Container transport vehicle positioning method and device based on laser radar

Abstract

The invention relates to the technical field of automatic ports, and provides a container transport vehicle positioning method and device based on laser radar. A laser radar is arranged on a high arm of each gantry crane; obtaining a positioning mapping relation between the lane and the gantry crane according to the shipping plan of the freight ship; before the transport vehicle enters the lane, the position coordinates of the transport vehicle are calculated in a preset positioning mode so as to position the transport vehicle; detecting whether the transport vehicle enters a lane or not, and if the transport vehicle enters the lane, determining the corresponding gantry crane according to the positioning mapping relation; and the position coordinates of the transport vehicle are calculated by using the information obtained by the determined laser radar on the gantry crane, so that the laser radar is used for auxiliary positioning, and the problem that in an automatic port scene, when the container transport vehicle enters a roadway formed by two container stacks, the transport vehicle cannot be accurately positioned is solved. And a GPS (Global Positioning System) and a triangular positioning method based on a communication base station cannot accurately position the container transport vehicle.

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