Automatic identification and butt joint method for circular pipelines in port scene

Abstract

The invention discloses an automatic identification and butt joint method for circular pipelines based on an intelligent hydraulic oil transfer arm technology, and the method comprises the steps: 1, rotating a two-dimensional laser scanner through an integrated holder to generate a pitch angle, and obtaining multi-view three-dimensional point cloud information of the circular pipelines; 2, establishing a disordered point cloud spatial index structure by utilizing a three-dimensional spatial grid, so that the data preprocessing speed is increased; 3, preprocessing the point cloud with the established data index structure so as to segment the three-dimensional point cloud of the whole scene into three-dimensional point cloud clusters representing different objects; 4, training the acquired point cloud data set, and continuously updating to form a time-phase invariant feature model library; and 5, completing self-identification of the circular pipelines in the port scene by utilizing themodel library and automatically butting the circular pipelines with the hydraulic oil transfer arm. Self-recognition of the circular pipelines and accurate butt joint of the circular pipeline and thehydraulic oil transfer arm can be achieved, and therefore a new step is developed towards an intelligent port.

Description

technical field [0001] The invention relates to the technical field of surveying, mapping and positioning, in particular to a method for automatic identification and docking of circular pipes used in ports. Background technique [0002] With the continuous development of my country's port and wharf construction, the related workload has increased on a large scale and there is a serious gap in high-risk manpower operations, so it is urgent to find new alternatives. In the past traditional operations, the use of contact detection and measurement and positioning methods not only increases the labor burden but also has high risks. In non-contact detection, there are recognition algorithms based on deep learning and the use of camera photos. Analyzing the collected scene information and other methods, but these methods are easily affected by weather factors, such as blurred picture information generated under high light intensity, which affects the accuracy of detection and posit...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides an automatic identification of circular pipelines and a docking method of a hydraulic oil delivery arm in a port scene, in order to realize the connection between the hydraulic oil delivery arm and the port terminal in the complex scene of the port terminal. Accurate docking of circular pipes, so as to efficiently solve the problem that the existing technology cannot automatically identify the docking, and improve the accuracy of identification and positioning

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