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【目的】探究TOF激光雷达扫描烟丝堆积体积在线测量应用前景。【方法】采用自主搭建的传送带烟丝堆积体积在线测量系统，研究了TOF激光雷达扫描高度、传送带颜色和运行速度对系统的影响，并对算法处理后的烟丝点云进行2.5D体积计算。【结果】（1）激光雷达扫描测量高度对检测点云异常值比例有较大影响，1200 mm高度扫描的点云数据比较适用于传送带烟丝堆积体积测量；传送带颜色为白色时，TOF激光雷达对传送带距离的测定误差最小；传送带运行速度40～130 mm/s范围内，点云数据量对物料扫描轮廓重建影响均较小；（2）激光雷达扫描测量高度变化过程中会出现“断层”现象，体积计算时选用interpolate模式对空缺值进行插值处理可补全断层位置，有效提高测量结果准确性。（3）基于TOF激光雷达扫描测量传送带物料堆积体积平均相对误差小于3.0%，较好地验证了该在线测量系统具有较高的测量准确度。【结论】采用TOF激光雷达扫描进行烟丝堆积体积在线测量具有良好可行性和准确性。
Abstract：[Objective] This study aims to explore the application prospects of online measurement of cut tobacco stacking volume using TOF Li DAR scanning. [Methods] An online measurement system for cut tobacco stacking volume on a conveyor belt was independently developed. The study investigated the effects of TOF Li DAR scanning height, conveyor belt color, and operating speed on the system. Additionally, a 2.5D volume calculation was performed on the cut tobacco point cloud processed by the algorithm. [Results] The results showed; 1) The measurement height of the Li DAR significantly affects the proportion of outliers in the detected point cloud. Point cloud data scanned at a height of 1200 mm are more suitable for measuring the stacking volume of cut tobacco on the conveyor belt. When the conveyor belt color is white, the measurement error of the TOF Li DAR distance to the conveyor belt is minimized. Within the conveyor belt operating speed range of 40～130 mm/s, the amount of point cloud data has little impact on the reconstruction of the material scanning contour. 2) During the variation of Li DAR scanning measurement height, “gaps” may occur. Using the interpolate mode to perform interpolation on missing values during volume calculation can fill the gaps, effectively improving the accuracy of the measurement results. 3) The average relative error of the accumulation volume measurement of conveyor belt materials based on TOF Li DAR scanning is less than 3.0%, which well verifies that the online measurement system has high measurement accuracy. [Conclusion] Using TOF Li DAR scanning for online measurement of cut tobacco stacking volume is highly feasible and accurate.
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基本信息:
DOI：10.16472/j.chinatobacco.2022.T0300
中图分类号:TN958.98;TS452
引用信息:
[1]孙名豫,周沅桢,乔俊峰等.基于TOF激光雷达扫描的烟丝堆积体积测量研究[J].中国烟草学报,2025,31(03):39-47.DOI:10.16472/j.chinatobacco.2022.T0300.
基金信息:
云南省兴滇英才支持计划“产业创新人才”专项(YNWR-CYJS-2020-041); 红云红河烟草(集团)有限责任公司科技计划项目“在线无人质检方向的质量过程控制应用研究”(HYHH2018GY04)