摘要
当前,各港口船舱及物料扫描建模正在快速发展并开始应用于码头装卸设备的自动化作业中,扫描过程受限于装卸设备本身,所用扫描仪设备如何与港口装卸设备、被扫描船舶进行融合是亟待解决的问题。某港口船舱物料实时扫描系统巧妙应用3D点云扫描系统,云台式三维激光扫描仪安装在船舱固定节点,旋转云台携带二维激光器实现三维轮廓面扫描,通过球坐标-直角坐标转化关系形成三维点云数据。通过数据滤波、抽稀、规格化、聚类分割、线面拟合等算法,实现料堆空间坐标计算,完成船舱料堆三维模型建立。充分结合北斗定位技术获取船舶准确坐标位置,并实时读取船舶受潮水、风力等因素影响引起的坐标位置变化。通过5G通信技术的高速率、低时延和大带宽特点将3D点云坐标、船舱实时坐标传输至码头门座起重机所建立坐标系中,实现船舱物料实时扫描。
Currently,the scanning and modeling of cabins and materials in various ports are rapidly advancing and beginning to be applied to the automation of terminal loading and unloading equipment.However,the scanning process is largely confined to the loading and unloading equipment itself.Integrating scanner equipment with port loading and unloading machinery,as well as scanned ships,remains an urgent challenge to address.A 3D point cloud scanning system has been skillfully deployed in the real-time scanning system for cabin materials in a port.Specifically,a cloud platform 3D laser scanner is installed at a fixed node within the hold,while a rotating platform carries a 2D laser to scan the 3D contour surface.The 3D point cloud data is then generated through the transformation from spherical coordinates to rectangular coordinates.Through a series of algorithms,including data filtering,thinning,normalization,clustering segmentation,and line and surface fitting,the spatial coordinates of the material pile are calculated,and a three-dimensional model of the material pile within the cabin is established.In conjunction with Beidou positioning technology,the precise coordinate position of the ship is obtained,and any changes in the coordinate position due to factors such as tides and wind are monitored in real time.Leveraging the high-speed,low-latency,and wide-bandwidth characteristics of 5G communication technology,the 3D point cloud coordinates and real-time coordinates of the cabin materials are transmitted to the coordinate system established by the dock portal crane.,which enables real-time scanning of cabin materials.
出处
《起重运输机械》
2025年第14期64-67,共4页
Hoisting and Conveying Machinery
关键词
门座起重机
3D点云扫描
激光扫描仪
坐标转化
北斗定位
portal crane
3D point cloud scanning
laser scanner
coordinate transformation
Beidou positioning
