基于激光雷达测量技术的集装箱定位系统  

Container Positioning System Based on Laser Radar Survey Technology

作　　者：张冒 程文明[2] 覃琴[1] ZHANG Mao;CHENG Wenming;QIN Qin(School of Mechanical and Electrical Engineering,Chengdu Aeronautic Polytechnic,Chengdu 610100,Sichuan,China;School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,Sichuan,China)

机构地区：[1]成都航空职业技术学院机电工程学院,四川成都610100 [2]西南交通大学机械工程学院,四川成都610031

出　　处：《电气传动》2022年第14期75-80,共6页Electric Drive

基　　金：国家自然科学基金(51675450);轨道交通运维技术与装备四川省重点实验室开放研究课题(2019YW005)。

摘　　要：针对现有铁路货场起重机吊具对箱作业主要依赖人工操作而存在的时间长、效率低、劳动强度大的难题,设计实现了一套基于激光雷达测量技术的集装箱定位系统。确定了定位系统总体架构及功能模块,在此基础上,首先运用2D激光雷达实现集装箱数据点的采集;然后采用基于统计分布的方法对干扰点进行剔除,通过平行坐标系变换思路实现了集装箱位置检测;最后结合可靠测量手段,采用轨迹规划和模糊自适应PID控制速度调节算法对起重机进行精确定位控制。实际项目验证表明:该系统方案可行,实现了集装箱对箱的自动化作业,降低了操作人员劳动强度,作业效率提高了15%。A set of container positioning system based on the laser radar measurement technology was designed and realized to solve the problems of long service time,low efficiency and high labor intensity in the railway freight yard which caused by the manual operation of crane spreader alignment. The overall architecture and functional modules of the positioning system were determined,and the 2D laser radar was applied to collect the container data points. A method based on statistical distribution was applied to remove the interference points,and the measurement of container position was realized by the conversion of parallel coordinate system. Finally,the crane was positioned accurately by integrating with the reliable measurement methods and applying the trajectory planning and speed adjustment algorithm of fuzzy adaptive PID control. It is shown in the actual project verification that the system solution is feasible,the automatic operation of crane spreader alignment can be realized,labor intensity of the operators can be reduced and the operation efficiency can be increased by 15%.

关 键 词：激光雷达 集装箱定位 平行坐标系 自动化 

分 类 号：TP271.4[自动化与计算机技术—检测技术与自动化装置]