铁路罐车(箱)容积三维激光扫描测量方法
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摘要
根据激光测距技术和精密分度技术原理研究铁路罐车(箱)容积三维激光扫描测量方法。采用处理与控制机驱动高频激光发射器在水平方向、滤光镜在垂直方向按照预定分度旋转,再由数据采集装置将滤光镜的转角和激光接收器接收到的罐壁反射激光等信号数据传输给处理与控制机,计算激光脉冲的飞行距离和激光束转角,从而获得高准确度的罐壁三维坐标点云数据,并对这些数据进行去噪和简化等处理,然后对罐体进行空间三角网格建模、置平和切分,计算各个切分块的体积,最后得到罐体的容积表。与传统的容量比较法、几何测量法比较,采用三维激光扫描测量方法测量铁路罐车和罐式集装箱的容积,测量准确度高,测量扩展不确定度优于3×10-3(k=2);对罐壁材质和扫描环境的适应性较强,测量自动化程度及作业安全性高,劳动强度小。
The 3Dlaser scanning measurement method for the volume of railway tank car(container)was developed based on the principles of laser ranging technology and precision indexing technology.The processing and control unit controls the laser which emits laser beam with high frequencies to rotate horizontally and controls the filter to rotate vertically according to planning angle division,then the data acquisition unit transmits the data of the rotating angle of the filter and the laser beam which are reflected from the inner surface of the tank and received by the receiver to the processing and control unit.The flight distance and rotating angles of the laser beam are computed,so the dense and accurate point clouds of the tank shell are obtained.Firstly,the cleaning,smoothing,mending and condensing of the point clouds are done.Secondly,the prepared point cloud is meshed to 3D model and its original level is normalized,and then the model is cut to quantities of sections and the volume of each section and the total are calculated. Lastly,the tank capacity table is output.By comparisons with traditional volumetric comparison method and geometric method,the result of the 3Dlaser scanning measurement method for the volume of railway tank car and tank container is accurate,and the expanded measurement uncertainty is 3×10-3(k=2). Furthermore,it has good adaptability to different tank shell materials and conditions,high automation, high safety and low labor strength.
The 3Dlaser scanning measurement method for the volume of railway tank car(container)was developed based on the principles of laser ranging technology and precision indexing technology.The processing and control unit controls the laser which emits laser beam with high frequencies to rotate horizontally and controls the filter to rotate vertically according to planning angle division,then the data acquisition unit transmits the data of the rotating angle of the filter and the laser beam which are reflected from the inner surface of the tank and received by the receiver to the processing and control unit.The flight distance and rotating angles of the laser beam are computed,so the dense and accurate point clouds of the tank shell are obtained.Firstly,the cleaning,smoothing,mending and condensing of the point clouds are done.Secondly,the prepared point cloud is meshed to 3D model and its original level is normalized,and then the model is cut to quantities of sections and the volume of each section and the total are calculated. Lastly,the tank capacity table is output.By comparisons with traditional volumetric comparison method and geometric method,the result of the 3Dlaser scanning measurement method for the volume of railway tank car and tank container is accurate,and the expanded measurement uncertainty is 3×10-3(k=2). Furthermore,it has good adaptability to different tank shell materials and conditions,high automation, high safety and low labor strength.
引文
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[10]周华伟.地面三维激光扫描点云数据处理与模型构建[D].昆明:昆明理工大学,2011.
[11]张涛.基于离散点云的三维重建研究与实现[D].哈尔滨:哈尔滨工程大学,2010.(ZHANG Tao.Research and Realization of Three-Dimensional Reconstruction Based on Discrete Point Cloud Data[D].Harbin:Harbin Engineering University,2010.in Chinese)
[12]肖贝.激光三维扫描点云数据预处理算法的研究[D].武汉:武汉工程大学,2011.(XIAO Bei.Research on Point Cloud of Three-Dimensional Laser Scanner Pre-Processing Algorithm[D].Wuhan:Wuhan Institute of Technology,2011.in Chinese)
[13]李源.基于三角网的DEM数据生成及可视化研究[D].长沙:中南大学,2009.(LI Yuan.Research of DEM Generation and Visualization Based on Triangulation[D].Changsha:Central South University,2009.in Chinese)
[14]杨俊志,张贵和.电子经纬仪轴系补偿问题[J].测绘通报,1995(5):23-28,42.
[15]尤宝平,暴景阳,崔高嵩,等.全站仪的补偿与改正研究[J].海洋测绘,2004,24(5):29-31,45.(YOU Baoping,BAO Jingyang,CUI Gaosong,et al.The Compensation and Correction for the Electronic Total Station Observations[J].Hydrographic Surveying and Charting,2004,24(5):29-31,45.in Chinese)
[2]欧阳俊华.近距离三维激光扫描技术[J].红外,2006,27(3):1-7.(OUYANG Junhua.Techniques of Close-Range 3DLaser Scanning[J].Infrared,2006,27(3):1-7.in Chinese)
[3]张启福,孙现申.三维激光扫描仪测量方法与前景展望[J].北京测绘,2011(1):39-42.(ZHANG Qifu,SUN Xianshen.Measuring Principle and Developmental Prospect of 3DLaser Scanner[J].Beijing Surveying and Mapping,2011(1):39-42.in Chinese)
[4]陈弈,郭颖,杨俊,等.脉冲式高精度激光测距技术研究[J].红外,2010,31(6):1-4,39.(CHEN Yi,GUO Ying,YANG Jun,et al.Study of High-Precision Pulsed Laser Range Finding Techniques[J].Infrared,2010,31(6):1-4,39.in Chinese)
[5]宋建辉,袁峰,丁振良.脉冲激光测距中高精度时间间隔的测量[J].光学精密工程,2009,17(5):1046-1050.(SONG Jianhui,YUAN Feng,DING Zhenliang.High Precision Time Interval Measurement in Pulsed Laser Ranging[J].Optics and Precision Engineering,2009,17(5):1046-1050.in Chinese)
[6]张处武,胡学同.精密相位激光测距仪的设计[J].激光杂志,1998,19(6):39-42,49.(ZHANG Chuwu,HU Xuetong.The Design of Precision Phase Laser Distance Gauge[J].Laser Journal,1998,19(6):39-42,49.in Chinese)
[7]周睿,孔东.一种高精度相位激光测距方法的实现[J].科学技术与工程,2009,9(21):6337-6342,6347.(ZHOU Rui,KONG Dong.Realization on a Method of Accurate Phase-Shift Laser Range Finder[J].Science Technology and Engineering,2009,9(21):6337-6342,6347.in Chinese)
[8]杨俊志.电子经纬仪的测角原理及检定方法[J].测绘科学,1995(1):14-19.
[9]潘建刚.基于激光扫描数据的三维重建关键技术研究[D].北京:首都师范大学,2005.(PAN Jangang.The Research of the Key Problems of 3DReconstruction from Laser Scan Data[D].Beijing:Capital Normal University,2005.in Chinese)
[10]周华伟.地面三维激光扫描点云数据处理与模型构建[D].昆明:昆明理工大学,2011.
[11]张涛.基于离散点云的三维重建研究与实现[D].哈尔滨:哈尔滨工程大学,2010.(ZHANG Tao.Research and Realization of Three-Dimensional Reconstruction Based on Discrete Point Cloud Data[D].Harbin:Harbin Engineering University,2010.in Chinese)
[12]肖贝.激光三维扫描点云数据预处理算法的研究[D].武汉:武汉工程大学,2011.(XIAO Bei.Research on Point Cloud of Three-Dimensional Laser Scanner Pre-Processing Algorithm[D].Wuhan:Wuhan Institute of Technology,2011.in Chinese)
[13]李源.基于三角网的DEM数据生成及可视化研究[D].长沙:中南大学,2009.(LI Yuan.Research of DEM Generation and Visualization Based on Triangulation[D].Changsha:Central South University,2009.in Chinese)
[14]杨俊志,张贵和.电子经纬仪轴系补偿问题[J].测绘通报,1995(5):23-28,42.
[15]尤宝平,暴景阳,崔高嵩,等.全站仪的补偿与改正研究[J].海洋测绘,2004,24(5):29-31,45.(YOU Baoping,BAO Jingyang,CUI Gaosong,et al.The Compensation and Correction for the Electronic Total Station Observations[J].Hydrographic Surveying and Charting,2004,24(5):29-31,45.in Chinese)