High-Precision Ship-Loader-Shore Collaborative Localization in Bulk Carrier Cargo Hold Clearing Scene

Cargo hold clearing of bulk carriers is an important operation process in the port, but the above processes are usually manual operations limited by the complex environment inside and outside the cabin, such as the hatch blocking the view and the dusty cargo hold, etc., resulting in insufficient intelligence and low efficiency and high risk in the clearing process. For this reason, this paper presents a ship-loader-shore collaborative localization (SLS-CL) system to lay the foundation for the autonomous operation of the clearing machine, which provides a no-blind zone perception and high-precision collaborative localization in cargo hold clearing scene. Besides, to unify the localization of multiple coordinates accurately, a collaborative calibration method considering point cloud normal vectors and intensity values is proposed to obtain the precise positions of the garb and loader. Subsequently, an efficient 2D structure constrained collaborative localization method is proposed that employs an unscented Kalman filter, which improves the efficiency and accuracy of collaborative localization by constraining the position of the grab and loader to the fitted hatch plane in the SLS-CL system. Finally, experiments with the simulation and real-world scenarios are conducted to demonstrate the effectiveness of the proposed method.

• Record URL:
  • https://annualmeeting.mytrb.org/OnlineProgram/Details/21253
• Supplemental Notes:
  • This paper was sponsored by TRB committee AW010 Standing Committee on Ports and Channels.
• Corporate Authors:

  Transportation Research Board

  ,    
• Authors:
  • Xiao, Hanbiao
  • Jie, Meng
  • Hu, Zhaozheng
  • Shi, Xiancheng
  • Tan, Hengtao
• Conference:
  • Transportation Research Board 103rd Annual Meeting
  • Location: Washington DC
  • Date: 2024-1-7 to 2024-1-11
• Date: 2024

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; Photos; References; Tables;
• Pagination: 13p

Subject/Index Terms

• TRT Terms: Bulk cargo handling; Bulk carriers; Cargo compartments; Detection and identification system applications; Loaders; Loading and unloading
• Subject Areas: Freight Transportation; Marine Transportation; Operations and Traffic Management; Terminals and Facilities; Vehicles and Equipment;

Filing Info

• Accession Number: 01908570
• Record Type: Publication
• Report/Paper Numbers: TRBAM-24-05489
• Files: TRIS, TRB
• Created Date: Feb 20 2024 9:17AM