Radioactive waste package identifying and positioning method and device
A radioactive waste, identification and positioning technology, applied in the direction of character and pattern recognition, image data processing, instruments, etc., to achieve the effect of improving the recognition range, improving flexibility and robustness, and wide recognition range
Active Publication Date: 2021-03-30
中广核工程有限公司 +1
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Problems solved by technology
[0005] The invention provides a radioactive waste package identification and positioning method and device, which realizes the identification and precise positioning of the posture and internal state of the shielded container, realizes the precise identification and positioning of the package in the shielded outer box, and solves the problem of sensitivity to environmental light and occlusion. The problem of identifying and locating the goods in the box that cannot be solved by the traditional technology
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Embodiment 1
[0045] Such as figure 1 As shown, a radioactive waste package identification and positioning method, making waste package point cloud templates and shielding container point cloud templates, using a two-stage matching algorithm to identify the pose of the shielding container and the waste package for identification and positioning , load or unload the waste package according to the result of identification and positioning, the specific steps are as follows:
[0046] S1. Collect the point cloud of the scene through the laser scanning sensor, extract the point cloud of the effective area of the calibrated lane, perform noise reduction filtering to remove random outliers, and extract the ground point cloud;
[0047] S2. Remove the ground point cloud, and cluster the object point cloud in the scene to obtain the point cloud of each object, and obtain the clustered vehicle point cloud and shielding container point cloud through screening;
[0048] S3. Apply the shielded containe...
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The invention discloses a radioactive waste package recognition and positioning method and device, and the method comprises the steps: manufacturing a waste package point cloud template and a shielding container point cloud template, recognizing the pose of a shielding container and the pose of a waste package through employing a two-stage matching method of an environment constraint feature vector, carrying out recognition and positioning, and loading or unloading the waste package according to an identification positioning result. According to the invention, the posture and the internal state of the shielding container are identified and accurately positioned, the goods package in the shielding outer box is accurately identified and positioned, and the problem of identifying and positioning the goods package in the box, which cannot be solved by the traditional technology sensitive to ambient light, shielding and the like, is solved.
Description
technical field [0001] The invention relates to the technical field of cargo identification and positioning, in particular to a radioactive waste package identification and positioning method and device. Background technique [0002] Package identification and positioning technology is the most basic and key technology in unmanned cargo handling scenarios. The stability and accuracy of identification and positioning directly affect the reliability of the entire loading and unloading system. In order to complete the accurate loading and unloading process, it is necessary to identify and locate the transfer container on the transfer vehicle and the waste package in the container. [0003] For the scene of the package in the outer box, there is currently no effective identification and positioning method. The traditional package positioning and identification method is aimed at locating independent packages. The methods are mainly divided into three ways: relying on position s...
Claims
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IPC IPC(8): G06T7/521G06T7/73G06K9/62
CPCG06T7/521G06T7/73G06T2207/10028G06T2207/20024G06F18/2321
Inventor 熊会元刘建勋刘羽李同同
Owner 中广核工程有限公司