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Design of Soil-Pile Scanning System Using the Laser Rangefinder
Quang Hoan Le(레광환),S.W.Chio(최성웅),T.U.Kim(김태운),C.T.Nguyen(웨치탄),J.W.Lee(이재우),S.Y.Yang(양순용) 유공압건설기계학회 2016 유공압건설기계학회 학술대회논문집 Vol.2016 No.6
Nowadays, autonomous excavators are studied to replace the human presence when the machine is working in the hazardous environment. Especially, the perception for defining the shape and the dimension of the soil-pile should be developed to generate the excavation path planning. In this paper, a scanning system for soil-pile will be presented to apply to the autonomous excavator. First, a laser range finder (2D Lidar) is mounted to a bracket which is forced to slide vertically by linear actuator. Then, a data processing program filters the scanning result from the measurement. Finally, the soil-pile shape is determined by meshing the point cloud by using the Delaunay triangulation method. An experiment for real soil-pile is also implemented to verify the performance of the system.