A 3D data acquisition system and method for container identification and positioning

Abstract

The invention discloses a 3D data acquisition system and method for identifying and positioning a container. The system comprises a data processor and a 2D laser scanner, a motor driver, an inertia device and a switch respectively connected with the data processor. The system and method are relatively simple and easy to realize, combine multi-sensor data fusion technology to realize high-precision and rapid scanning of a detected target. A high-precision rotation holder is developed based on a mature 2D laser scanner and a high-precision servo motor. An axis rotating amount is added based on the 2D laser scanner, and three-dimensional point cloud data are obtained by calculating the sensor data. Through the system and method, a tyre type container crane can automatically identify the position of a target container. The requirements of identifying container area contour and position during operation of the tyre type container crane are met. The system and method are of great importance to crane work efficiency and safety.

Description

technical field [0001] The invention belongs to object recognition and position detection technology, in particular to a 3D data collection system and method for container recognition and positioning, which is applied to a tire-type container crane in a container terminal to perform three-dimensional recognition and positioning of containers. Background technique [0002] At present, in the process of developing automation in domestic container terminals, it is necessary to identify and locate the containers in the yard with high precision. However, although the 2D laser device and the existing 3D laser device can describe the outline of the container area in the scanning plane to a certain extent, it is impossible to detect the position and attitude information of the container in the adjacent position. [0003] In the process of using a 2D laser scanner for target object recognition and position detection, since the 2D laser can only realize laser scanning in one scanning ...

AI Technical Summary

Problems solved by technology

However, although the 2D laser device and the existing 3D laser device can describe the outline of the container area in the scanning plane to a certain extent, it is impossible to detect the position and attitude information of the container in the adjacent position.

[0003] In the process of target object recognition and position detection using a 2D laser scanner, since the 2D laser can only realize laser scanning in one scanning plane, it can only detect a certain section of the scanning target.

However, under normal circumstances, the surface of the scanned target object is not in a regular shape. If only a certain section is scanned and identified, complete surface information cannot be obtained.

Moreover, the existing 3D laser products are complete sets of products produced by foreign companies using multi-line laser or double prism reflection technology. If these 3D laser products are used to identify and locate the container, the acquired data is sparse and difficult to target. There are large errors in object scanning and recognition, which cannot meet the needs of applications

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