一种基于激光测距的船形轮廓扫描系统

为提高自动化码头中岸边集装箱起重机对船作业的效率和安全性,提出一种适用于自动化岸桥的船形扫描系统。该系统将激光器安装在岸桥小车架下方,利用激光器测距原理,实时扫描获取船上障碍物的轮廓,并随着小车的运动,生成障碍物点云地图信息;利用障碍物信息和吊具位置关系,对小车和起升限速以达到防撞保护的目的;系统可以提供船形轮廓,用于PLC制定高效且安全的自动运行路径,降低岸桥司机手动操作时间。

A Ship Profile Scanning System Based on Laser Ranging

In order to improve the efficiency and safety of quayside container cranes operating on ships in automated terminals,a ship profile scanning system suitable for automated quay cranes is proposed.The system installs the laser under the trolley frame of the quayside container crane,uses the laser ranging principle to scan and obtain the profile of the obstacles on the ship in real time,and generates the obstacle point cloud map information with the movement of the trolley.Using the obstacle information and the positional relationship of the spreader,the lifting speed of the trolley is limited to achieve the purpose of anti-collision protection.The system can provide a ship profile for PLC to formulate an efficient and safe automatic running path and reduce the manual operation time of the quay crane driver.