装车机器人激光雷达测量系统及其标定方法

为了解决装车机器人装车前货车车体位置和尺寸测量的问题，搭建了基于二维激光雷达的车体智能测量系统，并重点研究了该系统的标定方法。通过旋转平台带动二维激光雷达，利用单个二维激光雷达获得被测车体的三维信息。针对现有激光雷达测量系统标定方法复杂、标定件制作困难等问题，以 321坐标系建立法为基础，提出了一种基于三平面标定板的系统参数标定方法，建立了标定数学模型，并详细给出了该标定方法的原理及步骤。在实验室搭建测量系统进行了标定实验以及模拟车体测量实验，在户外对真实车体进行了测量实验。实验结果表明，本测量系统的最大车体尺寸长度测量误差为 26.4 mm，最大角度测量误差为 0.18°，完全满足装车精度要求。

Abstract

To carry out the measurement of vehicle body position and dimension of loading robot before loading, an intelligent vehicle body measurement system based on two-dimensional LiDAR was provided, and the calibration method of this system was studied as a key point. The two-dimension LiDAR was driven by rotating the platform, and the three-dimensional information of car body measured was obtained by using the single two-dimensional laser radar. In allusion to the complexity of calibration method of LiDAR measurement system and the difficulty in making calibration pieces, a system parameter calibration method was proposed based on 321 coordinate system building method, and mathematical models of calibration was established, with the principle and procedure of calibration method in detail. Measurement system was set up in a laboratory to carry out calibration experiment and mea-surement experiment on simulation vehicle body, and the measurement experiment for real vehicle body was con-ducted outside. The experiment result shows that the maximum measurement error of vehicle body size and length of this measurement system was 26.4 mm; maximum angle measurement error was 0.18 degree, which fully meets the precision requirements of loading.

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王春梅, 黄风山, 薛泽. 装车机器人激光雷达测量系统及其标定方法[J]. 光电工程, 2019, 46(7): 190002. Wang Chunmei, Huang Fengshan, Xue Ze. LiDAR measurement system and the calibration method of loading robot[J]. Opto-Electronic Engineering, 2019, 46(7): 190002.

装车机器人激光雷达测量系统及其标定方法

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