Container stacking alignment method based on satellite positioning system and laser ranging

Abstract

The invention discloses a container stacking alignment method based on a satellite positioning system and laser ranging. According to the invention, the position and the azimuth angle of a container are determined through one satellite positioning antenna installed on a lifting tool and one orientation sensor. The position relation between a current container and a next container is determined through four laser ranging devices installed on four sides of the lifting tool, and the automatic stacking alignment of the container is realized by taking the satellite positioning system as a main partand taking the laser ranging devices as auxiliary parts. By means of the satellite positioning system, the coordinates and the azimuth angle of the container on the current lifting tool are determined. Meanwhile, the lifting tool is moved to enable the coordinate error between the coordinates of the lifting tool and the coordinates of a box at the bottommost layer of a stack to be smaller than 1cm and the deflection angle therebetween to be smaller than 0.05 degree. After that, the laser ranging devices are turned on for checking purpose. According to the feedback signals of the four laser ranging devices, the lifting tool is moved repeatedly, so that the container on the lifting tool is aligned with a container on the uppermost portion of the stack. The continuous operation of the automatic container stacking system is guaranteed.

Description

technical field [0001] The invention relates to port automation technology, in particular to an alignment technology for automatically stacking containers. Background technique [0002] The automation and unmanned management of ports, freight yards and warehouses can not only improve the efficiency of cargo turnover but also reduce labor costs and enhance production safety. Among them, the automatic stacking alignment of containers is an indispensable link, but most of the port alignment technologies disclosed at present are the alignment methods between the spreader and the container. In the alignment between the spreader and the container, sensors such as laser radar or camera are generally installed on the spreader to locate the container below, but this method is not suitable for the stacking alignment between containers. Because in the container stacking alignment, the container on the spreader will hinder the identification of the lidar and the camera. The container ...

AI Technical Summary

Problems solved by technology

However, this method can only locate the topmost container below, which is prone to cumulative errors and the cost of line laser measurement equipment is relatively high

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