阅读说明：本技术 一种基于多线激光数据融合的集装箱定位方法及装置 (Container positioning method and device based on multi-line laser data fusion ) 是由 冯志 梁浩 陈环 于 2020-09-17 设计创作，主要内容包括：本发明公开了一种基于多线激光数据融合的集装箱定位方法及装置,方法包括：获取至少两个多线激光雷达的点云数据,根据所述至少两个激光雷达之间的坐标系关系进行点云数据融合；根据融合后的点云数据进行扫描线的聚类,根据聚类后的扫描线获取目标集装箱顶面或侧面的边缘点；根据所述目标集装箱的顶面或侧面的边缘点获取所述目标集装箱的顶面或侧面的轮廓,以确定所述目标集装箱的中心点以及航向角,从而确定所述目标集装箱的位置。本发明提供的基于多线激光数据融合的集装箱定位方法及装置,通过多线激光雷达的点云数据,对点云数据进行融合后获取目标集装箱的顶面或侧面的边缘点,从而精确获取目标集装箱的位置。(The invention discloses a container positioning method and a device based on multi-line laser data fusion, wherein the method comprises the following steps: acquiring point cloud data of at least two multi-line laser radars, and fusing the point cloud data according to the coordinate system relationship between the at least two laser radars; clustering scanning lines according to the fused point cloud data, and acquiring edge points of the top surface or the side surface of the target container according to the clustered scanning lines; and acquiring the contour of the top surface or the side surface of the target container according to the edge points of the top surface or the side surface of the target container so as to determine the center point and the course angle of the target container, thereby determining the position of the target container. According to the container positioning method and device based on the multi-line laser data fusion, the point cloud data of the multi-line laser radar is fused to obtain the edge points of the top surface or the side surface of the target container, so that the position of the target container is accurately obtained.)

1. A container positioning method based on multi-line laser data fusion is characterized by comprising the following steps:

acquiring point cloud data of at least two multi-line laser radars, and fusing the point cloud data according to the coordinate system relationship between the at least two laser radars;

clustering scanning lines according to the fused point cloud data, and acquiring edge points of the top surface or the side surface of the target container according to the clustered scanning lines;

and acquiring the contour of the top surface or the side surface of the target container according to the edge points of the top surface or the side surface of the target container so as to determine the center point and the course angle of the target container, thereby determining the position of the target container.

2. The multi-line laser data fusion based container positioning method according to claim 1,

when the top surface part of the target container cannot be obtained, obtaining the top surface outline of the target container according to the length, the width and the height of the target container and the single-side edge point of the top surface of the target container;

and when the top surface of the target container can not be obtained completely, obtaining the side profile of the target container according to the width, the length, the height and the edge point of the side surface of the target container.

3. The multi-line laser data fusion based container positioning method as claimed in claim 1, wherein:

and when the at least two multi-line laser radars scan the outlines of a plurality of containers, determining the position of the target container according to the rank and the layer height of the target container.

4. The multi-line laser data fusion based container positioning method as claimed in claim 1, further comprising:

selecting a point cloud ROI according to the estimated position of the target container, and removing point cloud data which are obviously not hit on the target container;

and clustering the point cloud data in the point cloud ROI according to the width, the length and the box height of the target container to obtain a laser line which is hit on the top surface or the side surface of the target container in the point cloud ROI.

5. The multi-line laser data fusion based container positioning method as claimed in claim 1, further comprising:

the clustered scanning lines are intersected with the long edges of the top surface of the target container to obtain a first group of edge points and/or a second group of edge points, the clustered scanning lines are intersected with the short edges of the top surface of the container to obtain a third group of edge points and/or a fourth group of edge points, the number of the first group of edge points and/or the second group of edge points is at least two, and the number of the third group of edge points and/or the fourth group of edge points is at least one; or

And intersecting the clustered scanning lines with the side surface of the target container to obtain a fifth group of edge points and/or a sixth group of edge points, intersecting the clustered scanning lines with the bottom surface of the target container to obtain a seventh group of edge points, wherein the number of the fifth group of edge points and/or the sixth group of edge points is at least one, and the number of the seventh group of edge points is at least two.

6. The multi-line laser data fusion based container positioning method as claimed in claim 5, wherein the first set of edge points and/or the second set of edge points are line-fitted to obtain the heading angle of the target container or the seventh set of edge points are line-fitted to obtain the heading angle of the target container.

7. The multiline laser data fusion based container positioning method of claim 1, wherein the at least two multiline lidar are three-dimensional lidar mounted on a cart.

8. The multiline laser data fusion based container positioning method of claim 1, wherein the at least two multiline lidar are angled to enable scanning of the target container from a lateral direction and a longitudinal direction, respectively.

9. The multi-line laser data fusion based container positioning method as claimed in claim 1, further comprising:

the method comprises the steps of calibrating the at least two multi-line laser radars, scanning two mutually perpendicular surfaces of the target container by the at least two multi-line laser radars respectively, fitting the two mutually perpendicular surfaces to obtain two dimensions of a rotation relation and a displacement relation of the at least two multi-line laser radars, and measuring a position relation of the at least two multi-line laser radars to obtain a third dimension.

10. A container positioning device based on multi-line laser data fusion, using the container positioning method based on multi-line laser data fusion of any one of claims 1-9.

Technical Field

The invention relates to the field of crane loading and unloading, in particular to a container positioning method and device based on multi-line laser data fusion.

Background

At present, the container loading and unloading of the container to the container in the port mostly adopts a manual operation mode, and a tire crane driver operates the tire crane to load and unload the container to the container (an inner container and an outer container) below the tire crane. The manual operation of a tire crane driver has the disadvantages of low operation efficiency and unstable operation quality. With the progress and development of technology, more and more high-tech technologies are applied to the wharf, and automation and intelligence are gradually the trend of port development in the future. Laser radar is as a scanning means, by wide application in the harbour scene, however the laser radar of present harbour scene use mostly is single-point laser radar or single line laser radar to single-point laser radar or single line laser radar can only be used for realizing functions such as range finding and anticollision to the target container, and single-point laser radar or single line laser radar can't realize the accurate location of container.

Therefore, there is a need to provide a container positioning method, which can achieve accurate positioning of a target container.

Disclosure of Invention

The invention aims to solve the technical problem of providing a container positioning method and device based on multi-line laser data fusion, which are used for obtaining edge points of the top surface or the side surface of a target container after point cloud data are fused through point cloud data of a multi-line laser radar so as to accurately obtain the position of the target container.

The technical scheme adopted by the invention for solving the technical problems is to provide a container positioning method based on multi-line laser data fusion, which comprises the following steps:

acquiring point cloud data of at least two multi-line laser radars, and fusing the point cloud data according to the coordinate system relationship between the at least two laser radars;

clustering scanning lines according to the fused point cloud data, and acquiring edge points of the top surface or the side surface of the target container according to the clustered scanning lines;

and acquiring the contour of the top surface or the side surface of the target container according to the edge points of the top surface or the side surface of the target container so as to determine the center point and the course angle of the target container, thereby determining the position of the target container.

Preferably, when the top surface part of the target container cannot be obtained, obtaining the top surface contour of the target container according to the length, the width, the height and the single-side edge point of the top surface of the target container;

and when the top surface of the target container can not be obtained completely, obtaining the side profile of the target container according to the width, the length, the height and the edge point of the side surface of the target container.

Preferably, when the at least two multi-line lidar scans the contours of a plurality of containers, the position of the target container is determined according to the rank and the floor height of the target container.

Preferably, selecting a point cloud ROI according to the estimated position of the target container, and removing point cloud data which are obviously not hit on the target container;

and clustering the point cloud data in the point cloud ROI according to the width, the length and the box height of the target container to obtain a laser line which is hit on the top surface or the side surface of the target container in the point cloud ROI.

Preferably, the clustered scan lines intersect the long edges of the top surface of the target container to obtain a first group of edge points and/or a second group of edge points, the clustered scan lines intersect the short edges of the top surface of the container to obtain a third group of edge points and/or a fourth group of edge points, the number of the first group of edge points and/or the second group of edge points is at least two, and the number of the third group of edge points and/or the fourth group of edge points is at least one; or

And intersecting the clustered scanning lines with the side surface of the target container to obtain a fifth group of edge points and/or a sixth group of edge points, intersecting the clustered scanning lines with the bottom surface of the target container to obtain a seventh group of edge points, wherein the number of the fifth group of edge points and/or the sixth group of edge points is at least one, and the number of the seventh group of edge points is at least two.

Preferably, the first group of edge points and/or the second group of edge points are subjected to straight line fitting to obtain the heading angle of the target container or the seventh group of edge points are subjected to straight line fitting to obtain the heading angle of the target container.

Preferably, the at least two multiline lidar is a three-dimensional lidar mounted on a trolley.

Preferably, the at least two multiline lidar are angled to enable scanning of the target container from the transverse direction and the longitudinal direction respectively.

Preferably, the method further comprises the following steps:

the method comprises the steps of calibrating the at least two multi-line laser radars, scanning two mutually perpendicular surfaces of the target container by the at least two multi-line laser radars respectively, fitting the two mutually perpendicular surfaces to obtain two dimensions of a rotation relation and a displacement relation of the at least two multi-line laser radars, and measuring a position relation of the at least two multi-line laser radars to obtain a third dimension.

The invention also provides a container positioning device based on multi-line laser data fusion, which is used for solving the technical problems and adopts the technical scheme.

Compared with the prior art, the invention has the following beneficial effects: the container positioning method and device based on the multi-line laser data fusion can acquire point cloud data of at least two multi-line laser radars and perform point cloud data fusion, perform scanning line clustering according to the fused point cloud data, and acquire edge points and contours of the top surface or the side surface of a target container so as to determine the central point and the course angle of the target container and further determine the position of the target container, thereby realizing accurate positioning of the target container.

Furthermore, according to the length, the width and the height of the target container, and the edge point and the top surface contour of the single side or the edge point and the side surface contour of the top surface or the side surface of the target container, when the top surface of the target container is partially or completely unavailable, the target container can be accurately positioned.

Furthermore, at least two multi-line laser radars are angled to scan the target container from the transverse direction and the longitudinal direction respectively, so that edge points and contours of the target container are completely scanned, and the target container is accurately positioned.

Drawings

FIG. 1 is a flow chart of a container positioning method based on multi-line laser data fusion in an embodiment of the present invention;

FIG. 2 is a flow chart of a container positioning method based on multi-line laser data fusion according to another embodiment of the present invention;

FIG. 3 is a schematic diagram of a multiline lidar scanning a top surface of a target container in an embodiment of the invention;

FIG. 4 is a schematic illustration of a multiline lidar scanning the top surface of a target container when a portion of the top surface of the target container is unavailable in an embodiment of the invention;

FIG. 5 is a schematic diagram of a multiline lidar scanning a side of a target container when the top surface of the target container is fully inaccessible in an embodiment of the invention;

FIG. 6 is a schematic illustration of the placement of a target container and other containers in an embodiment of the invention;

FIG. 7 is a schematic illustration of the floor height of a target container in an embodiment of the present invention;

fig. 8 is a schematic view of the installation of the multiline lidar in an embodiment of the present invention.

Detailed Description

The invention is further described below with reference to the figures and examples.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. Accordingly, the particular details set forth are merely exemplary, and the particular details may be varied from the spirit and scope of the present invention and still be considered within the spirit and scope of the present invention.

Referring now to fig. 1, fig. 1 is a flow chart of a container positioning method based on multi-line laser data fusion in an embodiment of the present invention. The container positioning method based on the multi-line laser data fusion comprises the following steps:

step 101: acquiring point cloud data of at least two multi-line laser radars, and fusing the point cloud data according to the coordinate system relationship between the at least two laser radars;

step 102: clustering scanning lines according to the fused point cloud data, and acquiring edge points of the top surface or the side surface of the target container according to the clustered scanning lines;

step 103: and acquiring the contour of the top surface or the side surface of the target container according to the edge points of the top surface or the side surface of the target container so as to determine the center point and the course angle of the target container, thereby determining the position of the target container.

In the specific implementation, the central point of the target container refers to the central point of the rectangular top surface of the container, and the course angle refers to the included angle between the straight line connected with the centers of the head and tail lock buttons of the vehicle plate and the ordinate of the coordinate system of the cart.

Referring now to fig. 3, fig. 3 is a schematic diagram of a multiline lidar scanning the top surface of a target container in an embodiment of the invention. In a specific implementation, two multiline laser radars, for example, laser radar 1 and laser radar 2, may be used, and laser radar 1 and laser radar 2 are multiline laser radars, and the point cloud data of the two multiline laser radars are placed in the same coordinate system using calibration parameters, and point cloud data fusion is performed according to the coordinate relationship between laser radar 1 and laser radar 2. And clustering the scanning lines according to the fused point cloud data, wherein the dotted line in the graph is the point cloud of the laser of two multi-line laser radars falling on the top surface of the container. The scanning line of the laser radar 2 is intersected with one long side of the top surface of the target container to obtain a first group of edge points P1 … P8 and/or is intersected with the other long side to obtain a second group of edge points, the scanning line of the laser radar 1 is intersected with one short side of the top surface of the target container to obtain a third group of edge points Q1 … Q3 and/or is intersected with the other short side to obtain a fourth group of edge points, the number of the first group of edge points and the second group of edge points is at least two, and the number of the third group of edge points and the fourth group of edge points is at least one.

In a specific implementation, a first or second set of edge points and a third or fourth set of edge points may be used. Preferably, the first group of edge points and the second group of edge points, and the third group of edge points and the fourth group of edge points may be used simultaneously, and the edge point data of the two groups of long edges and the edge point data of the two groups of short edges are used simultaneously, so that the profile of the top surface of the target container is obtained more accurately, and the central point of the target container is determined more accurately.

In specific implementation, a point cloud ROI (Region of Interest) is selected according to the estimated position of the target container, point cloud data which are obviously not hit on the target container are removed, and the point cloud data in the point cloud ROI area are clustered according to the width, the length and the height of the target container to obtain a laser line hit on the top surface or the side surface of the target container in the point cloud ROI area.

The target container heading angle may be derived by a line fit using the first set of edge points P1 … P8 and/or the second set of edge points. Preferably, the first group of edge points and the second group of edge points can be used simultaneously, and the two groups of edge point data of the long edge are used simultaneously, so that the course angle of the target container can be acquired more accurately, and the position of the target container can be determined more accurately. In a specific implementation, a straight line fitting may also be performed using the third set of edge points Q1 … Q3 and/or the fourth set of edge points to obtain the target container heading angle. Preferably, the third group of edge points and the fourth group of edge points can be used simultaneously, and the course angle of the target container can be acquired more accurately by using the edge point data of the two groups of short edges simultaneously, so that the position of the target container can be determined more accurately. And determining the contour of the top surface of the target container according to the edge points of the multi-line laser radar on the top surface of the target container, the width and the length of the container, and obtaining the central position of the target container after the contour of the top surface of the target container is determined so as to determine the position of the target container.

Referring now to fig. 2, fig. 2 is a flow chart of a container location method based on multi-line laser data fusion in a further embodiment of the present invention.

The container positioning method based on the multi-line laser data fusion comprises the following steps:

step 201: acquiring point cloud data of at least two multi-line laser radars, and fusing the point cloud data according to the coordinate system relationship between the at least two laser radars;

step 202: clustering scanning lines according to the fused point cloud data, and acquiring edge points of the top surface or the side surface of the target container according to the clustered scanning lines;

step 203: acquiring the contour of the top surface or the side surface of the target container according to the edge points of the top surface or the side surface of the target container so as to determine the center point and the course angle of the target container, thereby determining the position of the target container;

step 204: when the top surface part of the target container cannot be obtained, obtaining the top surface outline of the target container according to the length, the width and the height of the target container and the single-side edge point of the top surface of the target container;

step 205: and when the top surface of the target container can not be obtained completely, obtaining the side profile of the target container according to the width, the length, the height and the edge point of the side surface of the target container.

Referring now to fig. 4, fig. 4 is a schematic diagram of a multi-line lidar scanning the top surface of a target container when a portion of the top surface of the target container is unavailable in an embodiment of the invention. The laser radar scanning line is intersected with one long side of the top surface of the target container to obtain a first group of edge points P1 … P8, the laser radar scanning line is intersected with one short side of the top surface of the target container to obtain a third group of edge points Q1 and Q2 and/or is intersected with the other short side to obtain a fourth group of edge points, the number of the first group of edge points is at least two, and the number of the third group of edge points and the fourth group of edge points is at least one. The top surface profile of the target container is thus obtained based on the length, width, height of the target container and the single-sided edge points of the top surface of the target container, i.e. the first set of edge points P1 … P8. In a specific implementation, the top surface profile of the target container may also be obtained according to the length, width, height, and third and/or fourth sets of edge points of the target container.

Preferably, the third set of edge points and the fourth set of edge points may be used simultaneously, and the edge point data of the two sets of short edges may be used simultaneously, so as to more accurately obtain the profile of the top surface of the target container, and further more accurately determine the center point of the target container.

Referring now to fig. 5, fig. 5 is a schematic diagram of a multiline lidar scanning a side of a target container when the top surface of the target container is fully inaccessible in an embodiment of the present invention. The laser radar scanning lines are intersected with the side face of the target container to obtain a fifth group of edge points and/or a sixth group of edge points, the laser radar scanning lines are intersected with the bottom face of the target container to obtain a seventh group of edge points, the number of the fifth group of edge points and the number of the sixth group of edge points are at least one, and the number of the seventh group of edge points is at least two. Thereby obtaining the side profile of the target container according to the width, length, height and edge points of the side of the target container, i.e. the seventh group of edge points. In particular implementations, the side profile of the target container may also be obtained based on the length, width, height, and fifth and/or sixth set of edge points of the target container.

Preferably, the five groups and the sixth group of edge points can be used simultaneously, and the edge point data of the two groups of short edges are used simultaneously, so that the profile of the side surface of the target container is acquired more accurately, and the central point of the target container is determined more accurately.

Therefore, even when the hanger or the container on the higher layer at the adjacent position partially or completely shields the target container, the existence of the single side edge point in the long side direction of the target container can be still ensured, and the container heading angle and the position of the center point can still be determined by using the single side edge point and combining the width or the length of the container.

Referring now to fig. 6 and 7, fig. 6 is a schematic diagram of the target container and other containers in the embodiment of the present invention, and fig. 7 is a schematic diagram of the floor height of the target container in the embodiment of the present invention. When a plurality of containers are detected, the multi-line laser radar scans the outlines of the containers and needs to distinguish the target containers, and when the crane grabs or releases the containers, the arrangement and the layer height of the target containers can be estimated and known generally, and according to the arrangement and the layer height of the target containers, the position of the target containers can be determined, so that the course angle and the central position of the target containers are obtained. In a specific implementation, an IPC (Industrial Personal Computer) outputs a control command to a PLC (Programmable Logic Controller), and performs a box grabbing operation or a box releasing operation on a target container.

Referring now to fig. 8, fig. 8 is a schematic view of the installation of a multiline lidar in an embodiment of the present invention. At least two of the multiline lidar means are trolley mounted three dimensional lidar means, as shown in fig. 8, angled between lidar means 1 and lidar means 2 to effect scanning of the target container from the transverse and longitudinal directions respectively, preferably with lidar means 1 and lidar means 2 being disposed perpendicular to each other to facilitate scanning of the target container both transversely and longitudinally using the two multiline lidar means.

In a specific implementation, the laser radar can be multiple, so that the target container can be scanned more accurately. The multi-line laser radar is used for calibrating the multi-line laser radar, the multi-line laser radar scans two surfaces of a target container, the two surfaces are perpendicular to each other, the two dimensions are fitted to the two surfaces perpendicular to each other so as to obtain the rotation relation and the displacement relation of the multi-line laser radars, and the third dimension is obtained by measuring the position relation of the multi-line laser radars.

The embodiment of the invention also provides a container positioning device based on the multi-line laser data fusion, and the container positioning method based on the multi-line laser data fusion is used.

In summary, the container positioning method and device based on multi-line laser data fusion provided by this embodiment can obtain point cloud data of at least two multi-line laser radars and perform point cloud data fusion, perform scanning line clustering according to the fused point cloud data, and obtain edge points and contours of the top surface or side surface of a target container, so as to determine a center point and a course angle of the target container, and further determine the position of the target container, thereby implementing accurate positioning of the target container.

Furthermore, according to the length, the width and the height of the target container, and the edge point and the top surface contour of the single side or the edge point and the side surface contour of the top surface or the side surface of the target container, when the top surface of the target container is partially or completely unavailable, the target container can be accurately positioned.

Furthermore, at least two multi-line laser radars are angled to scan the target container from the transverse direction and the longitudinal direction respectively, so that edge points and contours of the target container are completely scanned, and the target container is accurately positioned.

Although the present invention has been described with respect to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.