Bulk cargo yard stacker-reclaimer positioning method based on point cloud data processing technology and system for realizing same

Abstract

The invention provides a bulk cargo yard stacker-reclaimer positioning method based on point cloud data processing technology and a system for realizing same. The method comprises the steps of acquiring the point cloud data of the bulk cargo yard, performing gridding on the point cloud data, representing elevation values of the grids by means of gray values for obtaining an elevation diaphragm, performing mathematical morphological operation on the elevation diaphragm, calculating a difference between expansion operation and corrosion operation for obtaining mathematical morphological gradient data; performing binaryzation, performing mathematical morphological open-and-close operation for obtaining position information, and realizing a purpose of positioning the stacker-reclaimer in the bulk cargo yard. The method of the invention has advantages of accurately and quickly extracting position of the stacker-reclaimer in the bulk cargo yard, realizing a purpose of positioning the stacker-reclaimer in the bulk cargo yard, realizing no requirement for artificial observation, and obtaining high accuracy.

Description

【Technical field】 [0001] The invention relates to the field of image data processing, and is suitable for modern logistics management of bulk cargo yards, in particular to a bulk cargo yard stacker-reclaimer positioning method based on point cloud data processing technology, and a system for realizing the method. 【Background technique】 [0002] With the continuous development of the economy, the market scale continues to expand, and the trade and transportation volume of bulk bulk cargo continues to grow. As a new type of high-efficiency continuous loading and unloading machine, the stacker-reclaimer can greatly reduce the time required for loading and unloading work, improve work efficiency, and reduce the intensity of manual labor by using it to load and unload bulk cargo. At present, the stacker and reclaimer has been widely used in the bulk cargo loading and unloading work in large freight yards. In order to ensure the efficiency of bulk cargo loading and unloading usin...

AI Technical Summary

Problems solved by technology

However, the actual environment of the bulk cargo yard is usually harsh, and the unclean environment will make the laser displacement sensor unable to work normally.

Moreover, the deformation of the track of the stacker-reclaimer in the bulk cargo yard with the increase of the service life will cause the target position of the laser displacement sensor to shift, resulting in a large error in the positioning result. Therefore, the method is robust in practical applications. Performance and positioning accuracy are not ideal

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