Lidar-based ship loader cabin shifting auxiliary method, device, equipment and medium

Abstract

The present application relates to a method, device, equipment and medium for assisting cabin shifting of a ship loader based on laser radar, and to the technical field of position calculation during cabin shifting operations. The method includes: acquiring ship posture data in real time based on point cloud data collected by a 3D laser radar array; calculating the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader based on the ship posture data; and assisting the ship loader in performing cabin shifting operations to the ship based on the target position height and the target cabin shifting pitch angle. The present application automatically calculates the target position height and the target cabin shifting pitch angle based on the ship posture data acquired in real time, and sends the target position height and the target cabin shifting pitch angle to the cabin shifting adjustment device corresponding to the ship loader, thereby realizing automatic cabin shifting operations, increasing the continuity of loading operations, further reducing manual operation time, and ensuring the safety of automated control of cabin shifting operations.

Description

Technical Field

[0001] The present application relates to the technical field of position calculation during a cabin shifting operation, and in particular to a laser radar-based cabin shifting assistance method, device, equipment and medium for a ship loader. Background Art

[0002] The automation of bulk cargo loading and unloading is an inevitable development trend. In order to adapt to the needs of modern ports and accelerate the development of port modernization and intelligence, the automation and intelligence of ship loaders have become key factors in improving port competitiveness.

[0003] At present, the automation level of ship loaders is low, and the loading operations are all manually operated. The scope of the loading operation and the movement of each mechanism of the ship loader are controlled by the driver through the operating console. Usually, during the loading operation, an observer needs to be set up on board to communicate with the driver and cooperate with the loading operation, which reduces the continuity of the loading operation. The workload of manual operation is large, and improper manual operation can easily lead to collision accidents between the chute and the hatch and bulkhead. Summary of the invention

[0004] In order to increase the continuity of loading operations, further reduce manual operation time, and enhance the safety protection of ship loaders, the present application provides a lidar-based ship loader cabin moving auxiliary method, device, equipment and medium.

[0005] In a first aspect, the present application provides a laser radar-based ship loader cabin moving assistance method, comprising:

[0006] Based on the point cloud data collected by the 3D laser radar array, the ship's position data is obtained in real time, and the ship's position data includes the ship's height, the ship's position relative to the ship loader, and the ship's trim;

[0007] Based on the ship posture data, calculating the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader;

[0008] Based on the target position height and the target cabin transfer pitch angle, the auxiliary ship loader performs a cabin transfer operation toward the ship.

[0009] The beneficial effects of this application are: based on the 3D laser radar array, the ship's posture data is acquired in real time, providing data support for controlling the ship loader to realize automatic cabin shifting operations. According to the real-time acquired ship posture data, the target position height and target cabin shifting pitch angle are automatically calculated, and the target position height and target cabin shifting pitch angle are sent to the cabin shifting adjustment equipment corresponding to the ship loader to realize automatic cabin shifting operations, with fast calculation speed and strong applicability, increasing the continuity of loading operations, further reducing manual operation time, reducing the possibility of events such as machine damage and ship damage, and ensuring the safety of automated control of cabin shifting operations.

[0010] Further, based on the point cloud data collected by the 3D laser radar array, the height of the ship and the position of the ship relative to the ship loader are obtained in real time, including:

[0011] Step a, based on the hatch cover type corresponding to the ship, performing a first screening on the point cloud data collected by the 3D laser radar array to obtain a hatch cover collection point cloud, wherein the hatch cover type is a flat cover or a vertical cover;

[0012] Step b, selecting a random point in the hatch cover collection point cloud as an inner point of the plane, and obtaining a current plane equation corresponding to the plane based on a collection normal corresponding to the hatch cover collection point cloud and the inner point;

[0013] Step c, traversing the remaining points in the hatch cover collection point cloud except the random points, and calculating the first distance between each of the remaining points and the current plane equation; for each of the remaining points, if the first distance corresponding to the remaining point is less than a set distance threshold, the remaining point is taken as an inner point of the corresponding plane; if the first distance is not less than the set distance threshold, the remaining point is taken as an outer point of the corresponding plane;

[0014] Step d, repeatedly executing steps b to c, taking the current plane equation with the largest number of inner points in a preset number of iterations as the target plane equation of the corresponding hatch cover, and taking the inner points under the target plane equation as the hatch cover area point cloud set; based on the hatch cover area point cloud set, obtaining the height of the ship and the position of the ship relative to the loader.

[0015] The beneficial effect of adopting the above further solution is that the hatch cover type can be used for subsequent targeted feature recognition, and the ship is positioned by identifying the hatch cover position of the current cabin.

[0016] Further, based on the point cloud data collected by the 3D laser radar array, the trim of the ship is obtained in real time, including:

[0017] Performing a second screening on the point cloud data collected by the 3D laser radar array to obtain a plurality of boundary collection points;

[0018] Clustering is performed on each of the boundary clustering points to obtain a ship edge position, and based on the ship edge position, the ship edge trim is obtained, and the ship edge trim is used as the ship trim.

[0019] The beneficial effect of adopting the above further solution is that the accuracy of obtaining the trim of the ship is improved by performing a second screening and clustering process on the point cloud data.

[0020] Further, the step a comprises:

[0021] Based on the modeling data corresponding to the ship and the multiple hatch coordinate data, the area corresponding to the front end of the bow cabin to the end of the stern cabin is used as the data processing area, and the data processing area is divided into multiple sub-areas to obtain the area height value corresponding to each of the sub-areas;

[0022] Based on the height values ​​of each of the areas, obtaining a plurality of lifting areas and current gradients corresponding to each of the lifting areas;

[0023] For each current gradient, if the current gradient is greater than a set gradient threshold, the type of the lifting area corresponding to the current gradient is marked as a standing cover or an obstacle;

[0024] Acquire a first number of the lifting areas calibrated as the vertical covers or the obstacles, and a second number of hatches corresponding to the ship, and acquire the hatch cover type based on the first number and the second number;

[0025] Based on the hatch cover type, normal estimation is performed on the point cloud data to obtain a normal vector of each point corresponding to the point cloud data;

[0026] Based on the hatch cover type and each of the normal vectors, a first screening is performed on the point cloud data collected by the 3D laser radar array to obtain the hatch cover aggregated point cloud.

[0027] The beneficial effects of adopting the above further solution are: improving the accuracy of obtaining the hatch cover type. According to the normal vector of each point corresponding to the point cloud data, it is convenient to extract the subsequent hatch cover features. According to the hatch cover features corresponding to different hatch cover types, the point cloud data is screened, thereby improving the accuracy of hatch cover position recognition.

[0028] Further, the calculating, based on the ship posture data, the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader, comprises:

[0029] For each of the cabin shifting operations, the target cabin shifting pitch angle is calculated based on the cabin position, the ship loader position, the first height difference between the cabin hatch and the obstacle, the ship height and the ship trim corresponding to the cabin shifting operation;

[0030] For each of the tank transfer operations, the target position height is calculated based on the ship height, the pitch angle of the ship loader and the target tank transfer pitch angle.

[0031] The beneficial effect of adopting the above further solution is that the target cabin moving pitch angle and the target position height are calculated according to the first height difference, which reduces the possibility of collision with objects such as masts, vertical covers, and ship cranes during the cabin moving process, and improves the accuracy of the calculation of the target cabin moving pitch angle and the target position height.

[0032] Further, after calculating the target position height, the method further comprises:

[0033] Obtaining a current loading round corresponding to the ship and a target loading distance corresponding to the current loading round, where the current loading round is the first round or the second round;

[0034] If the target position height satisfies the target cabin entry distance corresponding to the current loading round, the step of assisting the loader in performing the cabin transfer operation to the ship based on the target position height and the target cabin transfer pitch angle is performed.

[0035] The beneficial effect of adopting the above further scheme is that by judging whether the target position height satisfies the target cabin entry distance, the possibility of the chute not reaching the operating position is reduced.

[0036] Further, after calculating the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader based on the ship posture data, the method further comprises:

[0037] Based on the point cloud heights corresponding to the respective point clouds in the point cloud data, obtaining a second height difference between each of the point clouds and a chute, the chute being a component of the ship loader;

[0038] For each of the point clouds, if the second height difference is less than a preset warning threshold and greater than a preset alarm threshold, the point cloud is determined to have invaded the warning area, and a warning signal is generated to alert the user to pay attention; the warning threshold is greater than the alarm threshold;

[0039] For each of the point clouds, if the second height difference is not greater than the alarm threshold, it is determined that the point cloud has invaded the alarm area, and an alarm signal is generated to stop the cabin moving action.

[0040] The beneficial effect of adopting the above further solution is that by setting warning and alarm areas, the chute intrusion monitoring function can be realized. During the cabin transfer process, the chute intrusion protection is carried out to prevent the occurrence of machine and ship damage, thereby ensuring the safety of automatic control.

[0041] In a second aspect, the present application provides a laser radar-based ship loader cabin moving auxiliary device, comprising:

[0042] A posture acquisition module is used to acquire ship posture data in real time based on point cloud data collected by a 3D laser radar array. The ship posture data includes the ship height, the position of the ship relative to the ship loader, and the ship trim;

[0043] A calculation module, used for calculating the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader based on the ship posture data;

[0044] The auxiliary cabin transfer module is used to assist the ship loader in performing the cabin transfer operation to the ship based on the target position height and the target cabin transfer pitch angle.

[0045] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the processor is coupled to the memory;

[0046] The processor is used to execute the computer program stored in the memory so that the electronic device performs the method as described in any one of the first aspects.

[0047] In a fourth aspect, the present application provides a computer-readable storage medium, comprising a computer program or instructions, which, when executed on a computer, enables the computer to execute the method as described in any one of the first aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a flow chart of a method for assisting a ship loader to move its cabin based on a laser radar according to an embodiment of the present application;

[0049] Figure 2 This is a schematic diagram of a ship in which the hatch cover type is a flat cover according to an embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of a ship in which the hatch cover type is a vertical cover according to an embodiment of the present application;

[0051] Figure 4 This is a schematic diagram of a 3D laser radar array scanning a flat-cover ship according to an embodiment of the present application;

[0052] Figure 5 This is a schematic diagram of a 3D laser radar array scanning a covered ship according to an embodiment of the present application;

[0053] Figure 6 This is a structural block diagram of a ship loader cabin shifting auxiliary device based on laser radar according to an embodiment of the present application;

[0054] Figure 7 This is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] The present application is further described in detail below in conjunction with the accompanying drawings.

[0056] The embodiment of the present application provides a method for assisting the ship loader to move its cabin based on laser radar, which can be executed by a device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a desktop computer, etc., but is not limited thereto.

[0057] like Figure 1 As shown, a method for assisting the ship loader to move its cabin based on laser radar is described as follows (steps S101 to S103):

[0058] Step S101: Based on the point cloud data collected by the 3D laser radar array, the ship posture data is acquired in real time, wherein the ship posture data includes the ship height, the position of the ship relative to the ship loader, and the ship trim.

[0059] Ship loader is one of the important equipment for ship loading operation. At bulk material terminal, ship loader can load bulk materials onto ship quickly and accurately through its efficient loading capacity and automatic control system to meet the loading needs of the ship. Ship loader can be composed of boom belt conveyor, transition belt conveyor, telescopic chute, tail car, running device, gantry, tower and pitch device.

[0060] The ship loader also includes an outer arm, and a 3D laser radar array can be installed at the front end of the outer arm. The 3D laser radar array is composed of multiple laser radars. The 3D laser radar array has a wide scanning range and can obtain more point cloud data, solving the problem of limited scanning range of a single radar, thereby making the calculation results more accurate.

[0061] The ship's position data refers to the ship's position data and attitude data. The position data may include data reflecting the ship's position, such as the ship's height and the ship's position relative to the loader. The attitude data may include data reflecting the ship's attitude, such as the ship's longitudinal inclination.

[0062] Step S102: Based on the ship posture data, a target position height between the ship loader and the ship and a target cabin shifting pitch angle corresponding to the ship loader are calculated.

[0063] Step S103: Based on the target position height and the target cabin transfer pitch angle, the auxiliary ship loader performs a cabin transfer operation toward the ship.

[0064] Based on the 3D laser radar array, the ship's posture data is acquired in real time to provide data support for controlling the ship loader to realize automatic cabin shifting operations. According to the real-time acquired ship posture data, the target position height and target cabin shifting pitch angle are automatically calculated, and the target position height and target cabin shifting pitch angle are sent to the corresponding cabin shifting adjustment equipment of the ship loader to realize automatic cabin shifting operations. The calculation speed is fast, the applicability is strong, the continuity of loading operations is increased, the manual operation time is further reduced, the possibility of events such as machine damage and ship damage is reduced, and the safety of automated control of cabin shifting operations is ensured.

[0065] In this embodiment, the point cloud data collected by the 3D laser radar array in step S101 is used to obtain the height of the ship and the position of the ship relative to the ship loader in real time, which specifically includes the following processing:

[0066] Step a, based on the hatch cover type corresponding to the ship, performing a first screening on the point cloud data collected by the 3D laser radar array to obtain a hatch cover collection point cloud, wherein the hatch cover type is a flat cover or a vertical cover;

[0067] Step b, selecting a random point in the hatch cover collection point cloud as an inner point of the plane, and obtaining a current plane equation corresponding to the plane based on a collection normal corresponding to the hatch cover collection point cloud and the inner point;

[0068] Step c, traversing the remaining points in the hatch cover collection point cloud except the random points, and calculating the first distance between each of the remaining points and the current plane equation; for each of the remaining points, if the first distance corresponding to the remaining point is less than a set distance threshold, the remaining point is taken as an inner point of the corresponding plane; if the first distance is not less than the set distance threshold, the remaining point is taken as an outer point of the corresponding plane;

[0069] Step d, repeatedly executing steps b to c, taking the current plane equation with the largest number of inner points in a preset number of iterations as the target plane equation of the corresponding hatch cover, and taking the inner points under the target plane equation as the hatch cover area point cloud set; based on the hatch cover area point cloud set, obtaining the height of the ship and the position of the ship relative to the loader.

[0070] like Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, since the hatch covers of the ship loader are of two types, flat cover and vertical cover, the hatch cover type needs to be known in advance to locate the ship by identifying the hatch cover position of the current cabin. The hatch cover type can be used for subsequent targeted feature recognition. The hatch cover type characterizes the state of the hatch cover after opening and closing. In this embodiment, the hatch cover types corresponding to multiple hatch covers in the ship can be the same.

[0071] The hatch cover collection point cloud is the approximate point cloud of the hatch cover area. A point is randomly selected from the hatch cover collection points. ( , , ), can be regarded as the inner point of the plane. According to the normal of the hatch cover collection point , the plane equation can be obtained by using the preset point method formula. The point method formula can be expressed as:

[0072]

[0073] Where D is .

[0074] Using the distance calculation formula from point to plane, traverse the hatch cover collection points except The remaining points outside …、 , calculate the first distance from the point to the plane If the distance Less than the set distance threshold , then it is considered to be an inner point of the plane, otherwise it is an outer point; the calculation formula of the first distance can be expressed as:

[0075]

[0076] In this embodiment, the number of iterations can be set to n. The plane equation with the largest number of inner points within the number of iterations is the target plane equation of the hatch cover. The inner points under the target plane equation are the hatch cover area point cloud set. The hatch cover position can be obtained through the hatch cover area point cloud set. The middle of the two hatch covers is the hatch area. The highest point of the hatch area is the hatch height, and the hatch height is the ship height. Through the coordinate transformation between the hatch and the 3D lidar array, and between the 3D lidar array and the ship loader, the position of the hatch relative to the ship loader, that is, the position of the ship relative to the ship loader, can be calculated.

[0077] In this embodiment, step a specifically includes the following processing:

[0078] Based on the modeling data corresponding to the ship and the multiple hatch coordinate data, the area corresponding to the front end of the bow cabin to the end of the stern cabin is used as the data processing area, and the data processing area is divided into multiple sub-areas to obtain the area height value corresponding to each of the sub-areas;

[0079] Based on the height values ​​of each of the areas, a plurality of lifting areas and current gradients corresponding to each of the lifting areas are obtained;

[0080] For each current gradient, if the current gradient is greater than a set gradient threshold, the type of the lifting area corresponding to the current gradient is marked as a standing cover or an obstacle;

[0081] Acquire a first number of the lifting areas calibrated as the vertical covers or the obstacles, and a second number of hatches corresponding to the ship, and acquire the hatch cover type based on the first number and the second number;

[0082] Based on the hatch cover type, normal estimation is performed on the point cloud data to obtain a normal vector of each point corresponding to the point cloud data;

[0083] Based on the hatch cover type and each of the normal vectors, a first screening is performed on the point cloud data collected by the 3D laser radar array to obtain the hatch cover aggregated point cloud.

[0084] The hatch coordinate data can be obtained through existing public algorithms. For example, according to a hatch edge recognition method for large port machinery disclosed in a patent application with application number CN202211281477.2, the hatch coordinate data can be obtained.

[0085] Combined with the hatch coordinate data, the collected point cloud data corresponding to the ship is processed with range restriction, and the front end of the front cabin to the end of the rear cabin is taken as the data processing area, and this area is divided into Split into , …, i sub-regions, and find the corresponding region height value of each sub-region .

[0086] Calculate the height difference between two adjacent sub-areas. If the height difference is greater than the threshold , then the latter sub-area of ​​the two sub-areas is counted as the ascending point A, and its coordinates are expressed as ( , ), if the height difference is less than the threshold - , then the latter of the two sub-areas is recorded as the descending point B, and its coordinates are expressed as ( , ),in, Indicates the sub-region where point A is located. Indicates the area height value of the current sub-area. Indicates the sub-region where point B is located. Indicates the area height value of the current sub-area.

[0087] Combined with the structural characteristics of bulk carriers, a rising point must be followed by a falling point, so the adjacent rising points and falling points are marked as a group of lifting areas (first rising and then falling), namely lifting areas. The current gradient corresponding to each lifting area can be obtained through the set gradient calculation formula , the gradient calculation formula can be expressed as:

[0088]

[0089] If the current gradient Greater than threshold , then mark the hatch type of the lifting area corresponding to the current gradient as a vertical cover or obstacle; if the current gradient Not greater than the threshold , then the lifting area corresponding to the current gradient is a low obstacle (manhole, etc.), which will not be counted and can be ignored.

[0090] Counting a first number of the lifting areas marked as standing covers or obstacles and the second quantity According to the set quantity ratio formula, the type of hatch cover corresponding to the ship can be determined. The quantity ratio formula can be expressed as:

[0091]

[0092] Judge the ratio output by the quantity ratio formula. If If it is greater than or equal to 1, the hatch cover type is vertical cover. If it is less than 1, the hatch cover type is flat cover.

[0093] In this embodiment, in order to facilitate the subsequent hatch cover feature extraction, a point cloud normal estimation algorithm is used to obtain the normal vector of each point corresponding to the point cloud data. The point cloud normal estimation algorithm uses the nearest neighbor method to calculate the normal vector of each point in the 3D laser radar array scanning area.

[0094] For each point in the 3D LiDAR array scanning area , using the nearest neighbor query algorithm of KD-Tree, find its nearest k neighboring point set, .

[0095] Based on the set covariance matrix formula, calculate each neighboring point With center point The covariance matrix C of . The covariance matrix formula can be expressed as:

[0096]

[0097] For the covariance matrix C, its eigenvalue and corresponding eigenvector can be calculated by the characteristic formula. The characteristic formula can be expressed as:

[0098]

[0099] in, represents the j-th eigenvalue of the covariance matrix, represents the jth eigenvector.

[0100] Based on the knowledge of spatial analytic geometry, we can find the eigenvector corresponding to the smallest eigenvalue, which is the point The normal vector of .

[0101] In this embodiment, in order to improve the accuracy of hatch cover position recognition, point cloud data needs to be screened in advance according to hatch cover features corresponding to different hatch cover types.

[0102] The difference in feature points corresponding to different hatch cover types. The normal vector corresponding to the feature point of the flat hatch type is perpendicular to the yz plane. ,The normal vector corresponding to the feature point of the vertical cover type is perpendicular to the xy plane, set .

[0103] Traverse the normals of all points in the point cloud data , calculate the normals of all points in the point cloud data according to the set normal angle calculation formula The angle between the normal vector corresponding to the feature point of the flat cover type or the normal vector corresponding to the feature point of the vertical cover type The normal angle calculation formula can be expressed as:

[0104]

[0105]

[0106] Set the first angle threshold , filter the corresponding angles in the point cloud data The points within the first angle threshold are filtered out as hatch cover point clouds.

[0107] In this embodiment, the point cloud data collected by the 3D lidar array in step S101 is used to obtain the trim of the ship in real time, which specifically includes the following processing: performing a second screening on the point cloud data collected by the 3D lidar array to obtain a plurality of boundary collection points; performing clustering processing on each of the boundary collection points to obtain the edge position of the ship, and based on the edge position of the ship, obtaining the trim of the ship, and using the trim of the ship as the trim of the ship.

[0108] Based on the set point cloud screening formula, the point cloud data is screened for the second time, and the angle is calculated by comparing the normal vectors of adjacent points. If the calculated angle exceeds the set second threshold, there may be a boundary between the two adjacent points, and the point corresponding to the boundary is defined as the boundary collection point. In this embodiment, the point cloud screening formula corresponding to the second screening can be the above-mentioned normal angle calculation formula.

[0109] Due to the limitation of the radar scanning range in the 3D laser radar array, the landside area of ​​the ship is scanned more completely, that is, the area corresponding to the minimum value in the y direction. Therefore, based on the PCL clustering algorithm, the boundary points can be clustered to obtain the cluster with the minimum y value. The cluster with the minimum y value is the edge of the ship. Get the maximum z value in this cluster With minimum The two extreme points of the cluster with the smallest y value in the z direction are the extreme values ​​of the boat edge.

[0110] Based on the set first trim calculation formula, the ship's trim can be obtained. The ship's trim is the ship's trim. The first pitch calculation formula can be expressed as:

[0111]

[0112] In this embodiment, step S102 specifically includes the following processing: for each of the cabin moving operations, the target cabin moving pitch angle is calculated based on the cabin position corresponding to the cabin moving operation, the loader position, the first height difference between the cabin hatch and the obstacle, the ship height and the ship longitudinal inclination; for each of the cabin moving operations, the target position height is calculated based on the ship height, the pitch angle of the loader and the target cabin moving pitch angle.

[0113] In order to avoid collision with masts, vertical covers, cranes and other objects during the cabin transfer process, the first height difference between the cabin hatch and the obstacle needs to be calculated according to the set obstacle height calculation formula. The obstacle height calculation formula can be expressed as:

[0114]

[0115] in, is the distance between the highest point of the ship model from the front end of the bow cabin to the end of the stern cabin and the radar, is the distance from the cabin hatch to the radar in the x direction.

[0116] During the pitching process of the cabin transfer operation, the ship's trim is also an important factor affecting the cabin transfer height. When the ship loader moves toward the bow of the ship, the position of the ship loader can be calculated based on the set second trim calculation formula. 、The cabin position corresponding to the cabin transfer operation and the trim of the ship Corresponding target cabin pitch angle The second longitudinal inclination calculation formula can be expressed as:

[0117]

[0118] in, Indicates the ship's altitude, Indicates the telescopic length of the chute. Indicates the length of the chute. Indicates the set safety distance.

[0119] In this embodiment, the target position height is the height difference between the bottom edge of the chute and the cabin hatch. , It can be expressed as:

[0120]

[0121] in, When it is positive, it means the chute is above the hatch of the cabin. A negative value indicates that the chute is below the cabin hatch.

[0122] In this embodiment, for the stability of bulk carrier loading, bulk carrier loading often requires two rounds of loading, and each round of loading has different requirements for the distance of the chute entering the cabin. Therefore, after calculating the target position height, the following processing is also included: obtaining the current loading round corresponding to the ship and the target cabin entry distance corresponding to the current loading round, and the current loading round is the first round or the second round; if the target position height meets the target cabin entry distance corresponding to the current loading round, then executing the step of assisting the loader to perform the cabin transfer operation to the ship based on the target position height and the target cabin transfer pitch angle.

[0123] In this embodiment, the first round requires the chute to enter the cabin distance , the second round requires the chute to enter the cabin distance , that is, the target entry distance corresponding to the first round is , the target entry distance corresponding to the second round is ,but:

[0124] When entering the cabin for the first time, Need to meet: , it can be considered that the chute has reached the operating position and the cabin transfer operation can begin;

[0125] During the second round of entry, Need to meet: , it can be considered that the chute has reached the operating position and the cabin transfer operation can begin;

[0126] in, , The setting value can be adjusted according to the type of cargo, ship type and workload.

[0127] In this embodiment, after step S102, the following processing is also included:

[0128] Based on the point cloud heights corresponding to the respective point clouds in the point cloud data, obtaining a second height difference between each of the point clouds and a chute, the chute being a component of the ship loader;

[0129] For each of the point clouds, if the second height difference is less than a preset warning threshold and greater than a preset alarm threshold, the point cloud is determined to have invaded the warning area, and a warning signal is generated to alert the user to pay attention; the warning threshold is greater than the alarm threshold;

[0130] For each of the point clouds, if the second height difference is not greater than the alarm threshold, it is determined that the point cloud has invaded the alarm area, and an alarm signal is generated to stop the cabin moving action.

[0131] The point cloud data acquired in real time by the 3D lidar array can be used to obtain the positional relationship between the chute and the ship through coordinate transformation. The chute intrusion monitoring function can be realized by setting warning and alarm areas.

[0132] The electronic device performs filtering and noise reduction processing on the collected point cloud data to reduce interference and improve data availability. Based on the point cloud height after filtering and noise reduction processing and the hatch height, the second height difference between each point cloud and the chute can be obtained.

[0133] In this embodiment, the area formed within the warning threshold is the warning area, and the area formed within the alarm threshold is the alarm area. The warning threshold can be 1 meter, and the alarm threshold can be 0.1 meter. The warning area is an area of ​​1 meter, and the alarm area is an area of ​​0.1 meter. Each second height difference is compared with the warning threshold and the alarm threshold. For each point cloud, if the second height difference is less than the preset warning threshold but greater than the preset alarm threshold, it is determined that the point cloud has invaded the warning area, and a warning signal is generated to remind the user to pay attention; if the second height difference is not greater than the alarm threshold, it is determined that the point cloud has invaded the alarm area, and an alarm signal is generated to stop the cabin moving action.

[0134] Based on the same technical concept, the present application also provides a ship loader cabin shifting auxiliary device based on laser radar, such as Figure 6 As shown, the laser radar-based ship loader cabin shifting auxiliary device 200 mainly includes:

[0135] The posture acquisition module 201 is used to acquire the ship posture data in real time based on the point cloud data collected by the 3D laser radar array, wherein the ship posture data includes the ship height, the position of the ship relative to the ship loader, and the ship trim;

[0136] A calculation module 202 is used to calculate the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader based on the ship posture data;

[0137] The cabin transfer assisting module 203 is used to assist the ship loader to perform a cabin transfer operation to the ship based on the target position height and the target cabin transfer pitch angle.

[0138] Optionally, the posture acquisition module 201 includes:

[0139] A first screening submodule is used to perform a first screening on the point cloud data collected by the 3D laser radar array based on the hatch cover type corresponding to the ship to obtain a hatch cover collection point cloud, where the hatch cover type is a flat cover or a vertical cover;

[0140] A plane equation submodule, used for selecting a random point in the hatch cover collection point cloud as an inner point of the plane, and obtaining a current plane equation corresponding to the plane based on a collection normal corresponding to the hatch cover collection point cloud and the inner point;

[0141] The submodule for calculating internal and external points is used to traverse the remaining points in the hatch cover collection point cloud except the random points, and calculate the first distance between each of the remaining points and the current plane equation; for each of the remaining points, if the first distance corresponding to the remaining point is less than a set distance threshold, the remaining point is used as the corresponding internal point of the plane; if the first distance is not less than the set distance threshold, the remaining point is used as the corresponding external point of the plane;

[0142] A height position submodule is obtained, which is used to repeat the processing from the plane equation submodule to the inner and outer point calculation submodule, and the current plane equation with the largest number of inner points in a preset number of iterations is used as the target plane equation of the corresponding hatch cover, and the inner points under the target plane equation are used as a hatch cover area point cloud set; based on the hatch cover area point cloud set, the height of the ship and the position of the ship relative to the loader are obtained.

[0143] Optionally, the posture acquisition module 201 further includes:

[0144] A second screening submodule is used to perform a second screening on the point cloud data collected by the 3D laser radar array to obtain a plurality of boundary collection points;

[0145] The trim submodule is used to cluster the boundary points to obtain the edge position of the ship, obtain the edge trim based on the edge position of the ship, and use the edge trim as the trim of the ship.

[0146] Optionally, the first screening submodule includes:

[0147] A partitioning submodule is used to, based on the modeling data corresponding to the ship and the multiple hatch coordinate data, take the area corresponding to the front end of the bow cabin to the end of the stern cabin as the data processing area, and divide the data processing area into multiple sub-areas, and obtain the area height value corresponding to each of the sub-areas;

[0148] A gradient acquisition submodule, used for acquiring a plurality of lifting areas and current gradients corresponding to each of the lifting areas based on the height values ​​of each area;

[0149] A marking type submodule is used for marking the type of the lifting area corresponding to each current gradient as a standing cover or an obstacle if the current gradient is greater than a set gradient threshold;

[0150] A hatch cover type acquisition submodule is used to acquire a first number of the lifting areas calibrated as the vertical covers or the obstacles, and a second number of hatches corresponding to the ship, and acquire the hatch cover type based on the first number and the second number;

[0151] A normal estimation submodule, configured to perform normal estimation on the point cloud data based on the hatch cover type, and obtain a normal vector of each point corresponding to the point cloud data;

[0152] A screening submodule is completed, which is used to perform a first screening on the point cloud data collected by the 3D lidar array based on the hatch cover type and each of the normal vectors to obtain the hatch cover aggregated point cloud.

[0153] Optionally, the calculation module 202 includes:

[0154] A first calculation submodule is used to calculate the target cabin shifting pitch angle for each cabin shifting operation based on the cabin position corresponding to the cabin shifting operation, the position of the ship loader, the first height difference between the cabin hatch and the obstacle, the height of the ship and the trim of the ship;

[0155] The second calculation submodule is used to calculate the target position height for each cabin shifting operation based on the ship height, the pitch angle of the ship loader and the target cabin shifting pitch angle.

[0156] Optionally, after the second calculation submodule, the following is included:

[0157] An acquisition round submodule is used to acquire a current loading round corresponding to the ship and a target entry distance corresponding to the current loading round, wherein the current loading round is the first round or the second round;

[0158] The judgment execution submodule is used to execute the step of assisting the loader to perform the cabin transfer operation to the ship based on the target position height and the target cabin transfer pitch angle when the target position height meets the target cabin entry distance corresponding to the current loading round.

[0159] Optionally, after the calculation module 202, the following steps are included:

[0160] A height difference acquisition module, used for acquiring a second height difference between each point cloud and a chute based on the point cloud height corresponding to each point cloud in the point cloud data, wherein the chute is a component of the ship loader;

[0161] A first intrusion determination module is used for determining, for each point cloud, if the second height difference is less than a preset warning threshold and greater than a preset alarm threshold, that the point cloud has invaded a warning area and generates a warning signal to alert a user to pay attention; the warning threshold is greater than the alarm threshold;

[0162] The second intrusion determination module is used to determine, for each point cloud, if the second height difference is not greater than the alarm threshold, that the point cloud has invaded the alarm area and generate an alarm signal to stop the cabin moving action.

[0163] In one example, the module in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0164] For another example, when the modules in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0165] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0166] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0167] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0168] Based on the same technical concept, the present application also provides an electronic device, such as Figure 7 As shown, the electronic device 300 includes a processor 301 and a memory 302 , and may further include an information input / information output (I / O) interface 303 , one or more of a communication component 304 , and a communication bus 305 .

[0169] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned laser radar-based ship loader cabin shifting auxiliary method; the memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method used to operate on the electronic device 300, and data related to the application. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), programmable read-only memory (Programmable Read-Only Memory, PROM), read-only memory (Read-Only Memory, ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0170] The I / O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.

[0171] The communication bus 305 may include a path to transmit information between the above components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0172] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the laser radar-based loader cabin shifting assistance method given in the above embodiment.

[0173] The electronic device 300 may include, but is not limited to, a mobile terminal such as a digital broadcast receiver, a PDA (Personal Digital Assistant), a PMP (Portable Multimedia Player), etc., and a fixed terminal such as a digital TV, a desktop computer, etc., and may also be a server, etc.

[0174] Based on the same technical concept, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned laser radar-based loader cabin moving auxiliary method are implemented.

[0175] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0176] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0177] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0178] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0179] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for assisting ship loader cabin shifting based on laser radar, characterized in that: include: Based on the point cloud data collected by the 3D laser radar array, the ship's position data is obtained in real time, and the ship's position data includes the ship's height, the ship's position relative to the ship loader, and the ship's trim; Based on the ship posture data, calculating the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader; Based on the target position height and the target cabin transfer pitch angle, the auxiliary ship loader performs a cabin transfer operation toward the ship; Based on the point cloud data collected by the 3D laser radar array, the height of the ship and the position of the ship relative to the ship loader are obtained in real time, including: Step a, based on the hatch cover type corresponding to the ship, performing a first screening on the point cloud data collected by the 3D laser radar array to obtain a hatch cover collection point cloud, wherein the hatch cover type is a flat cover or a vertical cover; Step b, selecting a random point in the hatch cover collection point cloud as an inner point of the plane, and obtaining a current plane equation corresponding to the plane based on a collection normal corresponding to the hatch cover collection point cloud and the inner point; Step c, traversing the remaining points in the hatch cover collection point cloud except the random points, and calculating the first distance between each of the remaining points and the current plane equation; for each of the remaining points, if the first distance corresponding to the remaining point is less than a set distance threshold, the remaining point is taken as an inner point of the corresponding plane; if the first distance is not less than the set distance threshold, the remaining point is taken as an outer point of the corresponding plane; Step d, repeatedly executing step b to step c, taking the current plane equation with the largest number of inner points in a preset number of iterations as the target plane equation of the corresponding hatch cover, taking the inner points under the target plane equation as a hatch cover area point cloud set; based on the hatch cover area point cloud set, obtaining the height of the ship and the position of the ship relative to the ship loader; Based on the point cloud data collected by the 3D laser radar array, the trim of the ship is obtained in real time, including: Performing a second screening on the point cloud data collected by the 3D laser radar array to obtain a plurality of boundary collection points; Clustering is performed on each of the boundary clustering points to obtain a ship edge position, and based on the ship edge position, the ship edge trim is obtained, and the ship edge trim is used as the ship trim.

2. The method for assisting ship loader cabin shifting based on laser radar according to claim 1, characterized in that: The step a comprises: Based on the modeling data corresponding to the ship and the multiple hatch coordinate data, the area corresponding to the front end of the bow cabin to the end of the stern cabin is used as the data processing area, and the data processing area is divided into multiple sub-areas to obtain the area height value corresponding to each of the sub-areas; Based on the height values ​​of each of the areas, obtaining a plurality of lifting areas and current gradients corresponding to each of the lifting areas; For each current gradient, if the current gradient is greater than a set gradient threshold, the type of the lifting area corresponding to the current gradient is marked as a standing cover or an obstacle; Acquire a first number of the lifting areas calibrated as the vertical covers or the obstacles, and a second number of hatches corresponding to the ship, and acquire the hatch cover type based on the first number and the second number; Based on the hatch cover type, normal estimation is performed on the point cloud data to obtain a normal vector of each point corresponding to the point cloud data; Based on the hatch cover type and each of the normal vectors, a first screening is performed on the point cloud data collected by the 3D laser radar array to obtain the hatch cover aggregated point cloud.

3. The method for assisting ship loader cabin shifting based on laser radar according to claim 1, characterized in that: The step of calculating the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader based on the ship posture data includes: For each of the cabin shifting operations, the target cabin shifting pitch angle is calculated based on the cabin position, the ship loader position, the first height difference between the cabin hatch and the obstacle, the ship height and the ship trim corresponding to the cabin shifting operation; For each of the tank transfer operations, the target position height is calculated based on the ship height, the pitch angle of the ship loader and the target tank transfer pitch angle.

4. The method for assisting ship loader cabin shifting based on laser radar according to claim 3 is characterized in that: After calculating the target position height, the method further comprises: Obtaining a current loading round corresponding to the ship and a target loading distance corresponding to the current loading round, where the current loading round is the first round or the second round; If the target position height satisfies the target cabin entry distance corresponding to the current loading round, the step of assisting the loader in performing the cabin transfer operation to the ship based on the target position height and the target cabin transfer pitch angle is performed.

5. The method for assisting ship loader cabin shifting based on laser radar according to claim 1, characterized in that: After calculating the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader based on the ship posture data, the method includes: Based on the point cloud heights corresponding to the respective point clouds in the point cloud data, obtaining a second height difference between each of the point clouds and a chute, the chute being a component of the ship loader; For each of the point clouds, if the second height difference is less than a preset warning threshold and greater than a preset alarm threshold, the point cloud is determined to have invaded the warning area, and a warning signal is generated to alert the user to pay attention; the warning threshold is greater than the alarm threshold; For each of the point clouds, if the second height difference is not greater than the alarm threshold, it is determined that the point cloud has invaded the alarm area, and an alarm signal is generated to stop the cabin moving action.

6. A ship loader cabin shifting auxiliary device based on laser radar, characterized in that: include: A posture acquisition module is used to acquire ship posture data in real time based on point cloud data collected by a 3D laser radar array. The ship posture data includes the ship height, the position of the ship relative to the ship loader, and the ship trim; A calculation module, used for calculating the target position height between the ship loader and the ship and the target cabin shifting pitch angle corresponding to the ship loader based on the ship posture data; An auxiliary cabin transfer module, used for assisting the ship loader to perform a cabin transfer operation to the ship based on the target position height and the target cabin transfer pitch angle; The posture acquisition module comprises: A first screening submodule is used to perform a first screening on the point cloud data collected by the 3D laser radar array based on the hatch cover type corresponding to the ship to obtain a hatch cover collection point cloud, where the hatch cover type is a flat cover or a vertical cover; A plane equation submodule, used for selecting a random point in the hatch cover collection point cloud as an inner point of the plane, and obtaining a current plane equation corresponding to the plane based on a collection normal corresponding to the hatch cover collection point cloud and the inner point; The submodule for calculating internal and external points is used to traverse the remaining points in the hatch cover collection point cloud except the random points, and calculate the first distance between each of the remaining points and the current plane equation; for each of the remaining points, if the first distance corresponding to the remaining point is less than a set distance threshold, the remaining point is used as the corresponding internal point of the plane; if the first distance is not less than the set distance threshold, the remaining point is used as the corresponding external point of the plane; A height position submodule is obtained, which is used to repeat the processing of the plane equation submodule to the inner and outer point calculation submodule, and the current plane equation with the largest number of inner points in a preset number of iterations is used as the target plane equation of the corresponding hatch cover, and the inner points under the target plane equation are used as the hatch cover area point cloud set; based on the hatch cover area point cloud set, the height of the ship and the position of the ship relative to the ship loader are obtained; The posture acquisition module also includes: A second screening submodule is used to perform a second screening on the point cloud data collected by the 3D laser radar array to obtain a plurality of boundary collection points; The trim submodule is used to cluster the boundary points to obtain the edge position of the ship, obtain the edge trim based on the edge position of the ship, and use the edge trim as the trim of the ship.

7. An electronic device, characterized in that: comprising a processor and a memory, wherein the processor is coupled to the memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The method comprises a computer program or an instruction, which, when executed on a computer, causes the computer to execute the method according to any one of claims 1 to 5.

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