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[1]易雨枫,权安鑫,於家成,等. 基于激光扫描的铜精料库存盘点技术研究 [J].武汉工程大学学报,2026,48(04):440-448.[doi:10.19843/j.cnki.CN42-1779/TQ.202508001]
　YI Yufeng,QUAN Anxin,YU Jiacheng,et al.Copper concentrate stocktaking technology based on laser scanning [J].Journal of Wuhan Institute of Technology,2026,48(04):440-448.[doi:10.19843/j.cnki.CN42-1779/TQ.202508001]
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基于激光扫描的铜精料库存盘点技术研究
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《武汉工程大学学报》[ISSN:1674-2869/CN:42-1779/TQ]

卷:
48
期数:
2026年04期
页码:
440-448
栏目:
智能制造
出版日期:
2026-08-30

文章信息/Info

Title:
Copper concentrate stocktaking technology based on laser scanning
文章编号:
1674 - 2869（2026）04 - 0440 - 09
作者:
易雨枫1; 权安鑫1; 於家成1; 熊 伦1; 李 秦2; 狄 川2; 田亚团2; 陈金毅3; 卢永雄*1
1. 武汉工程大学光电信息与能源工程学院、数理学院，湖北 武汉 430205；
2. 中石化工程质量监测有限公司，北京 100000；
3. 武汉工程大学荆门化工新材料产业技术研究院，湖北 荆门 448000
Author(s):
1. School of Optical Information and Energy Engineering, School of Mathematics and Physics, Wuhan Institute of Technology, Wuhan 430205, China;
2. Sinopec Engineering Quality Monitoring Co., Ltd, Beijing 100000, China;
3. Jingmen Institute of Chemical Industry and New Materials Industry Technology, Wuhan Institute of Technology, Jingmen 448000, China
关键词:
激光扫描; 三维点云; 体积计算; 振动补偿
Keywords:
laser scanning;  3D point cloud;  volume calculation;  vibration compensation
分类号:
TD76
DOI:
10.19843/j.cnki.CN42-1779/TQ.202508001
文献标志码:
A
摘要:
面向大型铜精料库存盘点自动化与智能化提升的需求，设计和搭建了一套基于国产二维激光扫描仪的盘库系统，并研究了一种数据校正算法。本系统通过坐标变换、点云配准、点云滤波等方法对原始点云作预处理，采用Delaunay三角剖分法进行三维重建，得到散料堆的三维模型，利用投影法对三维模型进行体积计算，再结合散料的密度得到堆体的质量。针对盘库系统在采集数据过程中由于行车平台在行走时的振动所导致的点云偏移问题，提出了一种振动补偿算法。结果表明，经过补偿后的系统体积测量精度优于补偿前，达到99.7%，相较于进口同步定位与地图构建（SLAM）移动三维扫描设备，大型室内散料仓储的场景下，此盘库系统凭借“低成本+高精度+高效率”的优势，在提供场景适配性技术支撑的同时，显著增强了其在工业现场高频次、非接触式盘点的可靠性和精度，为大型散料堆库存智能化管理提供了切实可行的技术方案。
Abstract:
To meet the demand for automation and intelligent upgrading in large-scale copper concentrate inventory management, a stocktaking system based on a domestically developed 2D laser scanner was designed and constructed, and a data correction algorithm was studied. The system preprocessed raw point clouds through coordinate transformation, point-cloud registration, and point-cloud filtering. A 3D model of the bulk stockpile was reconstructed using the Delaunay triangulation method. The volume of the 3D model was calculated by the projection method, and the mass of the stockpile was further obtained and combined with the density of bulk materials. To circumvent the point cloud offset caused by the vibration of the traveling crane platform during data acquisition, a vibration compensation algorithm was proposed. The results showed that the system volume measurement accuracy reached 99.7% after compensation, significantly improved on that before compensation. Compared with imported simultaneous localization and mapping（SLAM） mobile 3D scanning equipment, in large-scale indoor bulk storage scenarios, this stocktaking system has the advantages of low cost, high precision and high efficiency. It not only provides scenario-adaptive technical support, but also significantly improves the reliability and accuracy of high-frequency non-contact inventory counting in industrial fields, offering a practical technical scheme for intelligent inventory management of large-scale bulk stockpiles.

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备注/Memo

备注/Memo:
收稿日期：2025-08-05
基金项目：武汉工程大学荆门化工新材料产业技术研究院2023年开放课题（JM202307）；中石化工程质量监测有限公司数字孪生项目（Z23001）；中石化工程质量监测有限公司机器人项目（DW-JCGS-2023-3）
作者简介：易雨枫，硕士研究生。Email:1396164751@qq.com
*通信作者：卢永雄，博士，教授。Email:luyx@wit.edu.cn
更新日期/Last Update: 2026-09-05