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

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.