自动化散货装船机物位检测技术  

Position detection technology for automatic bulk ship loaders

作　　者：李强[1] 宓超[2] 赵宁[2] 沈阳[2] 

机构地区：[1]天津港(集团)有限公司科技设备部,天津300461 [2]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》2013年第3期13-16,89,共5页Journal of Shanghai Maritime University

摘　　要：为使散货装船机在安全作业的前提下自动、快速、高效地完成装船作业,利用安装在散货装船机上的激光雷达,通过多轴伺服运动机构控制激光雷达进行旋转,完成对船舱的三维轮廓扫描.通过后台截面边缘提取算法与图形拟合算法相结合的图像处理算法,自动、实时获取船舱尺寸以及舱内物料的形状,确定落料轨迹,为散货装船机的自动化作业提供基础.天津港煤码头的多次装船试验验证此方法的可行性.To make ship loaders of hulk terminals complete loading operation automatically, quickly and efficiently on the premise of safety, 3D profile scanning of cabins can be achieved by rotating laser radars that are installed on ship loaders and controlled by multi-axis servo mechanism. Through an image pro- cessing algorithm that is a combination of section edge extraction algorithm and graph fitting algorithm, the sizes of cabins and the shapes of materials can be obtained automatically and real-timely, and then the trajectory of loaded materials can be determined, which provides a basis for automatic operation of bulk ship loaders. Many loading experiments in Tianjin Port Coal[ Terminal have verified the feasibility of this method.

关 键 词：激光雷达 装船机 图像处理 三维重建 

分 类 号：U653.928.1[交通运输工程—港口、海岸及近海工程] U693.5[交通运输工程—船舶与海洋工程]