Collaborative work of multiple lidars, and dat processing method

A lidar, collaborative work technology, applied in the re-radiation of electromagnetic waves, the use of re-radiation, measurement devices, etc., can solve the problems of poor reliability of error redundancy, insufficient system response speed, etc., to ensure production, improve scanning accuracy, strong The effect of system redundancy and fault tolerance

Inactive Publication Date: 2007-02-21
SHANGHAI JIAO TONG UNIV
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AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a multi-laser cooperative work and data processing method for the insufficient system response speed and poor reliability of error redundancy in the existing single laser radar positioning processing technology

Method used

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  • Collaborative work of multiple lidars, and dat processing method
  • Collaborative work of multiple lidars, and dat processing method
  • Collaborative work of multiple lidars, and dat processing method

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Experimental program
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Embodiment Construction

[0055] The technology of the present invention is realized by a multi-laser radar system, and the specific workflow is as follows:

[0056] 1. In the on-site installation stage of the system, the weight distribution network is trained according to the on-site measured data, and the initial weight table based on distance and reflectivity is established;

[0057] 2. When the MLRS starts, it performs a state self-check, performs a series of initializations, divides the scanning area of ​​the target, and determines the scanning area of ​​each working radar;

[0058] 3. Each radar working sub-thread independently executes the scanning task, preprocesses the message to generate measurement data, and calculates the data weight by table look-up interpolation, and generates the confidence distance domain of the scanning data;

[0059] 4. During MLRS operation, the monitoring module performs automatic fault diagnosis and shielding in real time. Carry out validity verification based on ...

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Abstract

A method for making multilaser radar be operated coordinately includes enabling each radar to finalize object blocking scan and dynamic weighted treatment of scanning data independently under coordination control of master controlling and processing module (MCPM), carrying out effectiveness verification on data collected by each radar in real time and stopping linear grogram of the radar as well as shielding its function if certain radar is fault, feeding radar state back to system sate display module, carrying out dynamic data treatment of error compensation and coordinate matching adaptively and finalizing scan and identification task of object multiple surfaces by MCPM according to system topological structure.

Description

technical field [0001] The invention relates to a method in the technical field of wharf container automation, in particular to a multi-laser radar collaborative work and data processing method for "spreader-collector-container" positioning in an automated unmanned yard. 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 driverless automatic guided vehicle) is used to realize the horizontal transportation of containers in the terminal, so that when the AGV runs under the RMG (rail gantry crane), it only needs to pass the positioning sensor , the positioning of the AGV can be realized conveniently and accurately. However, in the early stage of the construction of automated storage yards, due to the immaturity of financial resources and technology, genera...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/00G01S17/06G01S17/95
CPCY02A90/10
Inventor 杜正春王建吕潮峰
Owner SHANGHAI JIAO TONG UNIV
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