面向装船作业的物料堆圆锥法高效仿真与工程应用分析

Efficient Simulation and Engineering Application Analysis of the Conical Method for Material Piles in Ship Loading Operations

摘要: 在散货无人化装船作业中，料堆形态的准确建模与预测是实现智能卸料控制和防碰撞规划的关键环节。针对传统方法在复杂堆积环境下建模精度低、计算效率差的问题，本文设计了一种基于圆锥法的料堆快速模拟与重构方法。该方法将复杂的堆积过程抽象为可参数化的几何圆锥模型，通过点云投影、交点求解与逐步演化三个阶段，实现了对料堆堆积过程的高效建模与形态重构。实验在真实港口装船环境中进行，结果表明，该方法能够在不同堆积条件下生成与真实煤堆高度一致、形态相近的几何模型。

Abstract: Unmanned bulk cargo loading operations, accurate modeling and prediction of pile morphology are crucial for intelligent discharge control and collision avoidance planning. To address the limitations of traditional methods, such as low modeling accuracy and poor computational efficiency in complex stacking environments, this paper proposes a rapid simulation and reconstruction method for material piles based on a conical approach. This method abstracts the complex stacking process into a parameterized geometric cone model, achieving efficient modeling and morphological reconstruction of the pile formation process through three stages: point cloud projection, intersection solving, and stepwise evolution. Experiments conducted in a real port loading environment demonstrate that the proposed method can generate geometric models highly consistent with and closely matching the morphology of actual coal piles under various stacking conditions.