Double laser radar positioning method for aligning sling and container truck

A technology of radar positioning and laser radar, which is applied in the direction of load hanging components, transportation and packaging, etc., can solve the problems of single laser scanner working error, etc., and achieve the effect of improving loading and unloading efficiency, improving recognition accuracy and speed

Inactive Publication Date: 2006-12-27
SHANGHAI JIAO TONG UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

However, what the literature analyzes is the working error of a single laser scanner. There is no description of the method of the dual laser ra...

Method used

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  • Double laser radar positioning method for aligning sling and container truck
  • Double laser radar positioning method for aligning sling and container truck

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Embodiment Construction

[0016] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0017] A typical implementation of the present invention is shown in the accompanying drawings, which is used to realize the box positioning of the lower collector truck of the low-rise rail gantry crane in a loading and unloading process of the high-low rail gantry crane.

[0018] figure 1 It is a schematic diagram of the spreader-collecting truck alignment system. Such as figure 1 As shown, 1-RMG cart, 2-RMG trolley, 3-3D laser radar, 4-RMG beam, 5-RMG spreader, 6-container, 7-collector alignment indicating device, 8-collector, 9 - The running direction of the RMG trolley.

[0019] The bidirectional arrow 9 shows the running direction of the RMG trolley 2, and the running direction of the RMG cart 1 is perpendicular to this direction. 3D LIDAR 3 mounted on RMG beams 4 .

[0020] figure 2 It is a schematic diagram of the installation of...

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Abstract

Disclosed is a double-lidar positioning method for hanger-container truck alignment belonging to container automatization field. The invention comprises firstly acquiring the type of the container truck during the container loading process or the container type during the container unloading process; then acquiring precise position or pose of the container truck lock during the container loading process or the container lockhole during the container unloading process; finally acquiring precise pose and position the hanger, computing the difference between the precise positions and poses of the container truck lock or the container lockhole and the hanger, real-timely adjusting the cylinder according to the hanger position and pose, thus to realize precise alignment positioning of the hanger and the container truck. The invention employs a block scan and error compensation method, and advanced software processing and hard control technologies to greatly improve the recognition precision and speed, make the system have redundance fault tolerance capability, and improve the loading and unloading efficiency.

Description

technical field [0001] The invention relates to a method in the technical field of container automation, in particular to a double laser radar positioning method for a spreader-collector to a container. Background technique [0002] The automation of container terminal production is the development trend of future port loading and unloading, and has been valued by major ports in the world. In the fully automated container terminals that have been built today, AGV (automatic unmanned automatic guided vehicle) is used to realize the horizontal transportation of containers in the terminal. In this way, when the AGV runs under the RMG, it can be convenient and accurate only through the positioning sensor. Realize the positioning of AGV. However, in the early stage of the construction of automated storage yards, due to the immaturity of financial resources and technology, generally only automatic loading and unloading technology will be used in the storage yards in some areas of...

Claims

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Application Information

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IPC IPC(8): B66C13/16
CPCB66C13/46
Inventor 杜正春王建吕潮峰
Owner SHANGHAI JIAO TONG UNIV
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