on the two-dimensional laser radar 1, the invention also provides a scanning system, as shown in fig. 6 and 7, the scanning system comprises a field scanning component 7 and a scanning control component, the field scanning component 7 comprises a servo motor 2, a turntable 3, the laser radar 1 and a photoelectric switch 5, the turntable 3 is fixed on a support frame 6, the laser radar 1 is fixedly connected with the turntable 3 through a connecting rod 4, the turntable 3 is driven by the servo motor 2 to rotate so as to drive the laser radar 1 to rotate, the photoelectric switch 5 detects the position of the turntable 3 and is used for returning to the zero point of the turntable 3, meanwhile, the laser radar 1 can autorotate, the rotation plane of the turntable 3 is perpendicular to the rotation plane of the laser radar 1, the scanning of front and rear baffles of the carriage is realized through autorotation of the laser radar 1, the turntable 3 drives the laser radar 1 to rotate so as to realize the scanning of left and right baffles of the carriage, and when in use, the field scanning component 7 is fixed at a position close to the carriage above the carriage through the support frame 6;
the scanning control part comprises an industrial personal computer, a touch screen, a card reader and a PLC (programmable logic controller), wherein the card reader and the touch screen carry out parameter setting and instruction issuing on the industrial personal computer, the industrial personal computer issues control instructions on the PLC through TCP (transmission control protocol) communication, the PLC carries out high-precision angle control on the servo motor 2, the servo motor 2 drives the turntable 3 to rotate so as to drive the laser radar 1 to rotate, 2D measurement is converted into 3D measurement, the angle value of the servo motor 2 encoder and the scanning value of the laser radar 1 are transmitted to the industrial personal computer through TCP communication, and the industrial personal computer carries out operation analysis to finish measurement and positioning work.
The scanning control part gives a control instruction to the on-site scanning part 7, so that the laser radar 1 rotates to realize 3D scanning of a carriage, meanwhile, the on-site scanning part 7 feeds back the position and the angle value of the laser radar 1 to the scanning control part in real time, and the scanning control part records the position and the angle value of the laser radar 1 and makes a judgment.
The foregoing is illustrative of the best mode of carrying out the invention, and is not presented in any detail as is known to those of ordinary skill in the art. The protection scope of the invention is defined by the claims, and any equivalent transformation based on the technical teaching of the invention is also within the protection scope of the invention.

Claims (8)

1. A carriage measurement and positioning method based on a two-dimensional laser radar is characterized in that: the method comprises the following steps:
step 1, scanning, measuring and obtaining the vertical distance H between a carriage chassis and a scanning system, thereby obtaining the elevation of the carriage chassis;
step 2, in a plane parallel to the side surface of the carriage, the laser radar (1) rotates clockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point meets h being smaller than an empirical value A for the first time, the projection position of the scanning point on the chassis of the carriage is determined to be the position of a front baffle of the carriage, and the position of the front baffle is recorded;
step 3, in a plane parallel to the side surface of the carriage, the laser radar (1) rotates anticlockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point satisfies h being greater than an empirical value B for the first time, the searched front critical scanning point of the scanning point is considered to be the top end position of a carriage back baffle, and the top end position and elevation of the back baffle are recorded;
step 4, in a plane vertical to the side surface of the carriage, the turntable (3) drives the laser radar (1) to rotate clockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point satisfies h for the first time and is larger than an empirical value B, the searched front critical scanning point of the scanning point is considered to be the top end position of a left baffle of the carriage, and the position and elevation of the top end of the left baffle are recorded;
step 5, in a plane vertical to the side surface of the carriage, the turntable (3) drives the laser radar (1) to rotate anticlockwise, the vertical distance between a continuous reading scanning point and the scanning system is h, when the scanning point satisfies h being greater than an empirical value B for the first time, the searched front critical scanning point of the scanning point is considered to be the top end position of a right baffle of the carriage, and the position and elevation of the top end of the right baffle are recorded;
the method for measuring and positioning the carriage posture comprises the following specific steps:
step S1, scanning, measuring and obtaining the vertical distance H of a carriage chassis moment scanning system, so as to obtain the elevation of the carriage chassis;
s2, in a plane parallel to the side surface of the carriage, the laser radar (1) rotates clockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point meets h being smaller than an empirical value A for the first time, the projection position of the scanning point on the chassis of the carriage is determined to be the position of a front baffle of the carriage, and the position of the front baffle is recorded;
s3, in a plane parallel to the side surface of the carriage, the laser radar (1) rotates anticlockwise, the vertical distance h between a scanning point and a scanning system is continuously read, when the scanning point meets h being larger than an empirical value B for the first time, the searched front critical scanning point of the scanning point is considered to be the top end position of a carriage back baffle, and the top end position and elevation of the back baffle are recorded;
step S4, in a plane parallel to the side surface of the carriage, obtaining an included angle a between the connecting line of the rear baffle and the laser radar (1) and the vertical line of the carriage bottom plate in the step S3, then dividing the included angle a into a plurality of equal parts, and executing the operations in the step 4 and the step 5 when the laser radar (1) rotates to each angular position in sequence, so as to obtain a plurality of scanning points at the top end of the left carriage and a plurality of scanning points at the top end of the right carriage;
and S5, fitting scanning points at the top ends of a plurality of left carriages into a straight line L1, fitting scanning points at the top ends of a plurality of right carriages into a straight line L2 through a Hough algorithm, fitting the straight line L1 and the straight line L2 out of the central line of the carriage, and extracting the slope of the straight line to be regarded as the carriage posture.
2. The two-dimensional laser radar-based car measurement and positioning method as set forth in claim 1, wherein: in order to determine the position coordinates of the scanning points, a three-dimensional point cloud coordinate system O is required to be defined, a system mathematical model is modeled, and the point cloud construction is completed, wherein the position coordinates of the scanning points are determined through the rotation angle and the position relation of the turntable and the laser radar, a first coordinate system O1 is arranged on the rotation plane of the turntable (3), a second coordinate system O2 is arranged on the rotation plane of the laser radar (1), the first coordinate system O1 and the second coordinate system O2 are two-dimensional coordinate systems which are perpendicular to each other, and the origin of the three-dimensional point cloud coordinate system O coincides with the origin of the first coordinate system O1.
3. The two-dimensional laser radar-based car measurement and positioning method as set forth in claim 2, wherein: the mathematical model formula of the point cloud construction is as follows:
，
the values of x, y and z are coordinate values of a measuring point relative to a three-dimensional point cloud coordinate system O, alpha is a rotation angle of the laser radar (1), theta is a rotation angle of the turntable (3), d is a measuring distance of the laser radar (1), and b is a perpendicular distance between a second coordinate system O2 and an axis of the turntable (3).
4. The two-dimensional laser radar-based car measurement and positioning method as set forth in claim 1, wherein: in the step 2, the empirical value A is H-0.5m.
5. The two-dimensional laser radar-based car measurement and positioning method as set forth in claim 1, wherein: in the step 3, the step 4 and the step 5, the empirical value B is H+0.3m.
6. A scanning system for implementing a two-dimensional lidar-based car measurement and positioning method according to any of claims 1 to 5, wherein: the device comprises a field scanning component (7) and a scanning control component, wherein the field scanning component (7) comprises a servo motor (2), a turntable (3), a laser radar (1) and a photoelectric switch (5), and the photoelectric switch (5) is used for detecting the position of the turntable (3) and returning the turntable (3) to the zero point;
the servo motor (2) and the turntable (3) are fixed on the support frame (6), the laser radar (1) is fixedly connected with the turntable (3) through the connecting rod (4), the servo motor (2) drives the turntable (3) to rotate so as to drive the laser radar (1) to rotate, and the laser radar (1) can autorotate.
7. A scanning system according to claim 6, wherein: the on-site scanning component (7) is fixed at a position, close to a vehicle head, right above a carriage through the support frame (6) to scan the carriage, a rotation plane of the turntable (3) is perpendicular to a rotation plane of the laser radar (1), scanning of front and rear baffles of the carriage is achieved through rotation of the laser radar (1), and the turntable (3) drives the laser radar (1) to rotate to achieve scanning of left and right baffles of the carriage.
8. A scanning system according to claim 6, wherein: the scanning control component comprises an industrial personal computer, a touch screen, a card swiping machine and a PLC (programmable logic controller), wherein the card swiping machine and the touch screen carry out parameter setting and instruction issuing on the industrial personal computer, the industrial personal computer issues control instructions on the PLC through TCP (transmission control protocol) communication, the PLC carries out high-precision angle control on a servo motor (2), the servo motor (2) drives a turntable (3) to rotate so as to drive the laser radar (1) to rotate, 2D measurement is converted into 3D measurement, angle values of a servo motor (2) encoder and scanning values of the laser radar (1) are transmitted to the industrial personal computer through TCP communication, and the industrial personal computer carries out operation analysis to finish measurement and positioning work.
CN202310854248.3A 2023-07-13 2023-07-13 Carriage measurement and positioning method and scanning system based on two-dimensional laser radar Active CN116594024B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310854248.3A CN116594024B (en) 2023-07-13 2023-07-13 Carriage measurement and positioning method and scanning system based on two-dimensional laser radar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310854248.3A CN116594024B (en) 2023-07-13 2023-07-13 Carriage measurement and positioning method and scanning system based on two-dimensional laser radar

Publications (2)

Publication Number Publication Date
CN116594024A CN116594024A (en) 2023-08-15
CN116594024B true CN116594024B (en) 2023-10-20

Family

ID=87612016

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310854248.3A Active CN116594024B (en) 2023-07-13 2023-07-13 Carriage measurement and positioning method and scanning system based on two-dimensional laser radar

Country Status (1)

Country Link
CN (1) CN116594024B (en)

Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102980512A (en) * 2012-08-29 2013-03-20 武汉武大卓越科技有限责任公司 Fixed type automatic volume measurement system and measuring method thereof
CN104406796A (en) * 2014-10-11 2015-03-11 马拴委 Compartment laser scanning measuring and positioning method
CN106429483A (en) * 2016-12-09 2017-02-22 芜湖哈特机器人产业技术研究院有限公司 Automatic stacking and truck-loading system and truck-loading method thereof
CN206113872U (en) * 2016-09-21 2017-04-19 佛山市南华仪器股份有限公司 Vehicle gabarit measuring apparatu
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
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
CN109781023A (en) * 2017-11-14 2019-05-21 武汉万集信息技术有限公司 A kind of trailer profile dimension measurement method, device and system
CN110096026A (en) * 2019-04-09 2019-08-06 中国科学院合肥物质科学研究院 A kind of fully-automatic intelligent entrucking Detection & Controling method and system
CN110376595A (en) * 2019-06-28 2019-10-25 湖北大学 Automatic loading rolling stock measuring system
CN110388877A (en) * 2019-08-09 2019-10-29 滁州潍铭扬智能科技有限公司 A kind of identifying system carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument
CN110488308A (en) * 2019-07-05 2019-11-22 北京国泰新能科技发展有限公司 A kind of compartment position finding and detection method and device
CN112417591A (en) * 2020-11-16 2021-02-26 上海交通大学 Vehicle modeling method, system, medium and equipment based on holder and scanner
CN112504132A (en) * 2020-11-18 2021-03-16 成都天富若博特科技有限责任公司 High-precision measurement system and method for size of boxcar
CN112683179A (en) * 2019-10-18 2021-04-20 杭州海康威视系统技术有限公司 Method, device and equipment for detecting height of truck breast board and storage medium
CN112906127A (en) * 2021-01-18 2021-06-04 上海交通大学 Vehicle modeling method, system, medium and equipment based on holder and scanner
CN113625299A (en) * 2021-07-26 2021-11-09 北京理工大学 Three-dimensional laser radar-based method and device for detecting height and unbalance loading of loading material
CN215728846U (en) * 2021-06-16 2022-02-01 泉州装备制造研究所 Modeling device of transport vehicle without baffle at top of carriage
CN114061446A (en) * 2021-10-20 2022-02-18 成都利君环际智能装备科技有限公司 Carriage size measuring system and method based on multiple three-dimensional scanning devices
CN115077380A (en) * 2022-06-09 2022-09-20 安徽海螺中南智能机器人有限责任公司 Positioning and detecting method for vehicle positioning and carriage detecting device of automatic clinker delivery system
DE102021211352B3 (en) * 2021-10-07 2023-02-23 Cargobeamer Ag Method for carrying out a wagon technical inspection of a freight train and inspection device for carrying out the method, goods handling method and goods handling device

Patent Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102980512A (en) * 2012-08-29 2013-03-20 武汉武大卓越科技有限责任公司 Fixed type automatic volume measurement system and measuring method thereof
CN104406796A (en) * 2014-10-11 2015-03-11 马拴委 Compartment laser scanning measuring and positioning method
CN206113872U (en) * 2016-09-21 2017-04-19 佛山市南华仪器股份有限公司 Vehicle gabarit measuring apparatu
CN106429483A (en) * 2016-12-09 2017-02-22 芜湖哈特机器人产业技术研究院有限公司 Automatic stacking and truck-loading system and truck-loading method thereof
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
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
CN109781023A (en) * 2017-11-14 2019-05-21 武汉万集信息技术有限公司 A kind of trailer profile dimension measurement method, device and system
CN110096026A (en) * 2019-04-09 2019-08-06 中国科学院合肥物质科学研究院 A kind of fully-automatic intelligent entrucking Detection & Controling method and system
CN110376595A (en) * 2019-06-28 2019-10-25 湖北大学 Automatic loading rolling stock measuring system
CN110488308A (en) * 2019-07-05 2019-11-22 北京国泰新能科技发展有限公司 A kind of compartment position finding and detection method and device
CN110388877A (en) * 2019-08-09 2019-10-29 滁州潍铭扬智能科技有限公司 A kind of identifying system carrying out three-dimensional reconstruction to compartment based on two dimensional laser scanning instrument
CN112683179A (en) * 2019-10-18 2021-04-20 杭州海康威视系统技术有限公司 Method, device and equipment for detecting height of truck breast board and storage medium
CN112417591A (en) * 2020-11-16 2021-02-26 上海交通大学 Vehicle modeling method, system, medium and equipment based on holder and scanner
CN112504132A (en) * 2020-11-18 2021-03-16 成都天富若博特科技有限责任公司 High-precision measurement system and method for size of boxcar
CN112906127A (en) * 2021-01-18 2021-06-04 上海交通大学 Vehicle modeling method, system, medium and equipment based on holder and scanner
CN215728846U (en) * 2021-06-16 2022-02-01 泉州装备制造研究所 Modeling device of transport vehicle without baffle at top of carriage
CN113625299A (en) * 2021-07-26 2021-11-09 北京理工大学 Three-dimensional laser radar-based method and device for detecting height and unbalance loading of loading material
DE102021211352B3 (en) * 2021-10-07 2023-02-23 Cargobeamer Ag Method for carrying out a wagon technical inspection of a freight train and inspection device for carrying out the method, goods handling method and goods handling device
CN114061446A (en) * 2021-10-20 2022-02-18 成都利君环际智能装备科技有限公司 Carriage size measuring system and method based on multiple three-dimensional scanning devices
CN115077380A (en) * 2022-06-09 2022-09-20 安徽海螺中南智能机器人有限责任公司 Positioning and detecting method for vehicle positioning and carriage detecting device of automatic clinker delivery system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Fast Positioning Method of Truck Compartment Based on Plane Segmentation;Wenye Zou等;《IEEE Journal of Radio Frequency Identification》;第6卷;第774-778页 *
基于激光扫描测量车厢外形及位置的算法;李祥龙等;基于激光扫描测量车厢外形及位置的算法;第25卷(第11期);第125-127页 *

Also Published As

Publication number Publication date
CN116594024A (en) 2023-08-15

Similar Documents

Publication Publication Date Title
CN112417591B (en) Vehicle modeling method, system, medium and equipment based on holder and scanner
CN109189076B (en) Heavy guided vehicle positioning method based on visual sensor and heavy guided vehicle
CN111498525A (en) Automatic loading positioning system and method
CN207293963U (en) Automatic the case of automated handling operation and anti-sling system
CN115328175B (en) Logistics robot system
CN111704035B (en) Automatic positioning device and method for container loading and unloading container truck based on machine vision
CN112906127A (en) Vehicle modeling method, system, medium and equipment based on holder and scanner
CN113267180B (en) AGV forklift tray positioning and forking method based on 3D depth vision
CN112906128B (en) Vehicle modeling method, equipment and system based on linear guide rail and scanner
CN111578893A (en) Method for identifying included angle between tractor and trailer
CN111652936A (en) Three-dimensional sensing and stacking planning method and system for open container loading
CN107796373A (en) A kind of distance-finding method of the front vehicles monocular vision based on track plane geometry model-driven
CN113245094B (en) Robot spraying system and method for automobile brake drum
CN113483664B (en) Screen plate automatic feeding system and method based on line structured light vision
CN116594024B (en) Carriage measurement and positioning method and scanning system based on two-dimensional laser radar
CN112278891B (en) Carriage internal attitude detection method
CN113544485A (en) Robotic target alignment for vehicle sensor calibration
CN113819844A (en) Method, device and equipment for identifying traveling materials and readable storage medium
CN117401468A (en) Full-automatic loading system
CN113463719B (en) Autonomous operation control system and method for loader
CN114200476A (en) Laser forklift positioning method and laser forklift
CN112731431A (en) Positioning detection device and method for van truck
CN219347778U (en) AGV lateral positioning device for factory
CN111121639A (en) Rigid-flexible integrated crack detection system for narrow building space
CN213325730U (en) Automatic loading positioning system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: Measurement and positioning method and scanning system for carriage based on two-dimensional LiDAR

Effective date of registration: 20231218

Granted publication date: 20231020

Pledgee: Anqiu Sub branch of China Construction Bank Corp.

Pledgor: ANQIU BOYANG MACHINERY MANUFACTURE Co.,Ltd.

Registration number: Y2023980072270

PE01 Entry into force of the registration of the contract for pledge of patent right