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