上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

一种无人化气压沉箱三维地貌建模、测量及避碰系统

李宝顺1，曹其新1，张蕾1，李杰2   

  1. (1.上海交通大学 机械与动力工程学院，上海 200240；
    2.辛辛纳提大学 智能维护中心，辛辛纳提 210072）
  • 收稿日期:2007-10-25 修回日期:1900-01-01 出版日期:2008-10-28 发布日期:2008-10-28

A 3D Reconstruction， Measurement and Collision System for Unmanned Pneumatic Caisson

LI Bao-shun1, CAO Qi-xin1, ZHANG Lei1, JAY Lee2   

  1. (1. School of Mechanical Engineering， Shanghai Jiaotong University, Shanghai 200240, China;
    2. Research Center of Intelligent Maintenance Systems, the University of Cincinnati, Cincinnati 210072, USA)
  • Received:2007-10-25 Revised:1900-01-01 Online:2008-10-28 Published:2008-10-28

摘要： 针对无人化气压沉箱的三维建模和测量问题，提出了一种无人化气压沉箱三维地貌建模、测量及避碰系统.系统利用多个二维激光传感器，实现沉箱地貌扫描；提出了配准、三维数据分割和重建方法，实现了沉箱内的三维场景重建和实时测量；通过多个传感器融合，实现了挖掘机避碰、沉箱姿态测量.实验表明：系统工作稳定，各项指标满足现场要求，系统已可应用于实际.

关键词: 三维建模, 气压沉箱, 激光扫描, 深度测量

Abstract: A 3D surface modeling, measuring and excavator collision detection system was presented. By using several 2D laser scanning sensors, the system can scan the whole surface in the pneumatic caisson. After registration and segmentation of point cloud, a real 3D scene of the working chamber of the pneumatic caisson can be modeled. With multisensor fusion, the collision detection of excavators and measurement of the pose of the pneumatic caisson can be done. The experiments show that the system has good performance and good stability and can be put into practical use.

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