基于激光三角测量法的集装箱自动对箱系统

Automatic Container Stacking System on Laser Triangulation Measuring Method

为提高自动化集装箱起重机在堆场作业中的叠箱精度,采用基于线激光三角测量法原理的检测系统来检测2个集装箱之间的偏差。在吊具4个锁头附近分别安装1个一字红外线激光器和1个红外摄像头,且激光器和摄像机成一定角度放置,摄像头拍摄线激光器发射出的光刀,通过图像识别算法识别图像中直线段的坐标,并根据摄相机标定参数和线激光平面方程,计算上下集装箱之间的偏差。测试结果表明:该方法能够快速、准确地检测上下集装箱之间的偏差。

To improve the stacking accuracy of automatic container crane operation in container yard, the detection system based on line laser triangulation principle is used to detect the deviation between the two containers. Four infrared laser and four cameras are installed in the place near the spreader lock. The laser and camera are placed in a certain angle. Image processing algorithms are employed to recognize the coordinates of line segment in picture derived from the camera. According to the line segment coordinates and camera calibration parameters and line laser plane equation, the deviation between the two containers can be detected. Test results show that the method can quickly and accurately detect the deviation between the upper and lower containers, and improve stacking accuracy.