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.
本发明涉及自动化港口技术领域,提供了一种基于激光雷达的集装箱运输车定位方法及装置。本发明在每个龙门吊的高臂上均设置激光雷达;根据货运船装船计划,得到车道与龙门吊之间的定位映射关系;在运输车进入车道之前,采用预设定位方式计算所述运输车的位置坐标,以定位所述运输车;检测运输车是否进入车道,若运输车进入车道,根据所述定位映射关系确定相应的龙门吊;使用所确定的龙门吊上的激光雷达所获取的信息计算所述运输车的位置坐标,以使用所述激光雷达进行辅助定位,解决了在自动化港口场景下,当集装箱运输车进入两个集装箱堆所形成的巷道时,GPS和基于通信基站的三角定位法均无法精准定位集装箱运输车的问题。
Container transport vehicle positioning method and device based on laser radar
一种基于激光雷达的集装箱运输车定位方法及装置
15.04.2025
Patent
Elektronische Ressource
Chinesisch
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