大宗散货码头堆取料机作业过程中障碍物检测方法  

Method for obstacle detection during the operation of bulk cargo handling machines at bulk cargo terminals

作　　者：赵焕章[1] 王鹿利 Zhao Huanzhang;Wang Luli(Tangshan Caofeidian Industrial Port Co.,Ltd.,Tangshan Hebei 063200,China)

机构地区：[1]唐山曹妃甸实业港务有限公司,河北唐山063200

出　　处：《港口航道与近海工程》2025年第1期24-28,共5页Port,Waterway and Offshore Engineering

摘　　要：针对大宗散货码头堆场作业过程中光学镜面易被污渍遮挡、作业过程受天气影响较大等问题,提出一种大宗散货码头堆取料机作业过程中障碍物检测方法。该方法利用堆取料机大臂上安装的多个毫米波雷达获取堆取料机周围的障碍物点云数据,通过坐标转换将各个雷达坐标下的点云数据转换到单机坐标系下,利用双阈值网格聚类法对所得到的障碍物点云数据进行聚类和滤波,划分出每个目标障碍物对应的点集。根据各点集的RCS均值和点集面积等属性值对目标进行进一步筛选,去除比较稳定的地面杂波和非碰撞目标,得到信噪比较高的堆取料机两侧最近目标的距离,利用卡尔曼滤波对得到的最近目标距离进行预测和滤波,得到较为准确和平稳的距离值,实现对散货堆场内堆取料机作业过程中障碍物的检测的目的。Aiming at the problems that the optical mirror is easily blocked by stains during the operation of bulk cargo terminal yard and the operation process is greatly affected by the weather,a method for obstacle detection during the operation of bulk cargo handling machines is proposed.Utilizing millimeter-wave radars to acquire point cloud data of obstacles surrounding the handling machine,coordinate transformation is employed to convert the point cloud data from individual radar coordinates to a unified machine coordinate system.The dual-threshold grid clustering method is then used to cluster and filter the obtained obstacle point cloud data,segmenting the point sets corresponding to each target obstacle.Further target screening is conducted based on attribute values such as the RCS mean and point set area of each cluster,eliminating relatively stable ground clutter and non-collision targets.This process yields a high signal-to-noise ratio for the distances to the nearest targets on both sides of the handling machine.The Kalman filter is applied to predict and filter the obtained nearest target distances,resulting in more accurate and stable distance values.This achieves the objective of detecting obstacles during the operation of bulk cargo handling machines within the terminal.

关 键 词：障碍物检测 大宗散货码头堆取料机 毫米波雷达 双阈值网格聚类 卡尔曼滤波 

分 类 号：U653.928.5[交通运输工程—港口、海岸及近海工程]