Intelligent detection system and method for distribution profile and position of container

Abstract

The invention discloses an intelligent detection system for a distribution profile and a position of a container. The intelligent detection system comprises a central control system, a three-dimensional laser scanning module, a target profile processing module and an ARMG (Automated Rail Mounted Gantry Crane) movement controller. Meanwhile, the invention discloses a method for detecting the distribution profile and the position of the container by using the intelligent detection system. The method is high in detection speed and high in detection precision by adopting three-dimensional space laser scanning, and overcomes the basic defect of conventional laser single-point scanning or line scanning. A generated container locating position error signal is output to the ARMG movement controller to automatically control movement mechanisms such as a lifting appliance, a trolley and a cart of an ARMG, and thus the accurate control on stacking and grabbing the container by the ARMG is realized; the generated container locating position error signal can be also output to a central monitoring system of an intelligent wharf for remotely monitoring the process of loading or unloading the container by the ARMG. According to the intelligent detection system and method, the accurate container alignment and the container collision in the process of loading or unloading the container are realized, the efficiency of loading or unloading the container is improved, and the accident of collision caused during the loading or the unloading of the container is reduced.

Description

technical field [0001] The invention relates to a detection system and method, in particular to an intelligent detection system and method dedicated to the distribution profile and position of containers. Background technique [0002] The new generation of large-scale intelligent container terminals can realize unattended fully automated container loading and unloading, which can greatly improve the efficiency of container port loading and unloading. Rail Mounted Gantry crane) is also the container quay crane (QC, Quay) at the front of the terminal. During the container loading and unloading process, the container distribution profile and position detection of the yard or ship is one of the core technologies to realize the fully automated and efficient loading and unloading of the container terminal; Through the automatic and precise detection of container distribution outline and position, the automatic and precise control of ARMG (or QC) stacking and grabbing can be realiz...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent 201210035473.6 discloses a port container positioning device. A laser pulse length measuring device is installed on the quay crane spreader to obtain the position deviation information of the container truck on the ground perpendicular to the spreader. distance value, so as to assist the driver to realize the positioning of the container truck in one operation; because this container laser positioning device is a single-point scan, the container positioning information obtained is only a few (two or four) vertical positions of the given container point position. Distance, detection points are too few, detection accuracy is not high, so it cannot be applied to automatic loading and unloading; it is only used as a reference for the driver's operation, and the process of loading the container must also require the driver to operate the quay bridge, or issue a request for the container truck to move forward, backward, turn left, and turn right. Turn or stop driving command;

[0004] Chinese patent 200710169094.5 discloses a dual-container positioning system based on machine vision, which uses a high-resolution camera to obtain container or truck images, extracts the image coordinates of the container's lower grab point from the image, and realizes dual-container positioning through pattern recognition methods; The main disadvantage of the two-dimensional optical image recognition method is that the spatial distance in the vertical direction cannot be determined, and it is greatly affected by the environment. When the light is dark, the image is blurred, so it cannot be applied to automatic loading and unloading, and the driver must operate the quay bridge , or issue a driving instruction for the container truck;

[0005] The above comparison documents all use laser scanning in three-dimensional space, the detection speed is slow, and the detection accuracy is poor; at the same time, there are fundamental defects of laser single-point scanning or line scanning

Images