Ship loader cabin hatch identification method

An identification method and ship loader technology, which is applied in the field of ship loader cabin hatch identification, can solve the problems of incorrectly identifying the hull and coal, and achieve the effect of improving accuracy

Active Publication Date: 2021-09-03
HANGZHOU JIYI TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention mainly solves the problem that the existing technology cannot correctly identify the hull and coal, and provides a method for identifying the hatch of a ship loader

Method used

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  • Ship loader cabin hatch identification method
  • Ship loader cabin hatch identification method
  • Ship loader cabin hatch identification method

Examples

Experimental program
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Effect test

Embodiment

[0117] In this embodiment, a ship cabinet hatch identification method, wherein the shipping machine includes a large vehicle moving along the track, rotating the cantilever set on the big car, is disposed on the sleeper platform of the cantilever front end, on both sides of the infusion platform A laser scanner is installed separately. At two laser scanners, the cabin is entirely scanned, and the laser scanner shutdown mounting inclination instrument, real-time monitoring the laser scanner platform and the horizontal plane angle. This method uses a laser scanner that combines the mapping positioning, a ship database, and a built-in horizontal inclination, is identified. The laser scanner work mode is to generate a single laser in a vertical plane, acquire the inner point cloud data, and rotate the laser scanner in the horizontal direction, and finally acquire the three-dimensional coordinate data.

[0118] The method includes the following steps:

[0119] S1. Open work, two laser ...

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PUM

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Abstract

The invention discloses a ship loader cabin hatch identification method, and solves the problem that a ship body and coal cannot be correctly identified in the prior art. The method comprises the following steps: acquiring point clouds of two laser scanners, calculating a conversion matrix between coordinate systems, performing sliding window detection by taking each scanning line acquired by the laser scanners as a basic unit to extract boundary points, clustering the boundary points to select a final boundary point cloud set, converting the final boundary point cloud set to a track coordinate, fitting a contour line for the final boundary point cloud set, and calculating the cabin depth and the cabin gradient. According to the method, the coordinate data of the point cloud data is adopted to carry out coordinate conversion, elimination and contour line extraction on the point cloud, and the situation that the ship body and the coal cannot be distinguished due to similar point cloud reflectivity intensity is eliminated. A sliding window detection method is utilized, so that the accuracy of determining the hatch boundary point is improved. The depth and the inclination of the cabin can be calculated by using a hatch identification processing result, and real-time monitoring data can be provided for ship loading process control software.

Description

Technical field [0001] The present invention relates to the field of location identification, in particular, to a ship cabin hatch identification method. Background technique [0002] The development of global trade integration has promoted the demand for coal transportation in the world. From a wide variety of commodities, iron ore, coal, grain, etc., the increase in the rise of the shipments of the shipments in rapid growth. With this development, there is a continuous update of Ocean bulk transport ships, as well as renewal of bulk loading and unloading equipment that can stop and unloading and unloading these large ships. The automation of bulk loading and unloading is an inevitable development trend. [0003] At present, the degree of automation system in bulk carriers is low, and the shipping operations use artificial operation, the range of shipping operations and the migration of various mechanism of shipping machines are controlled by the driver. Usually, it is necessary...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C15/00G01C9/00G01B11/22B65G67/60B65G69/00
CPCG01C15/002G01C9/00G01B11/22B65G67/606B65G69/00
Inventor 魏勇李楠王宇聪江学文叶君辉金凌赵志军李小兰
Owner HANGZHOU JIYI TECH
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