IGV and ARMG automatic guiding alignment method and system

Abstract

The invention discloses an IGV and ARMG automatic guiding alignment method and system. The method comprises the steps that S1, an IGV empty frame or an IGV carrying a container is moved to an ARMG side operation bay; s2, a laser scanner carries out two-dimensional scanning distance measurement on the IGV empty frame or the container on the frame, and a point set of polar coordinates is obtained; s3, converting the point set into a point set under a three-dimensional coordinate system; s4, acquiring the central position of an empty frame or a container on the frame according to the converted point set; s5, obtaining the relative deviation of the empty frame or container; s6, whether the corresponding relative deviation is within an absolute value of a preset allowable deviation range or not is judged, if yes, the step S8 is executed, and if not, the step S7 is executed; s7, according to the relative deviation of the empty frame or the container, IGV alignment is controlled and guided, and the step S2 is executed again; and S8, guiding alignment is completed. According to the invention, the IGV and ARMG alignment can be automatically, effectively and accurately realized.

Description

technical field [0001] The invention mainly relates to the technical field of automatic loading and unloading of container loading and unloading machinery on the shore of container terminals and yard container handling machinery. The invention takes the interaction between ARMG and IGV in the yard as an example, and describes a kind of automatic IGV and ARMG guide alignment method and system. Background technique [0002] There are positioning deviations of different precisions in automation equipment. Closed-loop docking can be achieved only when the overall deviation in the equipment interaction process is controlled within a certain range; the alignment interaction between IGV and ARMG is an important part of the container loading and unloading operation, which is related to whether the waybill continues to be executed, equipment, Box and other safety guarantees. In the actual production process, IGV and ARMG have different alignment accuracy, plus the swing deviation of...

AI Technical Summary

Problems solved by technology

[0006] In the prior art, a pan / tilt, a laser scanning rangefinder and a controller are installed under the bridge crane, the controller is used to set the designated lane, and the laser scanner is used to control the designated lane to scan the designated lane, reminding the set The alignment deviation of the truck driver, this method requires the cooperation of the truck driver and cannot satisfy the alignment interaction between IGV and ARMG

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