基于激光雷达测量技术的集装箱卡车定位系统  

Chassis positioning system based on the laser radar survey technology

作　　者：吕潮峰[1] 杜正春[1] 

机构地区：[1]上海交通大学机械与动力学院,上海200240

出　　处：《激光技术》2007年第6期596-599,共4页Laser Technology

基　　金：2004年上海市科委重大科技攻关资助项目(04dz11001)

摘　　要：为了实现港口堆场作业自动化,迫切需要一种快速准确的集卡定位系统。针对此需要设计了一套由运动控制卡、步进电机和2-D激光雷达组合而成的3-D激光雷达扫描系统,采用了一种多个3-D激光雷达系统协同工作的工作方式和与之相适应的改进的ICP数据处理算法以及先粗后精的分级定位方法。该系统工业性试生产的结果表明,装卸效率达到80TEU/h,精度控制在了5mm以内,首次实现了无人驾驶轨道吊车对集卡的快速准确定位。该系统对于其它领域的大型部件的检测定位也有非常重要的意义。In order to realize the automation of the container yard work, a fast and accurate chassis positioning system is needed urgently. A 3-D laser radar scanning system, which was made up of a motion control card, a stepper motor and a 2-D laser radar,was designed to satisfy the requirement. On this foundation, more than one 3-D laser radar system work way and improved ICP algorithm which adapts with 3-D laser radar system data processing and gradually localization method were applied in the chassis positioning system. The result of industry tries indicates that the loading efficiency achieved 80TEU/h and the control precision was less than 5mm. It is the first time that pilotless rail mounted gantry RMG is used to locate the container truck fast and accurately. This system also has much significance on other large-scale part examination and localization.

关 键 词：激光技术 测量系统 ICP算法 激光雷达 

分 类 号：TN953.2[电子电信—信号与信息处理]