Fast scanning method for container stacking profile with one laser sensor

T. Chun, Kyung-Man Kim, Hong‐Hee Lee, Heung-Gun Kim, E. Nho
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引用次数: 3

Abstract

The container stack profile scanning system is very important for yard crane automation, which is to monitor the number of containers stacked at each slot in the yard. In this paper, the novel method of scanning the container stack profile accurately and rapidly with one laser sensor is suggested. The laser sensor is mounted on the trolley, and measures the height of the container stack. The stack profile at each yard slot is monitored continuously and dynamically as the trolley and gantry move. Errors in the data of the stack height that might possibly occur due to vibration in the trolley during movement are eliminated with the use of a digital compass. The algorithm to reduce the scanning time as the crane travels on the optimum routine to minimize the movement distance is proposed. The experimental results using a simulator of yard crane are reported.
单激光传感器集装箱堆垛轮廓快速扫描方法
集装箱堆垛轮廓扫描系统是堆场起重机自动化的重要组成部分,用于监控堆场内各槽堆垛集装箱的数量。本文提出了一种单激光传感器精确快速扫描集装箱堆垛轮廓的新方法。激光传感器安装在小车上,测量集装箱堆垛高度。随着小车和龙门的移动,对每个码槽的堆垛轮廓进行连续动态监测。使用数字罗盘可以消除由于台车在运动过程中振动而可能产生的堆高数据误差。提出了起重机沿最优路线运行时减少扫描时间的算法,使运动距离最小。本文报道了在堆场起重机模拟器上的实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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