Continuous ship unloader ship and material identification sensing method

The invention provides a continuous ship unloader ship and material identification sensing method comprising the following steps: using a laser vision system of a continuous ship unloader to collect bulk cargo transport ship whole information, forming scene point cloud data according to a measuring result returned by a laser scanner, and carrying out coordinate conversion and cutting on the pointcloud data; performing radius filtering and smoothing processing on the clipped point cloud data; carrying out horizontal projection on the smoothed point cloud data, and calculating the height of a deck; projecting the point cloud data in the vertical direction again according to the height of the deck, and converting the point cloud data into a binary image; carrying out morphological processingon the binary image obtained through projection, and carrying out recognition and detection on the hatch in the binary image; obtaining world coordinates of the hatch area, and verifying a recognition result according to prio