CAJ | 학술논문

为了实现挖掘机器人自动轨迹生成和轨迹跟踪，提出一种挖掘机器人的挖掘面3D重构方法。根据3D激光扫描雷达的三角形原理得到扫描点的坐标值，对扫描点进行聚类分析方法滤除噪声点，进行初始三角剖分、局部优化、着色和渲染得到三角剖分后平底坑的3D 物理模型，并采用倒置棱台进行拟合，计算了所挖平底坑内腔的上表面和下表面之间的距离和下表面的几何尺寸。实践结果表明：该方法实现了对不规则平底坑内腔的测量，为挖掘机器人自主挖掘平底坑的自动轨迹生成和跟踪奠定了基础。
위료실현알굴궤기인자동궤적생성화궤적근종，제출일충알굴궤기인적알굴면3D중구방법。근거3D격광소묘뢰체적삼각형원리득도소묘점적좌표치，대소묘점진행취류분석방법려제조성점，진행초시삼각부분、국부우화、착색화선염득도삼각부분후평저갱적3D 물리모형，병채용도치릉태진행의합，계산료소알평저갱내강적상표면화하표면지간적거리화하표면적궤하척촌。실천결과표명：해방법실현료대불규칙평저갱내강적측량，위알굴궤기인자주알굴평저갱적자동궤적생성화근종전정료기출。
For realizing digging robot automatic trajectory generation and tracking, put forwards digging surface 3D reconstruction method. According to triangle principle of 3D laser scanner radar to acquire coordinates of scan point. Use clustering analysis method on scan point to delete noise point. Use initial triangulation, local optimization, coloration, and rendering to acquire flat bottom hole 3D physical model after initial triangulation. Then use inversion prism to fitting, calculate distance between upper surface and bottom surface of flat bottom hole lumen and the geometry size of bottom surface. The practice result shows that the method realizes measurement for irregular flat bottom hole lumen and make foundation for realizing digging robot automatic trajectory generation and tracking in flat bottom hole.