针对现有散货测量系统对堆场环境适应性差、盘点时间长、效率低、操作复杂等不足, 提出了一种散货堆体积快速测量方法。同时, 利用二维激光扫描仪、差分GPS和姿态测量系统设计了一种体积测量系统。该系统用激光扫描仪动态测量堆体表面的几何信息, 用姿态测量系统实时测量扫描仪的空间姿态数据, 用GPS测出扫描仪在测量过程中的三维位置; 最后通过数据融合计算形成堆体的三维点云, 利用点云获得散货堆体积。文中基于单条堆体轮廓点云特征, 提出快速堆体下边缘查找算法来去除扫描过程中地面点云的误差影响; 采用投影剖分法完成完整堆体点云计算体积。实验显示, 利用本文设计的测试系统可在30 s内完成体积为69 m3的标准堆体测量, 平均相对误差为0.42%, 重复测量误差为0.41%。在实际散货堆实验中, 可在10 min内完成大小约为31 500 m3的散货堆测量, 4个不同料堆体积测量的平均重复测量误差为0.74%。结果表明, 本方法可在保证测量精度的同时, 简单、高效地测量散货堆体积。

A rapid volume measurement method for a bulk cargo was proposed to overcome the shortcomings of traditional bulk measuring systems in poor adaptability for yard environments, longer complete time, lower efficiency and complex operation. Then a volume measuring system consisting of a 2D laser scanner, a difference GPS and an attitude measuring system was designed. For this system, the laser scanner was used to measure dynamically the surface geometry information of a bulk, the attitude measuring system was taken to measure the space attitude data of the scanner in real time and the GPS was utilized to obtain the 3D position of the scanner in measuring processing. Finally, the data fusion was used to calculate 3D point cloud of the bulk cargo and to obtain the volume of the bulk cargo. On the basis of the feature of single scanned outline, an algorithm to extract the down edge of the bulk cargo effectively was proposed to remove the measurement error from ground point cloud and a projection triangulation volume algorithm was used to calculate the volume of bulks point cloud. Experiment shows that the system could complete the measurement of bulk cargo with a size of 69 m3 in 30 s, the average relative error is 0.42% and the repeated measurement error is 0.41%. In a reality bulk measurement, the measurement on about 31 500 m3 takes less than 10 min, and the average repeated measurement error for 4 coal bulks is 0.74%. It shows that the system could measure the volume of bulk cargo quickly and easily on maintaining accurate measurement.