The invention relates to a precise secondary positioning method for an unmanned container truck under a tire crane or a bridge crane at a port, and the method comprises the steps: scanning the tire crane or the bridge crane through a laser radar installed on the unmanned container truck, obtaining point cloud data, carrying out the noise reduction processing of the point cloud data through a bilateral filtering algorithm, and obtaining a positioning result of the unmanned container truck. And processing the point cloud data through an RANSAC (Random Sample Consensus) algorithm to obtain a linear equation about the tire crane or the bridge crane, so as to further obtain accurate position information and dispatch the unmanned container truck. The unmanned container truck is low in cost and cannot be influenced by weather, and the working efficiency of the unmanned container truck is further improved.
本发明涉及一种港口轮胎吊或桥吊下无人集卡精确二次定位方法,该方法通过无人集卡上安装的激光雷达对所述轮胎吊或桥吊进行扫描,获取点云数据,在通过双边滤波算法对点云数据进行降噪处理,然后通过RANSAC算法对所述点云数据进行处理,得到关于轮胎吊或桥吊的线性方程,从而进一步得到精确的位置信息,对所述无人集卡进行调度。本发明不仅成本低廉,而且不会受到天气影响,进一步提高了无人集卡的工作效率。
Precise secondary positioning method for unmanned container truck under port tire crane or bridge crane
一种港口轮胎吊或桥吊下无人集卡精确二次定位方法
2023-01-10
Patent
Electronic Resource
Chinese
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