عنوان

Calibration of Multi-LIDAR Systems for Real-time Surface Management: Application in Bucket Wheel Reclaimer

Number

TL51452

.Language of Text, Soundtrack etc

انگلیسی

Title Proper

Calibration of Multi-LIDAR Systems for Real-time Surface Management: Application in Bucket Wheel Reclaimer

General Material Designation

[Thesis]

First Statement of Responsibility

Billah, Mohammad S.

Subsequent Statement of Responsibility

Farrell, Jay A

Name of Publisher, Distributor, etc.

University of California, Riverside

Date of Publication, Distribution, etc.

2019

Text of Note

81 p.

Dissertation or thesis details and type of degree

Ph.D.

Body granting the degree

University of California, Riverside

Text preceding or following the note

2019

Text of Note

Stockpile reclaiming using a Bucket Wheel Reclaimer (BWR) is an important part of stockyard management. The growth in demand for material handling over the years has drawn attention to improve the automation of the process. However, studies have shown that stockpiled products are being reclaimed at approximately 50% of their potential. This study focuses on the challenges in the automation of stockyard management system using a BWR. For high accuracy point cloud computation and surface reconstruction of the stockpiled materials, accurate calibration is of crucial importance. This dissertation presents a calibration technique for multi-LIDAR systems to estimate the GNSS-LIDAR extrinsic parameters of BWR's. The approach presented works with one or more 2D LIDARs and does not require special markers (e.g., reflective tape) or surveyed locations (other than a DGNSS base station antenna). The method and its accuracy have been demonstrated using experimental data from a stockyard environment. Regarding real-time management and control, the dissertation presents a technique for real-time point cloud management, visualization, and feature extraction for large scale stockyards environments. The software solution described continuously manages the point cloud in real-time as the sensors stream data. It also displays the current stockpile on an interactive interface that allows the user to see the surface from different view-points, interrogate the coordinates of any surface location, and computes the BWR entry and exit point for automated operation. The software is tested using experimental data from a port located in Yantai, China.

Subject Term

Electrical engineering

Subject Term

Robotics

Billah, Mohammad S.

Farrell, Jay A

University of California, Riverside

Electronic name

p

[Thesis]

276903

a

Y