一种卸船机自动化作业中船舱口的识别方法  

A Method for Recognizing Ship Hatches in Automated Ship Unloader Operatings

作　　者：王荣华 熊辉 李锋 张宏亮 潘凤萍 

机构地区：[1]南方电网电力科技股份有限公司

出　　处：《自动化博览》2024年第9期58-61,共4页Automation Panorama

摘　　要：船舱口识别是卸船机自动化作业系统的基础和核心要素。由于激光点云数据易受到诸多干扰,因此导致准确快速识别船舱口非常困难。本文提出了一种基于RNN和改良的RANSAC船舶舱口的识别算法:先用RNN判断点云中是否存在完整舱口,再用改良的RANSAC算法提取舱口平面,最后分割点云获取舱口大小和位置。实践证明本方法识别船舱口精准、快速。Ship hatch recognition is the foundational and core element of the automated ship unloader operating system.Due to the susceptibility of laser point cloud data to various interferences,accurately and quickly identifying ship hatches becomes very difficult.This paper proposes a ship interface hatch recognition algorithm based on RNN and an improved RANSAC algorithm:First,the RNN is used to determine whether there is a complete ship hatch in 3D point cloud data,and then the improved RANSAC algorithm is used to identifies the ship's surface,and finally uses point cloud segmentation technology to identify the size and location of the ship's hatch.Experiments prove that this method can recognize ship hatches precisely and rapidly.

关 键 词：船舱口识别 卸船机 3D点云 人工智能 RANSAC算法 RNN 

分 类 号：U653.928.1[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]