Laser positioning-based grab anti-swing collision strategy control method and system

Abstract

The application provides a laser positioning-based grab bucket anti-shaking collision strategy control method and system, comprising the following steps: establishing a detection model according to laser point cloud data of a ship cabin and a grab bucket, and obtaining detection model point cloud; registering field point cloud of the ship cabin and the grab bucket with the detection model point cloud, detecting the relative position relationship between the grab bucket and the ship cabin, and then triggering anti-collision warning information. Through multi-sensor information fusion technology, the PCL point cloud target detection algorithm is used to realize anti-collision protection of the grab bucket in the running process. The application adopts a laser scanning mode to collect point cloud data, and is not affected by heavy fog weather. The application avoids using an estimation mode, and improves the accuracy of detection data and results.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of anti-collision technology, in particular, to a grab bucket anti-shaking collision strategy control method and system based on laser positioning. BACKGROUND

[0002] Patent document CN110422762B discloses a grab bucket anti-shaking control method using a traveling grab bucket, comprising: constructing a grab bucket system; inputting the maximum running speed value Vmax of the trolley and the acceleration a of the trolley through the input end of the anti-shaking function module; the anti-shaking function module transmits the result to the frequency converter after operating according to the above parameters, and the frequency converter controls the first motor to make the trolley speed 0 when the trolley runs to the target object, and the swing of the grab bucket is also 0. After setting the anti-shaking function module, only the maximum running speed value Vmax of the trolley and the acceleration a of the trolley need to be input through the input end of the anti-shaking function module; ensure that the trolley starts from 0 speed and runs to the target object, and the speed is reduced to 0 again, and at the same time in the process of uniform motion of the trolley, the swing of the grab bucket is 0, that is, the effect of grab bucket anti-swing is achieved. It adopts a grab bucket open-loop detection method,

[0003] However, the patent document CN110422762B does not monitor the spatial position of the grab bucket in real time, but estimates it through a mathematical model in a predictive manner. When an unknown external factor appears during operation, it will cause the grab bucket control to fail. This method is not suitable for port large grab bucket ship unloader anti-collision control.

[0004] Patent document CN205537544U discloses a grab bucket swing angle measuring device based on binocular vision, comprising a visual image acquisition device and an information processing display device; the visual image acquisition device is fixed on the grab bucket trolley, the grab bucket is connected with the drum on the grab bucket trolley through the steel wire rope, the visual image acquisition device acquires the swing image information of the steel wire rope, and transmits the image information to the information processing display device; the information processing display device compares the image information with the initial position image information of the steel wire rope, and then obtains the position information of the grab bucket, and displays the position information. Through the visual image acquisition device and the information processing display device, the double eyes of a person can be simulated, the grab bucket swing angle in the actual situation can be measured in real time, and the influence of various external environments can be avoided due to the setting of the visual image acquisition device on the trolley.

[0005] However, the patent document CN205537544U detects the position of the grab bucket through vision, and in a long-distance foggy day, image loss may occur, affecting the effectiveness of anti-collision detection. SUMMARY

[0006] In view of the defects in the prior art, the purpose of the present application is to provide a grab bucket anti-shaking collision strategy control method and system based on laser positioning.

[0007] According to the present application, a laser positioning-based grab bucket anti-shaking collision strategy control method is provided, comprising:

[0008] Step S1: According to the laser point cloud data of the ship cabin and the grab bucket in the scene, a detection model is established, and detection model point cloud is obtained.

[0009] Step S2: The on-site point cloud of the ship cabin and the grab bucket is matched with the detection model point cloud, the relative position relationship between the grab bucket and the ship cabin is detected, and then the anti-collision warning information is triggered.

[0010] Preferably, the step S1 comprises:

[0011] Step S1.1: After scanning the ship cabin and the grab bucket target by laser, the point cloud data of the ship cabin and the grab bucket is obtained.

[0012] Step S1.2: By using PCL point cloud library to analyze and process the point cloud data, the spatial topological relationship of each data point in the point cloud is established, the three-dimensional point cloud visualization graph of the entire ship cabin parked in the working area is generated, and the starting position, the ending position, the cabin width, the external shape of each ship cabin and the height change information of the material pile in the ship cabin are determined.

[0013] Step S1.3: Based on the spatial topological relationship of each data point in the point cloud, the outlier points and redundant points on the surface of the point cloud are filtered out, the cabin plane of the ship cabin and the grab bucket are segmented from the point cloud scene, the point cloud features are extracted and the geometric characteristics are estimated, the detection model is established, and the detection model point cloud is obtained.

[0014] Preferably, the step S2 comprises:

[0015] Step S2.1: The real-time on-site point cloud is matched with the detection model point cloud, the left and right cabin side coordinates of the landing side and the sea side, the center coordinates of the grab bucket are provided in real time during the grabbing operation, the real-time three-dimensional point cloud visualization graph of the ship cabin and the grab bucket is generated; the Cartesian coordinate information of the grab bucket on the left and right cabin sides is calculated, the horizontal relative position relationship between the grab bucket and the left and right cabin sides is judged; the lowest center point of the grab bucket is detected, the change of the coordinates of the lowest center point of the grab bucket is obtained in real time during the grabbing process to judge the height position of the grab bucket, and the height relative position relationship between the grab bucket and the cabin side is judged according to the size type of the grab bucket and the cabin side coordinate information.

[0016] Step S2.2: According to the horizontal and height relative position relationship between the grab bucket and the ship cabin, it is judged whether the grab bucket enters the set safe operation distance; if yes, the anti-collision warning information is triggered.

[0017] Preferably, the anti-collision warning information triggered is fed back to the intelligent system of the ship unloader by using the TCP / UDP mode, and the anti-collision detection task is completed.

[0018] Preferably, in the generation of the three-dimensional point cloud visualization diagram, the data of both the pan-tilt and the laser scanner are parsed, the measurement data of both are integrated, a coordinate system is established, and the three-dimensional coordinate information of the measured object is generated.

[0019] According to the present application, a laser positioning-based grab bucket anti-shaking collision strategy control system is provided, comprising:

[0020] Module M1: according to the laser point cloud data of the ship cabin and the grab bucket in the scene, a detection model is established, and detection model point cloud is obtained;

[0021] Module M2: the on-site point cloud of the ship cabin and the grab bucket is registered with the detection model point cloud, the relative positional relationship between the grab bucket and the ship cabin is detected, and then anti-collision warning information is triggered.

[0022] Preferably, the module M1 comprises:

[0023] Module M1.1: after scanning the ship cabin and the grab bucket target by laser, the point cloud data of the ship cabin and the grab bucket is obtained;

[0024] Module M1.2: by analyzing and processing the point cloud data by using the PCL point cloud library, the spatial topological relationship of each data point in the point cloud is established, a three-dimensional point cloud visualization diagram of the entire ship cabin parked in the working area is generated, the starting position, the ending position, the cabin width, the external shape of each ship cabin and the height change information of the material pile in the ship cabin are determined;

[0025] Module M1.3: based on the spatial topological relationship of each data point in the point cloud, the outlier points and redundant points on the surface of the point cloud are filtered out, the cabin plane of the ship cabin and the grab bucket are segmented from the point cloud scene, the point cloud features are extracted and the geometric characteristics are estimated, a detection model is established, and detection model point cloud is obtained.

[0026] Preferably, the module M2 comprises:

[0027] Module M2.1: real-time on-site point cloud is registered with the detection model point cloud, in the grab material operation, the left and right cabin side coordinates of the landing side and the sea side, the center coordinates of the grab bucket are provided in real time, the real-time three-dimensional point cloud visualization diagram of the ship cabin and the grab bucket is generated; the Cartesian coordinate information of the grab bucket on the left and right cabin sides is calculated, the horizontal relative positional relationship of the grab bucket and the left and right sides of the ship cabin is judged; the lowest center point of the grab bucket is detected, in the grab material process, the change of the coordinates of the lowest center point of the grab bucket is obtained in real time to judge the height position of the grab bucket, and the height relative positional relationship of the grab bucket and the ship cabin is judged according to the size type of the grab bucket and the cabin side coordinate information;

[0028] Module M2.2: according to the horizontal and height relative positional relationship of the grab bucket and the ship cabin, it is judged whether the grab bucket enters the set safe operation distance; if yes, the anti-collision warning information is triggered.

[0029] Preferably, the anti-collision warning information is fed back to the ship unloader intelligent system by adopting the TCP / UDP mode, and the anti-collision detection task is completed.

[0030] Preferably, in the generation of the three-dimensional point cloud visualization diagram, data of the pan-tilt and the laser scanner are analyzed, measurement data of the two is integrated, a coordinate system is established, and three-dimensional coordinate information of a measured object is generated.

[0031] Compared with the prior art, the present application has the following beneficial effects:

[0032] 1. The present application provides a grab bucket anti-shaking collision strategy control method based on laser positioning, which realizes anti-collision protection of the grab bucket during operation by using a PCL point cloud target detection algorithm through multi-sensor information fusion technology.

[0033] 2. The present application uses a laser scanning method to collect point cloud data, which is not affected by heavy fog weather.

[0034] 3. The present application avoids using an estimation method, and improves the accuracy of detection data and results. DETAILED DESCRIPTION

[0035] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings:

[0036] Figure 1 It is a method step flow diagram of the present application.

[0037] Figure 2 It is a schematic diagram of the working principle of the present application. DETAILED DESCRIPTION

[0038] The present application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the present application, a number of changes and improvements can be made. These all belong to the protection scope of the present application.

[0039] According to the present application, a grab bucket anti-shaking collision strategy control method based on laser positioning is provided, which comprises:

[0040] Step S1: according to the laser point cloud data of the ship cabin and the grab bucket under the scene, a detection model is established, and detection model point cloud is obtained;The step S1 includes: step S1.1: after scanning the ship cabin and the grab bucket target by laser, the point cloud data of the ship cabin and the grab bucket is obtained;Step S1.2: by using PCL point cloud library to analyze and process the point cloud data, the spatial topological relationship of each data point in the point cloud is established, the three-dimensional point cloud visualization graph of the whole ship cabin parked in the working area is generated, the starting position, the ending position, the cabin width, the external shape and the height change information of the material pile in the cabin of each cabin are determined;Step S1.3: based on the spatial topological relationship of each data point in the point cloud, the outlier points and redundant points on the point cloud surface are filtered out, the cabin plane and the grab bucket of the ship cabin are segmented from the point cloud scene, the point cloud features are extracted and the geometric characteristics are estimated, the detection model is established, and the detection model point cloud is obtained.

[0041] Step S2: the on-site point cloud of the ship cabin and the grab bucket is registered with the detection model point cloud, the relative position relationship between the grab bucket and the ship cabin is detected, and then the anti-collision warning information is triggered. The step S2 includes: step S2.1: real-time on-site point cloud is registered with detection model point cloud, in the grabbing operation, the left and right cabin side coordinates of the landing side and the sea side, the center coordinates of the grab bucket are provided in real time, the real-time three-dimensional point cloud visualization graph of the ship cabin and the grab bucket is generated;The Cartesian coordinate information of the grab bucket on the left and right cabin sides is calculated, and the horizontal relative position relationship of the grab bucket and the left and right sides of the ship cabin is judged;The lowest center point of the grab bucket is detected, and in the grabbing process, the change of the coordinates of the lowest center point of the grab bucket is obtained to judge the height position of the grab bucket, and the height relative position relationship of the grab bucket and the cabin side is judged according to the size type of the grab bucket and the cabin side coordinate information;Step S2.2: according to the horizontal and height relative position relationship between the grab bucket and the ship cabin, it is judged whether the grab bucket enters the set safe operation distance;If it enters, the anti-collision warning information is triggered. The anti-collision detection task is completed by feeding back the anti-collision warning information to the ship unloader intelligent system through TCP / UDP mode. In the generation of three-dimensional point cloud visualization graph, the data of pan-tilt and laser scanner are analyzed, and the measurement data of the two are integrated, a coordinate system is established, and three-dimensional coordinate information of the measured object is generated.

[0042] According to the grab bucket anti-shaking collision strategy control system based on laser positioning provided by the application, comprising:

[0043] Module M1: according to the laser point cloud data of the ship cabin and the grab bucket under the scene, a detection model is established, and detection model point cloud is obtained;Module M1 is a data acquisition module, mainly used for receiving and analyzing the scanning instruction sent by PLC control system, receiving the real-time target position laser point cloud data of the working site;Secondly, the data of pan-tilt and laser scanner can be analyzed;Finally, the measurement data of the two is integrated, a coordinate system is established, and three-dimensional coordinate information of the measured object is generated.

[0044] Module M2: register the on-site point cloud of the ship cabin and the grab bucket with the detection model point cloud, detect the relative position relationship of the grab bucket and the ship cabin, and then trigger the anti-collision warning information. Module M2 is a laser data processing module and a data communication module, mainly used for analyzing and processing a large amount of on-site point cloud data through the PCL point cloud library. First, for the initial scene model point cloud, the Z direction height of the cabin plane perpendicular to the cabin is obtained, the redundant points and discrete points are screened out, the grab head is segmented from the scene, the point cloud features are extracted, and the required coordinates are calculated. Secondly, the on-site point cloud is also operated in the above manner, and the coordinates of each cabin side of the ship cabin are calculated to obtain the X coordinate of the upper and lower cabin sides, the Y coordinate of the left and right cabin sides, and the grab bucket center coordinate. Finally, according to the above calculation results, the relative position relationship between the grab bucket and the X direction cabin side is judged, so as to achieve the purpose of real-time anti-collision detection. The data communication module is an interface for communication with the PLC control system. The detection message instructions sent by the PLC control system are read to execute the scanning command, and after the detection of the cabin side is executed, the series of coordinates are sent to the PLC control system. Then, after the PLC control system receives the cabin information, it sends the position of the grab bucket and judges the relative position relationship between the grab bucket and the cabin side again, executes the corresponding detection instructions again, and finally returns the position of the grab bucket and the anti-collision warning processing result to the PLC control system.

[0045] The module M1 includes: module M1.1: after scanning the ship cabin and the grab bucket target by laser, point cloud data of the ship cabin and the grab bucket is obtained; module M1.2: by analyzing and processing the point cloud data by using the PCL point cloud library, the spatial topological relationship of each data point in the point cloud is established, a three-dimensional point cloud visualization graph of the entire ship cabin parked in the working area is generated, the starting position, the ending position, the cabin width, the external shape of each ship cabin and the height change information of the material pile in the ship cabin are determined; in the generation of the three-dimensional point cloud visualization graph, the data of the pan-tilt and the laser scanner are analyzed, and the measurement data of the two are integrated, a coordinate system is established, and three-dimensional coordinate information of the measured object is generated. Module M1.3: based on the spatial topological relationship of each data point in the point cloud, the outlier points and redundant points on the point cloud surface are filtered out, the cabin plane of the ship cabin and the grab bucket are segmented from the point cloud scene, the point cloud features are extracted and the geometric characteristics are estimated, a detection model is established, and detection model point cloud is obtained.

[0046] The module M2 comprises: module M2.1: registration is performed on real-time live point cloud and detection model point cloud, left and right side coordinates of the shore side and the sea side, center coordinates of the grab bucket are provided in real time in the grabbing operation, a real-time three-dimensional point cloud visualization diagram of the ship cabin and the grab bucket is generated, Cartesian coordinate information of the grab bucket on the left and right sides of the cabin is calculated, horizontal relative position relationship of the grab bucket and the left and right sides of the cabin is judged, the lowest center point of the grab bucket is detected, and the change of the coordinates of the lowest center point of the grab bucket is acquired in real time in the grabbing process to judge the height position of the grab bucket, and the height relative position relationship of the grab bucket and the cabin is judged according to the size type of the grab bucket and the cabin side coordinate information; module M2.2: whether the grab bucket enters the set safe operation distance is judged according to the horizontal and height relative position relationship of the grab bucket and the ship cabin; if yes, the anti-collision warning information is triggered. The anti-collision detection task is completed by feeding back the anti-collision warning information to the ship unloader intelligent system in a TCP / UDP mode.

[0047] Those skilled in the art know that, in addition to implementing the system, device and each module thereof provided by the present application in a pure computer readable program code manner, the same program can also be realized in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and each module thereof provided by the present application can be considered as a hardware component, and the modules included therein for realizing various programs can also be considered as structures in the hardware component; the modules for realizing various functions can also be considered as both software programs for realizing methods and structures in the hardware component.

[0048] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other in any manner without conflict.

Claims

1. A laser positioning-based control method for a grab anti-swing collision strategy, characterized in that, The method comprises the following steps: Step S1: a detection model is established according to laser point cloud data of the ship cabin and the grab bucket under the scene, and detection model point cloud is obtained; Step S2: the on-site point cloud of the ship cabin and the grab bucket is matched with the detection model point cloud, the relative position relationship between the grab bucket and the ship cabin is detected, and then a collision-prevention warning information is triggered; The step S1 comprises: Step S1.1: after the ship cabin and the grab bucket are scanned by laser, point cloud data of the ship cabin and the grab bucket is obtained; Step S1.2: by analyzing and processing the point cloud data by using a PCL point cloud library, a spatial topological relationship of each data point in the point cloud is established, a three-dimensional point cloud visualization diagram of the entire ship cabin parked in a working area is generated, a starting position, an ending position, a cabin width, an external shape of each ship cabin and height change information of a material pile in the ship cabin are determined; Step S1.3: based on the spatial topological relationship of each data point in the point cloud, outlier points and redundant points on the surface of the point cloud are filtered out, the cabin plane of the ship cabin and the grab bucket are segmented from the point cloud scene, point cloud features are extracted and geometric characteristics are estimated, a detection model is established, and detection model point cloud is obtained; The step S2 comprises: Step S2.1: the real-time on-site point cloud is matched with the detection model point cloud, left and right cabin side coordinates of a shore side and a sea side, a center coordinate of the grab bucket are provided in real time during a grabbing operation, a real-time three-dimensional point cloud visualization diagram of the ship cabin and the grab bucket is generated, Cartesian coordinate information of the grab bucket on the left and right cabin sides is calculated, a horizontal relative position relationship between the grab bucket and the left and right cabin sides is judged, a lowest center point of the grab bucket is detected, a height position of the grab bucket is judged by obtaining a change of the lowest center point coordinate of the grab bucket in real time during the grabbing process, and a height relative position relationship between the grab bucket and the ship cabin is judged according to the size type of the grab bucket and the cabin side coordinate information; Step S2.2: whether the grab bucket enters a set safe operation distance is judged according to the horizontal and height relative position relationship between the grab bucket and the ship cabin; if yes, a collision-prevention warning information is triggered.

2. The laser positioning based anti-swing collision strategy control method for a grab bucket according to claim 1, characterized in that, The collision-prevention warning information is fed back to an intelligent system of the ship unloader by using a TCP / UDP mode, and a collision-prevention detection task is completed.

3. The laser positioning based anti-swing collision strategy control method for a grab bucket according to claim 2, characterized in that, In the generation of the three-dimensional point cloud visualization diagram, data of the pan-tilt and the laser scanner are analyzed, measurement data of the pan-tilt and the laser scanner are integrated, a coordinate system is established, and three-dimensional coordinate information of a measured object is generated.

4. A laser positioning based anti-swing collision strategy control system for a grab bucket, characterized in that, The method comprises the following steps: Module M1: a detection model is established according to laser point cloud data of the ship cabin and the grab bucket under the scene, and detection model point cloud is obtained; Module M2: the on-site point cloud of the ship cabin and the grab bucket is matched with the detection model point cloud, the relative position relationship between the grab bucket and the ship cabin is detected, and then a collision-prevention warning information is triggered; The module M1 comprises: Module M1.1: after the ship cabin and the grab bucket are scanned by laser, point cloud data of the ship cabin and the grab bucket is obtained; Module M1.2: by analyzing and processing the point cloud data by using a PCL point cloud library, a spatial topological relationship of each data point in the point cloud is established, a three-dimensional point cloud visualization diagram of the entire ship cabin parked in a working area is generated, a starting position, an ending position, a cabin width, an external shape of each ship cabin and height change information of a material pile in the ship cabin are determined; Module M1.3: based on the spatial topological relationship of each data point in the point cloud, the outliers and redundant points of the point cloud surface are filtered out, the cabin plane and the grab bucket of the cabin are segmented from the point cloud scene, the point cloud features are extracted and the geometric characteristics are estimated, the detection model is established, and the detection model point cloud is obtained; The module M2 comprises: Module M2.1: registration of real-time field point cloud and detection model point cloud is adopted, left and right cabin side coordinates of the landing side and the sea side, center coordinates of the grab bucket are provided in real time during the grabbing operation, real-time three-dimensional point cloud visualization diagram of the cabin and the grab bucket is generated; Cartesian coordinate information of the grab bucket on the left and right cabin sides is calculated, horizontal relative position relationship of the grab bucket and the left and right sides of the cabin is judged; the lowest center point of the grab bucket is detected, during the grabbing process, the change of the coordinates of the lowest center point of the grab bucket is obtained in real time to judge the height position of the grab bucket, and the height relative position relationship of the grab bucket and the cabin side is judged according to the size type of the grab bucket and the cabin side coordinate information; Module M2.2: according to the horizontal and height relative position relationship of the grab bucket and the cabin, it is judged whether the grab bucket enters the set safe operation distance; if yes, the anti-collision warning information is triggered.

5. The laser positioning based anti-swing collision strategy control system for a grab bucket as claimed in claim 4, wherein, Through the TCP / UDP mode, the anti-collision warning information triggered is fed back to the ship unloader intelligent system, and the anti-collision detection task is completed.

6. The laser positioning based anti-swing collision strategy control system for a grab bucket as claimed in claim 5, wherein, In the generation of the three-dimensional point cloud visualization diagram, the data of the pan-tilt and the laser scanner are analyzed, the measurement data of the two are integrated, the coordinate system is established, and the three-dimensional coordinate information of the measured object is generated.

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