Abstract
Laser scanning ranging radar is an important tool for machines to perceive the surrounding environment and is widely used in the power, forestry, surveying and mapping industries. At present, the loading of oil and grain oil in our country generally adopts the way of manual loading. The loading arm is inserted into the tank of the tanker for refueling, and the loading operation is very frequent. In order to realize automatic control of grain and oil loading, radar is needed to assist the robot to locate the oil port of the tanker. In this paper, a 360-degree laser scanning ranging radar is used to collect characteristic data of oil hole of tanker for the first time in simulated environment. Cubic spline interpolation was used to smooth and correct the radar scan data. Based on the feature that the distance data of oil port will change rapidly, an edge feature recognition algorithm is proposed to screen and calculate the target point, and then convert it to cartesian coordinate point, which can be used as the positioning target of the robot unit of quantitative loading system. The experimental results show that the method can locate the center of the circle accurately and meet the requirement of feature recognition accuracy.
Highlights
Machine vision is an important boost for automation in various industrial manufacturing fields in the future
The loading arm is inserted into the oil tank of the tanker to refuel, and the loading operation is very frequent, and the degree of automation is not high, which affects the high efficiency of production [11]
At present, combining with the actual tank port environment grain and oil industry, as shown in Figure 1, this paper mainly focuses on the characteristics of the tank hole to establish a simulation environment. 360-degree laser scanning ranging radar was used in the simulation environment which is used for scanning, feature recognition, and center positioning to collect data
Summary
To cite this article: Wenliang Zhu, Yanzhe Ni, Tingbo Huang, Jiahao Han. A Tanker Port Positioning Method of Quantitative Loading Automation. Received: November 12, 2019; Accepted: December 13, 2019; Published: December 30, 2019
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