港口航道与近海工程2025，Vol.62Issue(1)：24-28,5.DOI:10.16403/j.cnki.ggjs20250105
大宗散货码头堆取料机作业过程中障碍物检测方法
Method for obstacle detection during the operation of bulk cargo handling machines at bulk cargo terminals
赵焕章 1王鹿利1
作者信息
- 1. 唐山曹妃甸实业港务有限公司,河北 唐山 063200
- 折叠
摘要
Abstract
Aiming at the problems that the optical mirror is easily blocked by stains during the operation of bulk cargo terminal yard and the operation process is greatly affected by the weather,a method for obstacle detection during the operation of bulk cargo handling machines is proposed.Utilizing millimeter-wave radars to acquire point cloud data of obstacles surrounding the handling machine,coordinate transformation is employed to convert the point cloud data from individual radar coordinates to a unified machine coordinate system.The dual-threshold grid clustering method is then used to cluster and filter the obtained obstacle point cloud data,segmenting the point sets corresponding to each target obstacle.Further target screening is conducted based on attribute values such as the RCS mean and point set area of each cluster,eliminating relatively stable ground clutter and non-collision targets.This process yields a high signal-to-noise ratio for the distances to the nearest targets on both sides of the handling machine.The Kalman filter is applied to predict and filter the obtained nearest target distances,resulting in more accurate and stable distance values.This achieves the objective of detecting obstacles during the operation of bulk cargo handling machines within the terminal.关键词
障碍物检测/大宗散货码头堆取料机/毫米波雷达/双阈值网格聚类/卡尔曼滤波Key words
obstacle detection/bulk cargo handling machine at bulk cargo terminals/millimeter-wave radar/dual-threshold grid clustering/kalman filter分类
交通运输引用本文复制引用
赵焕章,王鹿利..大宗散货码头堆取料机作业过程中障碍物检测方法[J].港口航道与近海工程,2025,62(1):24-28,5.
