A method for locating a stacker and reclaimer in a bulk cargo yard based on point cloud data processing technology and a system for implementing the method

Abstract

The present invention provides a method for positioning a stacker and reclaimer in a bulk cargo yard based on point cloud data processing technology and a system for implementing the method. The method includes obtaining point cloud data of the bulk cargo yard and gridding the point cloud data. Processing, using grayscale values ​​to represent the elevation values ​​of the grid to obtain an elevation map, performing mathematical morphology operations on the elevation map, calculating the difference between the expansion operation and the corrosion operation to obtain mathematical morphology gradient data; after binarization, mathematical morphology is performed Open and close operations are used to obtain position information to achieve the purpose of positioning the stacker and reclaimer in the bulk cargo yard. The method of the present invention can accurately and quickly extract the position information of the stacker and reclaimer in the bulk cargo yard, and achieve the purpose of automatically positioning the stacker and reclaimer in the bulk cargo yard without manual observation and with good 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 using th...

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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