A Tanker Port Positioning Method of Quantitative Loading Automation

Wenliang Zhu; Yanzhe Ni; Tingbo Huang; Jiahao Han

doi:doi:10.11648/j.mcs.20190406.16

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A Tanker Port Positioning Method of Quantitative Loading Automation

Wenliang Zhu, Yanzhe Ni, Tingbo Huang, Jiahao Han

Published in Mathematics and Computer Science (Volume 4, Issue 6)

Received: 12 November 2019 Accepted: 13 December 2019 Published: 30 December 2019

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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.

Published in	Mathematics and Computer Science (Volume 4, Issue 6)
DOI	10.11648/j.mcs.20190406.16
Page(s)	142-148
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2019. Published by Science Publishing Group

Keywords

Laser Radar, Spline Interpolation, Center Positioning

References

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APA Style

Wenliang Zhu, Yanzhe Ni, Tingbo Huang, Jiahao Han. (2019). A Tanker Port Positioning Method of Quantitative Loading Automation. Mathematics and Computer Science, 4(6), 142-148. https://doi.org/10.11648/j.mcs.20190406.16

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ACS Style

Wenliang Zhu; Yanzhe Ni; Tingbo Huang; Jiahao Han. A Tanker Port Positioning Method of Quantitative Loading Automation. Math. Comput. Sci. 2019, 4(6), 142-148. doi: 10.11648/j.mcs.20190406.16

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AMA Style

Wenliang Zhu, Yanzhe Ni, Tingbo Huang, Jiahao Han. A Tanker Port Positioning Method of Quantitative Loading Automation. Math Comput Sci. 2019;4(6):142-148. doi: 10.11648/j.mcs.20190406.16

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@article{10.11648/j.mcs.20190406.16,
  author = {Wenliang Zhu and Yanzhe Ni and Tingbo Huang and Jiahao Han},
  title = {A Tanker Port Positioning Method of Quantitative Loading Automation},
  journal = {Mathematics and Computer Science},
  volume = {4},
  number = {6},
  pages = {142-148},
  doi = {10.11648/j.mcs.20190406.16},
  url = {https://doi.org/10.11648/j.mcs.20190406.16},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.mcs.20190406.16},
  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.},
 year = {2019}
}

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TY  - JOUR
T1  - A Tanker Port Positioning Method of Quantitative Loading Automation
AU  - Wenliang Zhu
AU  - Yanzhe Ni
AU  - Tingbo Huang
AU  - Jiahao Han
Y1  - 2019/12/30
PY  - 2019
N1  - https://doi.org/10.11648/j.mcs.20190406.16
DO  - 10.11648/j.mcs.20190406.16
T2  - Mathematics and Computer Science
JF  - Mathematics and Computer Science
JO  - Mathematics and Computer Science
SP  - 142
EP  - 148
PB  - Science Publishing Group
SN  - 2575-6028
UR  - https://doi.org/10.11648/j.mcs.20190406.16
AB  - 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.
VL  - 4
IS  - 6
ER  -

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Author Information

Wenliang Zhu

School of Mechanical and Ocean Engineering, Jiangsu Ocean University, Lianyungang, China
Yanzhe Ni

School of Mechanical and Ocean Engineering, Jiangsu Ocean University, Lianyungang, China
Tingbo Huang

Jiangsu Spacecraft Co., Ltd., Taizhou, China
Jiahao Han

Lianyungang Technical College, Lianyungang, China

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Plain Text BibTeX RIS

APA Style

Wenliang Zhu, Yanzhe Ni, Tingbo Huang, Jiahao Han. (2019). A Tanker Port Positioning Method of Quantitative Loading Automation. Mathematics and Computer Science, 4(6), 142-148. https://doi.org/10.11648/j.mcs.20190406.16

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ACS Style

Wenliang Zhu; Yanzhe Ni; Tingbo Huang; Jiahao Han. A Tanker Port Positioning Method of Quantitative Loading Automation. Math. Comput. Sci. 2019, 4(6), 142-148. doi: 10.11648/j.mcs.20190406.16

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AMA Style

Wenliang Zhu, Yanzhe Ni, Tingbo Huang, Jiahao Han. A Tanker Port Positioning Method of Quantitative Loading Automation. Math Comput Sci. 2019;4(6):142-148. doi: 10.11648/j.mcs.20190406.16

Copy | Download

@article{10.11648/j.mcs.20190406.16,
  author = {Wenliang Zhu and Yanzhe Ni and Tingbo Huang and Jiahao Han},
  title = {A Tanker Port Positioning Method of Quantitative Loading Automation},
  journal = {Mathematics and Computer Science},
  volume = {4},
  number = {6},
  pages = {142-148},
  doi = {10.11648/j.mcs.20190406.16},
  url = {https://doi.org/10.11648/j.mcs.20190406.16},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.mcs.20190406.16},
  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.},
 year = {2019}
}

Copy | Download

TY  - JOUR
T1  - A Tanker Port Positioning Method of Quantitative Loading Automation
AU  - Wenliang Zhu
AU  - Yanzhe Ni
AU  - Tingbo Huang
AU  - Jiahao Han
Y1  - 2019/12/30
PY  - 2019
N1  - https://doi.org/10.11648/j.mcs.20190406.16
DO  - 10.11648/j.mcs.20190406.16
T2  - Mathematics and Computer Science
JF  - Mathematics and Computer Science
JO  - Mathematics and Computer Science
SP  - 142
EP  - 148
PB  - Science Publishing Group
SN  - 2575-6028
UR  - https://doi.org/10.11648/j.mcs.20190406.16
AB  - 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.
VL  - 4
IS  - 6
ER  -

Copy | Download