Equipment automatic loading deviation identification method and system based on three-dimensional laser radar

Abstract

The invention discloses an equipment automatic loading deviation identification method and system based on a three-dimensional laser radar, and belongs to the technical field of equipment loading deviation control. The method comprises the steps of scanning an area where a railway slab is located, obtaining original point cloud data and performing preprocessing; clustering segmentation is carried out on the preprocessed original point cloud data, and railway slab data points are identified; performing plane fitting on the railway slab data points to obtain a three-dimensional fitting plane; converting the three-dimensional fitting plane into a two-dimensional fitting plane through rotation and translation transformation; and carrying out straight line fitting on the edge points on the two sides of the two-dimensional fitting plane at the same time to obtain straight line parameters, and then calculating to obtain the automatic loading deviation of the equipment. The method can automatically identify the width of the railway slab and the distance deviation and angle deviation of equipment relative to the center line of the railway slab, and has the characteristics of simple identification, high intelligent degree, strong adaptability and the like.

Description

technical field [0001] The invention belongs to the technical field of equipment loading deviation control, and in particular relates to a three-dimensional laser radar-based automatic equipment loading deviation identification method and system. Background technique [0002] When equipment (such as engineering vehicles, etc.) is transported over long distances, it is usually carried out by means of flat loading on trains, which has the advantages of low cost, high speed and safety. However, due to the huge size of heavy equipment, the center of gravity of the equipment must basically coincide with the center of the train platform, and be fixed with steel cables, so that rollover accidents will not occur when the train turns quickly. However, when the vehicle equipment is loaded and running, since the railway platform is generally in the blind spot of the driver, it is difficult to meet the requirements of the specification for the distance between the center of gravity of t...

AI Technical Summary

Problems solved by technology

However, when the vehicle equipment is loaded and running, since the railway platform is generally in the blind spot of the driver, it is difficult to meet the requirements of the specification for the distance between the center of gravity of the vehicle and the center of the railway platform of the train. It takes more than ten minutes for experienced drivers and guides to accurately complete the loading task of a large vehicle

[0003] Therefore, there are many patented technologies about this application. The patent CN204323334U proposes a railway loading guidance system for armored vehicles, which uses infrared depth vision sensors, global positioning modules, ultrasonic ranging sensors and high-definition color cameras. A railway loading guidance system for armored vehicles has been developed, but there are problems of high cost, large errors and complex layout, and it is impossible to realize automatic loading and driving of vehicles, and the stability cannot be guaranteed by using wireless methods

The utility model patent CN206695796U discloses a guiding device for railway loading vehicles, which uses an image sensor to identify the center line to realize guided loading. It is necessary to lay the center line of the railway slab in advance.

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