The present invention proposes a method for modeling a
bulk cargo gantry crane cabin and materials in the cabin based on 3D
laser radar, wherein a first
radar is installed on the
gantry crane revolving body, and a second
radar with a self-stabilizing device is installed on the head of the
gantry crane boom elephant
trunk beam; multiple coordinate systems are established, including the gantry crane base coordinate
system, the gantry crane revolving body coordinate
system, the first radar coordinate
system and the second radar coordinate system; the coordinate
transformation matrix of the two radars in the gantry crane revolving body coordinate system is determined, thereby obtaining the positions of the two radars on the revolving body; the two radars are scanned according to the operation instructions, and the first
initial point cloud and the second
initial point cloud are obtained and registered, thereby obtaining the
transformation matrix T 12 , and then correct the second
initial point cloud, merge the first initial
point cloud and the corrected second initial
point cloud to obtain the final
point cloud. The present invention uses a 3D
laser radar with better scanning effect, improves the point cloud registration method, and realizes efficient and accurate scanning modeling that is difficult to perform using a simple scanning device.