Mathematics and Computer Science

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A Tanker Port Positioning Method of Quantitative Loading Automation

Received: Nov. 12, 2019    Accepted: Dec. 13, 2019    Published: Dec. 30, 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.

DOI 10.11648/j.mcs.20190406.16
Published in Mathematics and Computer Science ( Volume 4, Issue 6, November 2019 )
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), 2024. 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://download.sciencepg.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
  • School of Mechanical and Ocean Engineering, Jiangsu Ocean University, Lianyungang, China

  • School of Mechanical and Ocean Engineering, Jiangsu Ocean University, Lianyungang, China

  • Jiangsu Spacecraft Co., Ltd., Taizhou, China

  • Lianyungang Technical College, Lianyungang, China

  • Section