Key Technology Of Vehicle Posture Recognition Of Intelligent Loading System

In recent years,products in bags,such as cement,ash,mineral powder,chemical products,flour,etc.have been automatically produced,packaged and stacked.However,the loading task,especially online loading,has not yet fully automated,which means a certain amount of human involvement is still required.By this way,it features low loading efficiency and high labor intensity,and it will do serious harm to the health of loading workers in the long run.Therefore,there is an urgent need of an intelligent vehicle loading system to replace manual loading tasks in the industry.This vehicle uses laser visual measurement and point cloud data processing technology to automatically identify and measure the truck body,thereby obtaining the location and size of the sidecar,which is the premise of the intelligent loading system carrying out loading works.In view of this,this paper focuses on the research of the vehicle posture recognition technology of intelligent vehicle loading system.In this paper,design of intelligent vehicle loading system,the construction of vehicle body posture measurement system,and the measurement and identification methods of the size of the vehicle bucket were mainly studied.The main work and innovative research include: 1)The overall design of intelligent loading system is carried out in accordance with present loading situation of bagged products in China and in combination with the features of workshop production line,and functions of each part were described in detail;2)Based on the principle of intelligent loading,vehicle body position recognition and measurement system was designed in particular,the working principle,hardware selection and system construction of the system were studied deeply as well;3)The special radar hanger was designed to solve the problem of wire winding in radar measurement system.Use a long threaded rod to pass through the entire hanger,make the long threaded rod through the hole in the conductive slip ring,lock the stator of the conductive slip ring tightly with the long screw rod through locking mechanism;4)The mathematical model of the system was derived in accordance with composition and structure of the measurement system of carriage and carriage posture;5)A set of point cloud data processing method to extract the position and size of the bucket was proposed pursuant to characteristics of point cloud data in the three-dimensional laser measurement system for hoppers of trucks.Extract the point cloud belonging to the bucket through regional segmentation,clustering segmentation,boundary segmentation and other methods.Locate the four corners at the bottom of the bucket by projection method,and then calculate the vehicle posture;6)Control software of the measurement system was compiled;7)Set up the vehicle body posture recognition and measurement system and make a measurement test on bucket model and real vehicle body,then verify the reliability and feasibility of the method described in this paper in terms of measurement accuracy.Identification and measurement system and method of body posture mentioned in this paper are capable of measuring the length,width and height of the outrigger accurately,providing the vehicle body information for the intelligent vehicle loading system.Experiments indicate that measurement method of the position and dimension of the car body is able to meet the requirements of the loading system for positioning accuracy of the car hopper,which provides the theoretical basis and technical support in the early stage for the sake of achieving automation for loading operation,improving loading efficiency,and reducing labor intensity of workers.