摘要
Abstract
In this paper,considering material detection,vehicle positioning,material stacking and throwing in the automatic hoisting and handling system of bulk material storage,a point cloud processing engineering proposal and the design of processing flow are put forward.Three-dimensional point cloud in the warehouse operation area was obtained by laser radar scanning.After data denoising,registration and filtering,the complexity of data processing and storage was simplified,the visual modeling of point cloud data in bulk material warehouse was realized,and the grid elevation model was constructed to guide the crane to carry out automatic material handling according to the elevation model.Clustering algorithm and edge detection operator were used to analyze and process the point cloud data of loading trucks,the positioning of truck hopper and the distribution of materials in the hopper were realized,and the crane was guided to carry out automatic and balanced loading.关键词
自动化起重机/激光点云/散料储库Key words
automatic crane/laser point cloud/bulk storage分类
金属材料
