摘要
针对液体散货码头原有输油装卸臂进行自动化改造,提出一种基于3D视觉识别、卫星定位、激光跟踪技术的智能对接装卸臂方案。该系统采用自主优化和学习技术,能够精确识别船舶法兰的外形和相对位置,自动调整卸料臂的姿态和运行速度,通过避障雷达装置,实现自动对接。
Aiming at the automation transformation of the original oil loading arm of liquid bulk terminal,an intelligent docking oil loading arm program based on 3D visual recognition,satellite positioning and laser tracking technology is proposed.The system adopts autonomous optimization and learning technology,which can accurately identify the shape and relative position of the ship's flange,automatically adjust the attitude and running speed of the unloading arm,and realize automatic docking through the obstacle avoidance radar device.
作者
熊伟
王民军
Xiong Wei;Wang Minjun(CCCC Second Harbor Consultants Co.,Ltd.)
出处
《港口装卸》
2024年第4期60-62,65,共4页
Port Operation
关键词
装卸臂
智能对接
运动控制
oil loading arm
intelligent docking
motion control
