基于5G通讯的多传感器数据融合与煤炭货船舱口识别与感知  

5G Based Multi-sensor Data Fusion and Coal Freighter Hatch Recognition and Perception

作　　者：李长安 杨义鹏 李湛[2,3] 张立杰 高会军[2] LI Changan;YANG Yipeng;LI Zhan;ZHANG Lijie;GAO Huijun(CHN Energy Technology&Economics Research Institute,Beijing 102211,China;Institute of Intelligent Control and Systems,Harbin Institute of Technology,Harbin Heilongjiang 190001,China;Department of Mathematics and Theory,Peng Cheng Laboratory,Shenzhen,Guangdong 518055,China;Key Laboratory of Advanced Forging&Stamping Technology and Science of Ministry of Education of China,Yanshan University,Qinhuangdao Hebei 066004,China;Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao Hebei 066004,China)

机构地区：[1]国家能源集团技术经济研究院,北京102211 [2]哈尔滨工业大学智能控制与系统研究中心,黑龙江哈尔滨190001 [3]鹏城实验室数学与理论部,广东深圳518055 [4]燕山大学先进锻压成形技术与科学教育部重点实验室,河北秦皇岛066004 [5]燕山大学河北省重型机械流体动力传输与控制重点实验室,河北秦皇岛066004

出　　处：《指挥与控制学报》2023年第5期612-617,共6页Journal of Command and Control

基　　金：国家自然科学基金(51875499)资助。

摘　　要：无人煤炭装船作业中,对舱口实时检测和定位对于减少事故率、保证正常装船作业十分重要.为解决现有基于视频的人工检测的诸多问题,提出了一种基于5G通讯的多传感器数据融合舱口检测方法.融合布置在装船机不同位置上的激光雷达采集的点云数据和装船机编码器数据,对货船进行三维建模.船舱识别基于点云球面映射,充分利用点云存储的完整三维空间信息和成熟的图像处理技术.实验结果表明,该算法有较高精度和识别稳定性.In unmanned coal loading operation,real-time detection and positioning of hatch is very important for reducing accident rates and ensuring normal loading operation.In order to solve the existing problems of manual detection based on video,a multi-sensor data fusion hatch detection method based on 5G communication is proposed.The point cloud data collected by the lidars and the encoder data of the ship loader arranged in different positions are fused to build the 3D model of the cargo ship,and the cabin recognition is based on point cloud spherical surface mapping,the complete 3D space information and mature image processing technology stored by point cloud are made full use of.The experimental results show that the algorithm has higher accuracy and recognition stability.

关 键 词：D2D 技术 数据融合 球面映射 舱口识别 

分 类 号：U693.5[交通运输工程—港口、海岸及近海工程] TP212[交通运输工程—船舶与海洋工程]