Unlock instant, AI-driven research and patent intelligence for your innovation.

Cargo ship hatch position acquisition method and system based on laser radar

A technology of lidar and acquisition method, applied in image data processing, instruments, computing and other directions, can solve problems such as poor adaptability, and achieve the effect of reducing hatch omission, strong adaptability and high accuracy

Pending Publication Date: 2021-10-22
武汉港迪智能技术有限公司
View PDF5 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the present invention proposes a lidar-based cargo ship hatch position acquisition method, system, equipment, and storage medium to solve the problem of poor adaptability for hatch position identification

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Cargo ship hatch position acquisition method and system based on laser radar
  • Cargo ship hatch position acquisition method and system based on laser radar
  • Cargo ship hatch position acquisition method and system based on laser radar

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the implementation manners in the present invention, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0057] see figure 1 , a kind of laser radar-based cargo ship hatch position acquisition method that the present invention proposes comprises the following steps:

[0058] S1. Establish the rotary coordinate system of the door machine and the wharf world coordinate system, and calibrate the external parameters of the scanner.

[0059] see figure 2 , establish the rotary coordinate system of the door crane and the wharf world coordinate system, ta...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a cargo ship hatch position acquisition method and system based on a laser radar, and the method comprises the steps: placing a grab bucket in an operation hatch of which hatch position information is to be extracted, scanning an operation region through a laser scanner, and obtaining 3D point cloud data; preprocessing the 3D point cloud data; calculating the height of a reference plane according to the preprocessed 3D point cloud data, and analyzing the opening type of the hatch cover; and calculating cargo ship operation hatch position information according to the hatch cover opening type and the preprocessed 3D point cloud data. The invention can automatically recognize the opening mode of the hatch cover and automatically calculate the cargo ship operation hatch position information, the hatch position obtaining algorithm is high in adaptability, the hatch detection rate is high, and the method is suitable for bulk cargo loading and unloading automatic operation.

Description

technical field [0001] The invention belongs to the field of port engineering machinery automation, and in particular relates to a laser radar-based method and system for acquiring hatch positions of cargo ships. Background technique [0002] In trade, cargo transshipment is often carried out through ports. In the transshipment cargo, in addition to containers, bulk materials (soybean, coal, sand, etc.) are also an important part. These bulk materials are unloaded from the cargo ship or loaded onto the cargo ship through the mechanical equipment on the berth. Portal cranes (gantry cranes) are an important type of loading and unloading equipment in the bulk material operation wharf, which has the characteristics of strong versatility and high flexibility. [0003] In the process of bulk material loading and unloading, it is very important to determine the scope of work on the cargo ship. Exceeding the scope of work will not only cause material spillage, but also cause safety...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06T7/70G06T7/10G06T7/136G06T7/60
CPCG06T7/70G06T7/60G06T7/10G06T7/136G06T2207/10028G06T2207/20024G06T2207/30248
Inventor 张鹏石先城曹志俊张涛
Owner 武汉港迪智能技术有限公司