Recognition, positioning and attitude determination system based on visual sensor
A visual sensor, identification and positioning technology, applied in the field of target identification, can solve the problems of low automation level and high labor intensity, and achieve the effect of high positioning accuracy, avoiding waste of resources and ensuring accuracy
Active Publication Date: 2021-08-10
716TH RES INST OF CHINA SHIPBUILDING INDAL CORP
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Problems solved by technology
[0005] Aiming at the problems of high labor intensity and low level of automation in the traditional manual docking, combined with the technical requirements of the automatic docking system of the loading and unloading arm, and comprehensively analyzing the working conditions of the ship's floating situation, visual range, and obstacle occlusion, a method for automatic docking of the loading and unloading arm is studied. The visual recognition system for docking provides the precise pose of the header flange of the ship, which is of great significance to improve the success rate of automatic docking of the loading and unloading arm
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[0053] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, not to limit the present application.
[0054] In one embodiment, combined with figure 1 , provides a visual sensor-based recognition, positioning and attitude determination system, the system comprising:
[0055] A switching module, configured to generate and send a first switching instruction or a second switching instruction to the first visual recognition module or the second visual recognition module;
[0056] The first visual recognition module is configured to recognize the pose of the positioning target flange in real time under the trigger of the first switching instruction;
[0057] Here, the target flange is the hea...
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The invention discloses a visual sensor-based recognition, positioning and attitude determination system. The system includes a switching module for generating and sending a first switching instruction or a second switching instruction to the first visual recognition module or the second visual recognition module; A visual recognition module, used to recognize the pose of the positioning target flange in real time under the trigger of the first switching instruction; a second visual recognition module, used to recognize the pose of the positioning target flange in real time under the trigger of the second switching instruction . The visual recognition system for automatic docking of loading and unloading arms of the present invention adopts a double positioning target recognition mode, and switches different target recognition modules according to the distance information until the docking process is completed, and can realize floating targets with a long distance, a wide range, and a wide viewing angle Flange dynamic identification and positioning. In addition, the principle of each relocation is different, and modules with different positioning accuracy are set according to the distance to ensure the accuracy and avoid waste of resources.
Description
technical field [0001] The invention belongs to the field of target recognition, in particular to a visual sensor-based recognition, positioning and attitude determination system. Background technique [0002] Loading Arm (Loading Arm) is a connection device to realize the transportation of fluid medium between the transport ship and the receiving station, and is one of the core equipment of the receiving station. [0003] At present, the docking between the loading and unloading arm and the transport ship is mainly realized by manual operation. However, the heavy weight of the loading and unloading arm itself and the long pipeline lead to poor structural rigidity. The important thing is that the transport ship is affected by sea wind, waves, etc., and there is also a certain amount of floating when docking. This makes manual docking very difficult, and if the operation is improper, the sealing surface may be damaged, and even casualties may be caused. [0004] Therefore, ...
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IPC IPC(8): G01C11/02G01C11/04
CPCG01C11/02G01C11/04
Inventor 陈一鸣刘志成张彬周鑫华胡旭杰孟祥慈孟凡皓陈睿马文强邵彦山杨宁
Owner 716TH RES INST OF CHINA SHIPBUILDING INDAL CORP