Multi-laser radar fusion ship loader non-blind area measurement system

Abstract

The utility model provides a multi-laser radar fusion ship loader non-blind area measuring system, which relates to the field of laser radar measurement and comprises a ship body, a multi-laser radar fusion measuring device, a ship loader and a mechanical arm. The mechanical arm clamps the upper end of the multi-laser radar fusion measurement device; the mechanical arm is movably arranged on the ship loader, the moving route of the mechanical arm is from the bow to the stern of the ship body, and the mechanical arm is always located on the center line above the ship body. According to the utility model, the two long-distance laser radars are longitudinally installed, the high-precision holder is equipped, and the holder rotates at a low speed and at a small angle, so that dynamic splicing of scanning data is realized, accurate point cloud data can be rapidly obtained in a short time, data acquisition efficiency and precision are greatly improved, and the system is suitable for large-scale popularization and application. Through the installation of two long-distance radars and the cooperation of the other two short-distance radars, the non-blind area type measurement of the ship body is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to laser radar measurement field especially, relate to a kind of multi-laser radar fusion's ship loader blind area measurement system. BACKGROUND

[0002] Ship loader is large-scale mechanical equipment used for loading bulk cargo or miscellaneous cargo onto ship in port, and its accuracy and efficiency are directly related to the throughput and operating cost of the port. Traditional ship loader operation relies on manual experience, which is difficult to meet the growing demand of modern port. Early visual measurement research of ship loader mainly focuses on simple material monitoring, which uses camera to obtain the approximate accumulation of materials at hopper or conveyor belt to assist operators to determine whether to adjust loading speed or maintain equipment. The introduction of laser radar visual measurement technology enables ship loader to perceive the surrounding environment, material state and ship position in real time, opening up new ways for automation and intelligent operation, and gradually expanding to ship position identification and accurate material flow measurement. However, the existing laser radar measurement method still has the following defects:

[0003] The mechanism-driven two-dimensional laser radar scanning and point cloud splicing method scans through two-dimensional laser radar combined with mechanical driving mechanism to obtain point cloud data at multiple angles, and splices into complete ship model through three-dimensional reconstruction algorithm. This method has high flexibility, but its detection results are easily affected by objects such as chute. At the same time, this method has slow scanning speed and low resolution, which cannot meet the real-time and accurate positioning requirements of dynamic operation of ship loader.

[0004] The transversely installed long-range laser radar scheme scans and splices point cloud data through transverse long-range laser radar from above, which has the advantages of large coverage and relatively simple installation. However, due to the obstruction of ship loader structure such as chute and conveyor belt support, the data of key parts such as ship head and ship tail is missing, and the point cloud information of open hatch material pile is incomplete due to the scanning angle from above, which affects the measurement accuracy. In addition, the scanning speed of a single radar is limited, which is difficult to meet the dynamic operation demand.

[0005] The multi-radar data splicing scheme uses data fusion algorithm to splice point clouds collected by each laser radar into complete three-dimensional model by deploying multiple laser radars, which is suitable for use in the presence of obstruction. However, too many laser radars will also increase the complexity of the whole system and affect the stability of the system.

[0006] In summary, the mechanism-driven two-dimensional laser radar, transversely installed long-range laser radar and multi-radar data splicing method all have limitations. The above schemes are difficult to cope with the following difficulties at the same time:

[0007] 1. Scanning Speed: Ship loading operations are dynamic and continuous, requiring the lidar measurement system to have strong real-time performance and rapid feedback on changes in the ship and materials. However, some high-precision measurement methods, such as 2D laser scanning and 3D reconstruction technology, have slow scanning speeds that cannot keep up with the pace of the ship loader. When the state of the ship or materials changes, the measurement system updates data slowly, making it difficult for operators to adjust strategies based on real-time data. This results in low operational efficiency, increased error rates, and negatively impacts port profitability.

[0008] 2. Measurement Accuracy: Due to the long longitudinal length of the hull, the bow and stern are far from the lidar of the loading machine. Long-distance lidar measurements are affected by energy attenuation and angular resolution, making it difficult to capture subtle structural changes at the bow and stern, thus hindering high-precision measurement of the hull's attitude and limiting the accuracy and precision of loading operations.

[0009] 3. Sluice Box Obstruction: The complex structure of ship loaders, along with components such as sluice boxes and conveyor belt supports, often obstructs the line of sight of the lidar, adding challenges to measurements. A single lidar unit lacks multi-angle information; when obstructed, critical areas of the target easily fall into "detection blind spots," resulting in incomplete measurement data that fails to reflect the true state. Even when multiple lidar units are combined, complex obstructions can lead to missing data or increased errors in certain areas, affecting overall data quality and creating difficulties for subsequent processing and analysis.

[0010] 4. Arm Rotation: The rotation of the ship loader's arm significantly affects the lidar's field of view, potentially causing the ship to move out of the lidar's observation range. If too few lidar units are configured, it will be difficult to achieve effective coverage of the entire ship; however, if too many lidar units are configured (more than 6), it will place a heavy burden on the entire system, thereby affecting the system's stability.

[0011] 5. Complex Environment: The port operation environment is complex and ever-changing. Material dust is present in the air year-round, posing an extremely severe challenge to lidar vision measurement equipment. Low-cost, short-range lidar is particularly sensitive to dust. Dust particles not only significantly weaken the intensity of the laser signal but may also cause false triggering, resulting in a sharp decline in the stability and accuracy of its measurements. Utility Model Content

[0012] In view of this, the purpose of this utility model is to provide a blind-spot-free measurement system for ship loaders using multi-LiDAR fusion, which solves the problems of slow scanning speed, low measurement accuracy, obstruction by the chute, and the influence of boom rotation and complex environment on measurement accuracy in existing LiDAR measurement methods.

[0013] This utility model provides a blind-spot-free measurement system for ship loaders based on multi-lidar fusion, comprising:

[0014] Hull, multi-lidar fusion measurement device, ship loader and robotic arm;

[0015] The mechanical arm clamps the upper end of the multi-laser radar fusion measurement device;

[0016] The mechanical arm is movably arranged on the ship loader, and a moving route of the mechanical arm is from a bow to a stern of the ship body and is always located on a center line above the ship body.

[0017] Preferably,

[0018] The multi-laser radar fusion measurement device comprises a first long-distance laser radar, a second long-distance laser radar, a first short-distance laser radar, a second short-distance laser radar, a first holder, a second holder, a barrel seat and a barrel.

[0019] The upper end of the barrel is fixedly connected with a center position of a lower surface of the barrel seat, and an upper surface of the barrel seat is connected with the mechanical arm.

[0020] The first holder and the second holder are symmetrically arranged on the lower surface of the barrel seat with the barrel as a center, the first long-distance laser radar is arranged on the first holder, and the second long-distance laser radar is arranged on the second holder.

[0021] The first short-distance laser radar and the second short-distance laser radar are symmetrically arranged on the lower surface of the barrel seat with the barrel as a center.

[0022] The relative positions among the first short-distance laser radar, the second short-distance laser radar, the first holder and the second holder remain unchanged.

[0023] Preferably,

[0024] One of the first long-distance laser radar and the second long-distance laser radar is directed to a shore side of the ship body, and the other is directed to a sea side of the ship body.

[0025] Preferably,

[0026] One of the first short-distance laser radar and the second short-distance laser radar is directed to the bow of the ship body, and the other is directed to the stern of the ship body.

[0027] Preferably,

[0028] The rotation axes of the first long-distance laser radar and the second long-distance laser radar remain perpendicular to a direction from the bow to the stern of the ship body.

[0029] Preferably,

[0030] The rotation axis directions of the first holder and the second holder remain parallel to the direction from the bow to the stern of the ship body.

[0031] The rotation axis direction of the first holder is perpendicular to the rotation axis of the first long-distance laser radar, and the rotation axis direction of the second holder is perpendicular to the rotation axis of the second long-distance laser radar.

[0032] Preferably,

[0033] When the multi-laser radar fusion measurement device moves, the first holder controls the first long-distance laser radar to rotate along the bow-to-stern direction of the ship body as the axis, the second holder controls the second long-distance laser radar to rotate along the bow-to-stern direction of the ship body as the axis, and the first long-distance laser radar and the second long-distance laser radar move along a sinusoidal trajectory.

[0034] Preferably,

[0035] The rotation axes of the first and second short-distance laser radars are vertically downward to the horizontal sea surface.

[0036] The utility model has the following beneficial effects:

[0037] 1. Two long-distance laser radars are longitudinally installed and are equipped with high-precision holders, the holders are rotated at low speed and small angle, dynamic splicing of scanning data is realized, accurate point cloud data can be rapidly acquired in a short time, and data acquisition efficiency and precision are greatly improved.

[0038] 2. Two short-distance laser radars are additionally arranged, scanning is carried out on the blind area around the cylinder which cannot be reached by the long-distance laser radar, data blank is filled, and omnibearing data acquisition of the ship without dead angle is ensured.

[0039] 3. The four laser radars are arranged on the lower surface of the cylinder seat, the scanning areas of the four laser radars are designed to have large-area overlap, this layout helps high-precision splicing of data of the long-distance laser radar in the later period, further optimizes data quality, and makes the acquired ship position information more accurate and reliable. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a structural diagram of the multi-laser radar fusion measurement device.

[0041] Figure 2 It is a schematic view of scanning of the long-distance laser radar being blocked.

[0042] Figure 3 It is a bottom view of the multi-laser radar fusion measurement device.

[0043] The realization, functional features and advantages of the utility model will be further explained in combination with embodiments and with reference to the drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model.

[0045] The utility model provides a kind of multi-laser radar fusion's ship loader blind area measurement system, comprising:

[0046] Hull, multi-laser radar fusion measurement device, ship loader and mechanical arm;

[0047] Mechanical arm clamps the upper end of multi-laser radar fusion measurement device;

[0048] Mechanical arm is movably arranged on ship loader, and the moving route of mechanical arm is the bow to the stern of hull, and always be located on the centerline above hull.

[0049] As an embodiment, multi-laser radar fusion measurement device is as shown in Figure 1 As an embodiment, multi-laser radar fusion measurement device is as shown in

[0050] Multi-laser radar fusion measurement device includes: first long-distance laser radar 1, second long-distance laser radar 2, first short-distance laser radar 3, second short-distance laser radar 4, first holder 5, second holder 6, barrel seat 7 and barrel 8;

[0051] The upper end of barrel 8 is fixedly connected with the center position of the lower surface of barrel seat 7, and the upper surface of barrel seat 7 is connected with mechanical arm;

[0052] First holder 5 and second holder 6 are symmetrically arranged on the lower surface of barrel seat 7 with barrel 8 as center, first long-distance laser radar 1 is arranged on first holder 5, and second long-distance laser radar 2 is arranged on second holder 6;

[0053] First short-distance laser radar 3 and second short-distance laser radar 4 are symmetrically arranged on the lower surface of barrel seat 7 with barrel 8 as center;

[0054] The relative position between first short-distance laser radar 3, second short-distance laser radar 4, first holder 5 and second holder 6 remains unchanged.

[0055] As an embodiment, multi-laser radar fusion measurement device is as shown in

[0056] First long-distance laser radar 1 and second long-distance laser radar 2 are one of them pointing to the shore side of hull, and the other one is pointing to the sea side of hull.

[0057] Specifically, the longitudinal installation of the long-range laser radar, considering the existence of the characteristics of the small near and large far (the scanning area of the longitudinally installed long-range laser radar has the characteristics of the small near and large far: in the same horizontal plane, the range near the end of the radar is narrow, while the range far from the end is wide, showing the trend of small near and large far, and the boundary of the area follows the change rule of a quadratic curve. At the same time, as the scanning distance gradually increases, the resolution of the point cloud collected by the radar decreases sharply, that is, the farther the distance, the more blurred the details presented by the point cloud, and the lower the accuracy, and the boundary presents the change rule of a quadratic curve, so that during the rotation of the large arm, even if there are many variables, the scanning area can still stably cover the hull.

[0058] As an embodiment:

[0059] One of the first short-range laser radar 3 and the second short-range laser radar 4 is directed to the bow of the hull, and the other is directed to the stern of the hull.

[0060] As an embodiment:

[0061] The rotation axes of the first long-range laser radar 1 and the second long-range laser radar 2 are perpendicular to the direction from the bow to the stern of the hull.

[0062] Specifically, the long-range laser radar needs to meet the technical indicators, that is, the horizontal scanning coverage should not be less than 180°, the vertical scanning interval should not be narrower than 42°, the line number should be at least 128 lines, and the effective distance of the range measurement should exceed 180 meters. The installation requirements are as follows: when the rotating arm of the ship loader is used to make the roller 8 located directly above the center axis of the reference ship type, the horizontal scanning direction of the long-range laser radar should be parallel to the axial direction from the bow to the stern, and the direction of the rotation axis should be perpendicular to the wharf shore.

[0063] As an embodiment:

[0064] The rotation axis direction of the first gimbal 5 and the second gimbal 6 is parallel to the direction from the bow to the stern of the hull.

[0065] The rotation axis direction of the first gimbal 5 is perpendicular to the rotation axis of the first long-range laser radar 1, and the rotation axis direction of the second gimbal 6 is perpendicular to the rotation axis of the second long-range laser radar 2.

[0066] Specifically, the base of each long-range laser radar needs to be separately and stably installed on the corresponding high-precision one-degree-of-freedom rotating gimbal, and the gimbal is further reliably installed on the roller seat 7. The rotating gimbal has high-precision characteristics, and the rotation speed can be flexibly adjusted within the range of 0.1° to 1° / s, and the rotation axis direction is parallel to the direction from the bow to the stern, and perpendicular to the rotation axis of the long-range laser radar, so that the long-range laser radar can be flexibly and accurately adjusted in direction.

[0067] As an embodiment:

[0068] When the multi-laser radar fusion measurement device moves, the first gimbal 5 controls the first long-range laser radar 1 to rotate along the bow-to-stern direction of the ship body as the axis, the second gimbal 6 controls the second long-range laser radar 2 to rotate along the bow-to-stern direction of the ship body as the axis, and the first long-range laser radar 1 and the second long-range laser radar 2 move along a sinusoidal trajectory.

[0069] As an embodiment:

[0070] The rotation axes of the first short-range laser radar 3 and the second short-range laser radar 4 are vertically downward to the horizontal sea surface.

[0071] Specifically, there are two short-range laser radars, which are also installed in a symmetrical manner on both sides of the chute 8, one of which is directed towards the bow direction, and the other is directed towards the stern direction. Both are relatively static with the chute seat 7 and do not need to be installed on the gimbal. The technical parameters of the two short-range laser radars are as follows: the horizontal scanning range reaches full 360°, the vertical scanning range is not less than 60°, and the ranging distance is not less than 50 meters. After installation, the rotation axes of the short-range laser radars are vertically downward to the horizontal ground, so that the detection angle can cover the surrounding environment in all directions without dead angle, providing accurate and reliable monitoring data for the whole operation. In this way, the problem of single long-range laser radar scanning being blocked can be avoided. Figure 2

[0072] As an embodiment:

[0073] The specific installation method of the first long-range laser radar 1, the second long-range laser radar 2, the first short-range laser radar 3, the second short-range laser radar 4, the first gimbal 5 and the second gimbal 6 is not unique. The first long-range laser radar 1, the second long-range laser radar 2, the first short-range laser radar 3 and the second short-range laser radar 4 can be stably fixed to the chute seat 7 and meet the above direction requirements according to the actual working conditions. The bottom view of the multi-laser radar fusion measurement device is shown in Figure 3 The base of the first long-range laser radar 1 is fixed on the high-precision gimbal 5, and the high-precision gimbal 5 is fixed on the chute seat 7. The two short-range laser radars are directly stably fixed on the chute seat 7. The distance between the first long-range laser radar 1, the second long-range laser radar 2, the first short-range laser radar 3 and the second short-range laser radar 4 can be adjusted according to actual conditions to reduce the installation difficulty of each component.

[0074] ​It should be noted that in this document, the terms "comprise", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or system. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of additional identical elements in the process, method, article, or system that includes the element.

[0075] The above-mentioned embodiment serial numbers of the utility model are only for description, and do not represent the advantages and disadvantages of the embodiments. In the unit claims of several devices, several of these devices can be embodied by the same hardware item. The use of the words first, second, and third does not represent any order, and these words can be interpreted as identifiers.

[0076] The above is only the preferred embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structure or equivalent process transformation using the contents of the utility model specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection range of the utility model.

Claims

1. A multi-lidar fused ship loader blind area measurement system, characterized in that, The application relates to a ship body, a multi-laser radar fusion measuring device, a ship loader and a mechanical arm. The mechanical arm clamps the upper end of the multi-laser radar fusion measuring device. The mechanical arm is movably arranged on the ship loader, and the moving route of the mechanical arm is from the bow to the stern of the ship body and is always located on the center line above the ship body.

2. The multi-laser radar fusion ship loader non-blind area measuring system according to claim 1, wherein the multi-laser radar fusion measuring device comprises a first long-distance laser radar (1), a second long-distance laser radar (2), a first short-distance laser radar (3), a second short-distance laser radar (4), a first holder (5), a second holder (6), a roller seat (7) and a roller (8). The upper end of the roller (8) is fixedly connected with the center position of the lower surface of the roller seat (7), and the upper surface of the roller seat (7) is connected with the mechanical arm. The first holder (5) and the second holder (6) are symmetrically arranged on the lower surface of the roller seat (7) with the roller (8) as the center, the first long-distance laser radar (1) is arranged on the first holder (5), and the second long-distance laser radar (2) is arranged on the second holder (6). The first short-distance laser radar (3) and the second short-distance laser radar (4) are symmetrically arranged on the lower surface of the roller seat (7) with the roller (8) as the center. The relative positions among the first short-distance laser radar (3), the second short-distance laser radar (4), the first holder (5) and the second holder (6) remain unchanged.

3. The multi-laser radar fusion ship loader non-blind area measuring system according to claim 2, wherein one of the first long-distance laser radar (1) and the second long-distance laser radar (2) is directed to the land side of the ship body, and the other is directed to the sea side of the ship body.

4. The multi-laser radar fusion ship loader non-blind area measuring system according to claim 2, wherein one of the first short-distance laser radar (3) and the second short-distance laser radar (4) is directed to the bow of the ship body, and the other is directed to the stern of the ship body.

5. The multi-laser radar fusion ship loader non-blind area measuring system according to claim 2, wherein the rotating shafts of the first long-distance laser radar (1) and the second long-distance laser radar (2) are perpendicular to the trend from the bow to the stern of the ship body.

6. The multi-laser radar fusion ship loader non-blind area measuring system according to claim 5, wherein the rotating shaft line directions of the first holder (5) and the second holder (6) are parallel to the trend from the bow to the stern of the ship body. The rotating shaft line direction of the first holder (5) is perpendicular to the rotating shaft of the first long-distance laser radar (1), and the rotating shaft line direction of the second holder (6) is perpendicular to the rotating shaft of the second long-distance laser radar (2).

7. The multi-laser radar fusion ship loader non-blind area measuring system according to claim 6, wherein ​ ​ ​ ​ ​ ​ When the multi-laser radar fusion measurement device moves, the first gimbal (5) controls the first long-distance laser radar (1) to rotate around the bow-to-stern direction of the ship body as the axis, the second gimbal (6) controls the second long-distance laser radar (2) to rotate around the bow-to-stern direction of the ship body as the axis, and the first long-distance laser radar (1) and the second long-distance laser radar (2) move in a sinusoidal trajectory.

8. The multi-laser radar fusion ship loader blind area measurement system according to claim 2, characterized in that: The rotation axes of the first short-distance laser radar (3) and the second short-distance laser radar (4) are vertically downward to the horizontal sea surface.

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