基于大场景三维点云的集装箱船关键绑扎特征识别与重建

Identification and Reconstruction of Key Lashing Features of Container Ships Based on Large Scene 3D Point Cloud

在集装箱船验收过程中,集装箱船装载绑扎系统关键绑扎特征的精度验收具有重大意义,其位置直接影响集装箱堆叠精度和绑扎杆能否成功绑扎。目前采用的验收方法依赖于人工,需要在每一舱位放置集装箱绑扎试验工装进行验证,关键绑扎特征数目众多,因此工作量大、耗时长且测量不便。文章提出一种基于大场景三维点云的关键绑扎特征识别方法,根据设计图纸对大场景点云预处理,自动提取特征可能所在的范围;采用点云匹配方法识别绑扎特征位置,根据识别结果在混合现实环境中进行特征重建。文章用实际点云数据验证了识别结果与实际结果的一致性,可实现集装箱船关键绑扎特征的特征重建。

In the acceptance of container ships,the accuracy acceptance of key lashing features of container ship loading lashing system is important,because their positions affect the accuracy of container stacking accuracy and whether the lashing rods can be successfully connected.Current method relies on manual work,which requires stacking container lashing test tooling in each cabin for verification.Because of the large amount of key lashing features,the workload is heavy and time-consuming and measurement is tough.A method to identify the lashing features based on large scene 3D point cloud is proposed:according to the design drawings,the cloud is preprocessed and the possible ranges of features are automatically extracted.The point cloud matching method is used to identify the locations of lashing features,and the feature reconstruction is carried out in the mixed reality environment according to the identification results.Finally,the paper verifies the consistency between the identified and actual results based on real point cloud data,and then the feature reconstruction of key lashing features of container ships is realized.