轮胎式集装箱起重机一层集装箱自动着箱系统  

Automatic landing system for the first floor containers of tire container crane

作　　者：蒋进军 茅时群 谭兴福 Jiang Jinjun;Mao Shiqun;Tan Xingfu

机构地区：[1]上海振华重工(集团)有限公司,上海200125

出　　处：《起重运输机械》2021年第21期65-69,共5页Hoisting and Conveying Machinery

摘　　要：为进一步提高轮胎式集装箱起重机堆场自动化水平,降低远程司机劳动强度,增加港口的竞争力,文中在分析当前市场上已有方案优缺点的基础上,利用机器视觉、激光雷达技术研发出轮胎式集装箱起重机一层集装箱自动着箱系统。在地面4个箱角和吊具4个锁头附近安装3M标志物,用激光雷达扫描地面标志物,采集点云数据,然后在点云数据中提取标志物位置,进而计算出一层集装箱的箱位位置,并将位置信息发送给自动化控制系统,控制系统依据该位置信息结合红外相机检测的吊具位置,调整吊具姿态,实现轮胎式集装箱起重机一层集装箱自动着箱操作。现场测试结果表明,该系统能够适应强光、大雨、黑暗等工况,并能准确检测一层集装箱箱位位置,辅助轮胎式集装箱起重机完成一层集装箱自动着箱操作。In order to further improve the automation of the yard of the tire container crane,reduce the labor intensity of drivers and improve the competitiveness of the port,based on the analysis of the advantages and disadvantages of existing schemes in the current market,an automatic container landing system for the first floor of the tire container crane is developed by using machine vision and laser radar technology.3M markers shall be installed near the four box corners on the ground and the four locks on the spreader,and laser radar shall be used to scan the ground markers so as to collect point cloud data.Then,the position of the marker is extracted from the point cloud data,and then the position of each box position of the first floor container is calculated,and the position information is sent to the automatic control system.The control system adjusts the attitude of the spreader according to the position information and the position of the spreader detected by the infrared camera,thus realizing the automatic landing of first floor containers of the tire container crane.The field test results show that the system can adapt to harsh conditions such as strong light,heavy rain and darkness,and can accurately detect the position of first floor containers,helping the tire container crane to complete the automatic landing of first floor containers.

关 键 词：轮胎式集装箱起重机 3M标志物 激光雷达 一层集装箱自动着箱 

分 类 号：U653.921[交通运输工程—港口、海岸及近海工程]