无人智能清舱机系统设计与实现

Design and Implementation of an Unmanned Intelligent Cabin Sweeping Machine System

摘要:

目前散货港口清舱作业环境恶劣、安全隐患突出、人工下舱作业效率受限，对无人清舱需求强烈；针对清舱场景特有的船舱金属屏蔽、煤堆流动带来的定位可靠性差，自动规划控制复杂、远程交互控制操作繁琐的问题，对激光SLAM、路径规划控制和远程驾驶交互控制技术进行了研究，设计了基于激光雷达的多传感器融合定位模块、基于全覆盖路径规划的自动清舱控制模块和基于WPF的远程交互控制平台，设计了清舱机电控系统，构建了一套无人智能清舱机系统，实现了在船舱动态复杂环境中进行主动定位、自动规划作业和远程驾驶交互控制。在测试环境和真实作业场景下进行了功能测试和清舱应用测试。结果表明，无人智能清舱机系统能够满足无人作业要求和实际生产应用。

Abstract:

Current bulk cargo ports suffer from harsh cabin sweeping environments, significant safety risks, and low efficiency in manual cabin operations, driving a strong demand for unmanned cabin sweeping solutions. To tackle challenges specific to cabin sweeping scenarios, such as metallic shielding in ship cabins, poor positioning reliability caused by coal pile fluidity, complex automated planning and control, and cumbersome remote interactive operations, this study explores laser SLAM, path planning and control, and remote interactive control technologies. A multi-sensor fusion positioning system based on LiDAR, an automated cabin sweeping control system employing complete coverage path planning, and a WPF-based remote interactive control platform are designed. Furthermore, an electromechanical control system for the cabin sweeper is developed, resulting in an integrated unmanned intelligent cabin sweeping machine system. This system enables active positioning, automated operational planning, and remote interactive control in dynamic and complex cabin environments. Functional tests and practical application evaluations were conducted in both simulated and real-world scenarios. Results indicate that the proposed system fulfills the requirements for unmanned operations and is suitable for industrial deployment.