船舱位置激光雷达扫描检测  

Lidar scanning and detection on hold position

作　　者：吕叶寅[1] 宓为建[1] 

机构地区：[1]上海海事大学物流工程学院,上海201306

出　　处：《上海海事大学学报》2010年第4期54-58,共5页Journal of Shanghai Maritime University

基　　金：上海市优秀学科带头人计划项目(08XD14019);上海工程技术研究中心建设项目(08DZ2210104);上海市科学技术委员会重点项目(071705107&08210510500)

摘　　要：为解决散货码头自动化装船中待作业船舱的定位问题,以激光雷达为检测工具,对船舱进行多次检测,将检测得到的点云进行滤波处理,并运用聚类思想设计的差分算法对船舱边缘进行特征提取等方法,识别出船舱的尺寸参数以及船舱与雷达的相对位置关系,从而实现船舱的准确定位.主控PLC根据船舱定位参数及其他参考量自动引导装船机进行安全准确的装船作业.实际装船结果证明,该方法正确可靠.To solve the location problem of waiting hold in the process of auto-loading in cargo terminals,the hold is detected many times by using lidar as testing tool.The detected point clouds are filtered,and a difference algorithm which is designed by clustering is used to extract the features of hold.Because the dimension parameters of hold and the relative position between hold and lidar are identified,the precise location of hold is realized.The ship loader is guided to load safely and accurately by the master control PLC according to the location of hold and some other parameters automatically.The result of actual load-ing shows that this method is reliable.

关 键 词：船舱 定位 激光雷达 滤波 差分算法 特征提取 

分 类 号：U693.5[交通运输工程—港口、海岸及近海工程] TN958.98[交通运输工程—船舶与海洋工程]