CN107664492B - Deflection angle measuring method and system for mounting port shore bridge laser scanner - Google Patents
Deflection angle measuring method and system for mounting port shore bridge laser scanner Download PDFInfo
- Publication number
- CN107664492B CN107664492B CN201710214219.5A CN201710214219A CN107664492B CN 107664492 B CN107664492 B CN 107664492B CN 201710214219 A CN201710214219 A CN 201710214219A CN 107664492 B CN107664492 B CN 107664492B
- Authority
- CN
- China
- Prior art keywords
- scanner
- installation
- trolley
- measuring
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control And Safety Of Cranes (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides a method and a system for measuring the deflection angle of a port shore bridge laser scanner, which are used for changing the situations that the existing operation process for detecting and adjusting the installation angle of the laser scanner in a port is complicated, time-consuming and labor-consuming; according to the detection system, after the scanner is installed for the first time and the installation angle is adjusted properly, a reference object is installed on a sea side cross beam and a land side cross beam of a shore bridge respectively; when the scanner is detached and needs to be reinstalled, reinstallation and angle adjustment of the scanner can be completed very simply and conveniently, an installer can adjust the installation angle of the scanner, and an assistant can observe whether reference objects pre-installed on a sea side cross beam and a land side cross beam of a shore bridge can be scanned simultaneously on a graphical interface, and if two pre-installed reference objects can be scanned simultaneously, the operation of adjusting the installation angle of the scanner is finished.
Description
Technical Field
The invention relates to a deflection angle detection technology, in particular to a method and a system for measuring a deflection angle of a port shore bridge laser scanner.
Background
The shore bridge is an important device for the operation of the container terminal and is responsible for the loading and unloading operations. In order to reduce the working intensity of drivers and improve the working efficiency, more and more ports adopt shore bridge (semi) automatic operation. In the automatic operation process, in order to reduce energy consumption and improve operation efficiency, the lifting appliance must travel along a parabolic path, so that scanning equipment and a corresponding program are needed to perform real-time scanning on the distribution condition of containers on a ship, and the contour distribution of the containers is formed.
Steamship container profile scanning system uses laser scanning device to carry out the scanning of steamer shape, and laser scanning device contains two 2D's laser scanner, and laser scanner fixes on the dolly frame of bank bridge, through the bolt fastening, follows the dolly motion. One of the laser scanners scans along the running direction of the trolley, and the other laser scanner scans along the running direction of the trolley.
Since the laser scanner is installed at a relatively high position, even a small deflection angle during installation has a large influence on the scanning result. Therefore, each time the scanner is installed, the installed deflection angle needs to be accurately measured, and if the installation angle deflection is too large, the installation needs to be reinstalled until the deflection of the installation angle is within a prescribed threshold. However, the process involves several working personnel working together, and the operation process is troublesome and time-consuming and labor-consuming. Sometimes, the scanner needs to be removed from the cart frame for maintenance or other reasons and then installed. The installation position can be basically unchanged from the previous installation position, and even if small deviation exists, the subsequent application is not influenced. However, the installation angle is difficult to be unchanged from the previous installation angle, and once the installation angle is slightly changed, the subsequent use is greatly influenced. At this time, it is necessary to measure again whether the installation angle of the scanner is appropriate, and the troublesome operation in the first installation is repeated.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a method and a system for measuring the deflection angle of the installation of a laser scanner of a harbor shore bridge by adopting a scanning contour graphical display technology so as to change the situation that the existing operation process for detecting and adjusting the installation angle of the laser scanner of a harbor is complicated, time-consuming and labor-consuming. According to the detection system, after the scanner is installed for the first time and the installation angle is adjusted properly, a reference object is installed on a sea side cross beam and a land side cross beam of the shore bridge respectively. When the scanner is detached and needs to be reinstalled, the reinstallation and the angle adjustment of the scanner can be completed very conveniently. And (3) adjusting the installation angle of the scanner by an installer, assisting the installer to observe whether reference objects pre-installed on the sea side beam and the land side beam of the quayside crane can be scanned simultaneously on the graphical interface, and if two pre-installed reference objects can be scanned simultaneously, finishing the operation of adjusting the installation angle of the scanner.
The technical scheme adopted by the invention is as follows: a method for measuring the installation deflection angle of a port shore bridge laser scanner is characterized by comprising the following steps:
step 1: primarily installing a scanner and adjusting an installation angle; measuring the installation position P1 of the scanner on the shore bridge trolley frame, wherein the installation position comprises an X-axis direction position, a Y-axis direction position and a Z-axis direction position;
the coordinate system is defined as follows:
an X axis: the forward direction of the trolley is the positive direction of an X axis, and the stopping position of the trolley is an X axis 0 point;
y-axis: the lifting direction is the positive direction of the Y axis, and the ground height is the 0 point of the Y axis;
z-axis: the cart is in the positive Z-axis direction towards the right, and the cart central point is the Z-axis 0 point;
converting the polar coordinates of the scanning points fed back by the scanner into rectangular coordinates through coordinate transformation, and displaying the rectangular coordinates on a graphical interface on a computer; placing two reference objects on the ground at a distance of M meters, so that the scanning line of the scanner passes through the two reference objects; decomposing the coordinate position of the reference object into an X axis and a Z axis of a rectangular coordinate, and calculating the installation deflection angle of the scanner by utilizing a trigonometric function relation; judging whether the installation deflection angle is within a threshold value, if not, adjusting the installation angle by an installer, and measuring again until the installation deflection angle is within the threshold value;
step 2: recording the result after the initial installation; recording the installation position P1 of the scanner on the shore bridge trolley frame; keeping the position of the trolley unchanged, so that the scanning line passes through the two reference objects in the step 1; if two reference objects can be scanned simultaneously, the work of adjusting the installation angle of the scanner is finished, otherwise, an installer finely adjusts the installation angle and then detects the object again until the two reference objects can be scanned simultaneously.
Preferably, in step 1, the measurement of the mounting position P1 of the scanner on the shore bridge trolley frame needs to be measured on the trolley frame, and the method comprises the following steps:
firstly, measuring the displacement S from the central point of the scanner to the central point of the trolley in the direction of the trolleyTSX(ii) a The center of the trolley frame corresponds to the center of the lifting appliance;
then measuring the displacement S from the central point of the scanner to the central point of the trolley in the direction of the cartTSZ；
Said STSZIs (U, L), and if it is out of the range, reinstallation is required, and S is recordedTSXAnd STSZ。
Preferably, in step 1, the coordinate position of the reference object is resolved into rectangular coordinatesThe X axis and the Z axis of the scanning device calculate the installation deflection angle of the scanner by utilizing the trigonometric function relationship; measuring the displacement of the reference object in the direction of the cart, point PHThe specific measurement method for the position of the central point when the lifting appliance is placed on the ground is as follows:
(a) drawing a passing point P parallel to the direction of the trolley on the groundHLine LT；
(b) Measuring reference P with a tape measureATo line LTIs marked as SAZ，SAZIf the value range is beyond the range (U, L), the scanner needs to be reinstalled and adjusted to meet the range requirement, SAZAnd STSZIf the difference value of the two-dimensional scanning is smaller than K, otherwise, the scanner needs to be installed and adjusted again to meet the range requirement;
(c) measuring reference P with a tape measureBTo line LTIs marked as SBZ。SBZIs (U, L), and if the value exceeds the range, the scanner needs to be reinstalled and adjusted to meet the range requirementBZAnd STSZIf the difference value of the two-dimensional scanning is smaller than K, otherwise, the scanner needs to be installed and adjusted again to meet the range requirement;
(d)SAZand SBZIf the difference value of the two-dimensional scanning is smaller than K, otherwise, the scanner needs to be installed and adjusted again to meet the range requirement;
(e) record SAZAnd SBZFor use in a subsequent step;
the deflection angle is calculated as follows:
angle α -the angle of deflection about the Y-axis
Angle β -the angle of deflection about the X-axis
tan(α)＝(SBZ－SAZ)/(SBX－SAX)
tan(β)＝[SAZ×(SBX－STX)]/[STX－SAX)－STSZ]/(STSY)。
Preferably, in step 1, the value range of M is (22, 28) meters.
Preferably, the U and the L are 100cm and 200cm respectively.
Preferably, the K is 50 cm.
Preferably, the threshold is 1.5 °.
A system for using a harbor shore bridge laser scanner installation deflection angle measurement method, comprising: the laser scanner is installed on the shore bridge trolley frame, and the computer is connected with the laser scanner and used for scanning profile information processing and a graphical interface rectangular coordinate system.
Compared with the prior development technology, the invention has the following advantages:
(1) the reference object used by the invention is very simple, the measurement of the installation deflection angle can be completed only by two cuboid-shaped iron blocks, and the reference object only needs to be noticed that the surface of the reference object is smooth and bright. And the reference object is fixed on the cross beam of the shore bridge, so that other operations of the shore bridge are not influenced.
(2) The method for detecting and adjusting the installation angle of the scanner does not need to modify the configuration parameters of the subsequent application program, and can directly use the previous parameters.
(3) The field debugging personnel are reduced, the labor cost is saved, the installation angle is required to be installed and adjusted, and the observation of the graphical interface by an auxiliary personnel can be completed.
(4) The operation process of measuring the installation deflection angle of the scanner is simplified, and the time is saved.
Drawings
FIG. 1 is a schematic view of a system installation and scanning sector of the present invention;
FIG. 2 is a schematic view of the system installation and scanning sector of the present invention with reference objects on the sea side and land side saddle beams;
FIG. 3 is a schematic view of the mounting position of the scanner on the carriage;
FIG. 4 is a graph of a reference object coordinate of the graphical interface assistant SPSS on the computer;
FIG. 5 shows a reference object P of the graphical interface assistant SPSS on a computerAEnlarged view of coordinates of (a);
FIG. 6 is a graphical representation on a computerReference object P of interface assistant program SPSSBEnlarged view of coordinates of (a);
FIG. 7 is a diagram of the (X, Z) coordinate position of a reference object on the ground.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings. For a laser scanner that scans in the direction of a carriage, a method for measuring an installation deflection angle at the time of initial installation is described with emphasis.
(1) Adjusting the installation angle after installing the scanner for the first time: measuring the installation position P1 of the scanner on the shore bridge trolley frame, wherein the installation position comprises an X-axis direction position, a Y-axis direction position and a Z-axis direction position; installing an auxiliary program SPSS as existing mature software, converting the polar coordinates of a scanning point fed back by a scanner into rectangular coordinates through coordinate transformation, and displaying the rectangular coordinates on a graphical interface on a computer; two reference objects are placed on the ground at a distance of 25 meters, and the distance can fluctuate within 3 meters, so that the scanning line of the scanner just passes through the two reference objects; decomposing the coordinate position of the reference object into an X axis and a Z axis of a rectangular coordinate, and calculating the installation deflection angle of the scanner by utilizing a trigonometric function relation; and judging whether the installation deflection angle is within a threshold value of 1.5 degrees or not, if the installation deflection angle does not meet the threshold value, adjusting the installation angle by an installer, and measuring again until the angle is suitable.
(2) Record results after initial installation: recording the installation position P1 of the scanner on the shore bridge trolley frame; recording the position of the trolley; keeping the position of the trolley unchanged, the embodiment of the invention respectively places a reference object on the sea side saddle beam and the land side saddle beam of the shore bridge, so that the scanning line passes through the two reference objects, and the two reference objects are fixed at the position.
(3) When the scanner needs to be detached from the trolley frame for maintenance or other reasons and then installed:
installing a scanner at a location of the initial installation record; moving the shore bridge trolley to the position of the primary installation record; the installation angle of installer adjustment scanner, assist personnel to observe on graphical interface whether can scan simultaneously and install the reference object on shore bridge sea side crossbeam and land side crossbeam in advance, if can scan two reference objects simultaneously, then adjust scanner installation angle work and finish, otherwise installer finely tunes the installation angle and detects once more, until can scan two reference objects simultaneously.
To facilitate the description of the test method, a coordinate system is defined as follows:
an X axis: the forward direction of the trolley is the positive direction of an X axis, and the rear stopping position of the trolley is an X axis 0 point;
y-axis: the lifting direction is the positive direction of the Y axis, and the ground height is the 0 point of the Y axis;
z-axis: the cart is in the positive Z-axis direction towards the right, and the cart central point is the Z-axis 0 point.
Referring to fig. 3, the installation position of the measuring scanner needs to be measured on the trolley frame, and the measuring method is as follows:
(1) the center of the trolley frame refers to a point corresponding to the center of the lifting appliance;
(2) the center of the scanner refers to the center of the glass cover of the scanner;
(3) measuring the displacement S of the scanner to the central point of the trolley in the direction of the trolley by using a measuring tapeTSX；
(4) Measuring the displacement S of the scanner to the central point of the trolley in the direction of the trolley by using a measuring tapeTSZ；
(5)STSZ(100cm, 200cm) and if it is out of this range, reinstallation is required;
(6) record STSXAnd STSZFor use in subsequent steps.
Looking for the scan line on the ground, see fig. 4, 5 and 6, one can look for the scan line by placing 2 references, respectively denoted P, on the groundAAnd PBThe reference object can be a common paper box, the size is 10cm × 30 and 30cm × 30 cm., the height of the ground is 0 after the auxiliary software SPSS is installed, when other objects are not placed below QC, the connecting line of scanning points is basically coincided with the ground, the outlines of a land side saddle beam, a sea side saddle beam and a lifting appliance are marked on an interface by characters, the height position of a scanner is also marked on the interface by characters, and the specific method for searching the scanning lines is as follows:
(1) the trolley is stopped near the parking space, does not need to move the trolley, keeps still and records the position S of the trolleyTXFor example, in FIG. 4, the cart position is 2760 cm;
(2) the height of the scanner is observed from the SPSS interface and is recorded as STSYFor example, in FIG. 4, the scanner height is 5140 cm;
(3) the lifting appliance is placed on the ground, and the lifting appliance does not shake as much as possible in the descending process. Finding the position P of the center point of the spreader on the groundHAnd marking on the ground. Referring to the Spreader label in FIG. 4, the scanning line is the scanning shape of the Spreader after being placed on the ground;
(4) between the two saddle beams, a reference object P is placed close to the land side saddle beamA. The specific method comprises the following steps: one person slowly walks back and forth on the ground of the position accessory, and the other person observes the SPSS interface until a bulge appears on the SPSS interface, wherein the bulge is the scanning contour of the ground personnel and is temporarily marked on the ground; placing the reference object near this location may require moving the reference object around this location multiple times until a bump corresponding to the height of the reference object appears on the SPSS interface. Can refer to the designation P in the figureAFig. 5 shows the enlarged effect. The reference object is placed in this position without movement, marked on the ground and observed P through the SPSS interfaceAThe position of the carriage, noted as SAXFor example, the position of the carriage of the reference in fig. 5 is equal to about 2280 cm;
(5) between the two saddle beams, a reference object P is placed near the sea side saddle beamB. The specific method can be referred to reference substance PAThe method of placing (1). The reference object is placed in this position without movement, marked on the ground and observed P through the SPSS interfaceBThe position of the carriage, noted as SBXFor example, the carriage position of the reference in FIG. 6 is approximately equal to 4970 cm;
(6) reference object PAAnd reference object PBThe connecting line of (1) is a scanning line of the scanner on the ground;
(7) record STX、SAX、SBX、STSYIn a subsequent stepThe preparation is used.
Referring to fig. 7, the displacement of the reference object in the cart direction, point P, is measuredHThe position of the central point when the spreader is placed on the ground. The specific measurement method is as follows:
(1) drawing a passing point P parallel to the direction of the trolley on the groundHLine LT；
(2) Measuring reference P with a tape measureATo line LTIs marked as SAZ。SAZThe value range of (100cm, 200cm) is, if the value exceeds the range, the scanner needs to be reinstalled and adjusted to meet the range requirement. SAZAnd STSZThe difference value of (A) is less than 50cm, otherwise, the scanner needs to be installed and adjusted again to meet the range requirement;
(3) measuring reference P with a tape measureBTo line LTIs marked as SBZ。SBZThe value range of (100cm, 200cm) is, if the value exceeds the range, the scanner needs to be reinstalled and adjusted to meet the range requirement. SBZAnd STSZThe difference value of (A) is less than 50cm, otherwise, the scanner needs to be installed and adjusted again to meet the range requirement;
(4)SAZand SBZThe difference value of (A) is less than 50cm, otherwise, the scanner needs to be installed and adjusted again to meet the range requirement;
(5) record SAZAnd SBZFor use in subsequent steps.
The deflection angle is calculated as follows:
angle α -the angle of deflection about the Y-axis
Angle β -the angle of deflection about the X-axis
tan(α)＝(SBZ－SAZ)÷(SBX－SAX)
tan(β)＝(SAZ×(SBX－STX)÷(STX－SAX)－STSZ)÷(STSY)
And judging whether the installation deflection angle is suitable, if not, adjusting the installation angle by an installer, and measuring again until the angle is suitable.
And (5) finishing receiving the initial installation, and recording the result of the initial installation: recording the installation position P1 of the scanner on the shore bridge trolley frame; recording the position S of the carriageTX(ii) a Keeping the position of the trolley unchanged, respectively placing a reference object on the sea side saddle beam and the land side saddle beam of the shore bridge, enabling the scanning line to pass through the two reference objects, and fixing the two reference objects at the position, such as the figure 1.
Installing the scanner again: mounting the scanner at the initial installation record position P1; moving the quay crane trolley to the position S of the initial installation recordTXAt least one of (1) and (b); the installation angle of the scanner is adjusted by an installer, the installer is assisted to observe whether reference objects pre-installed on the sea side saddle beam and the land side saddle beam of the shore bridge can be scanned simultaneously on a graphical interface, if two reference objects can be scanned simultaneously, the operation of adjusting the installation angle of the scanner is finished, otherwise, the installer finely adjusts the installation angle and then detects the reference objects again until the two reference objects can be scanned simultaneously.
Claims (10)
1. A method for measuring the deflection angle of a port shore bridge laser scanner is characterized by comprising the following steps:
step 1: primarily installing a scanner and adjusting an installation angle; measuring the installation position P1 of the scanner on the shore bridge trolley frame, wherein the installation position comprises an X-axis direction position, a Y-axis direction position and a Z-axis direction position;
the coordinate system is defined as follows:
an X axis: the forward direction of the trolley is the positive direction of an X axis, and the stopping position of the trolley is an X axis 0 point;
y-axis: the lifting direction is the positive direction of the Y axis, and the ground height is the 0 point of the Y axis;
z-axis: the cart is in the positive Z-axis direction towards the right, and the cart central point is the Z-axis 0 point;
converting the polar coordinates of the scanning points fed back by the scanner into rectangular coordinates through coordinate transformation, and displaying the rectangular coordinates on a graphical interface on a computer; placing two reference objects on the ground at a distance of M meters, so that the scanning line of the scanner passes through the two reference objects; decomposing the coordinate position of the reference object into an X axis and a Z axis of a rectangular coordinate, and calculating the installation deflection angle of the scanner by utilizing a trigonometric function relation; judging whether the installation deflection angle is within a threshold value, if not, adjusting the installation angle by an installer, and measuring again until the installation deflection angle is within the threshold value;
step 2: recording the result after the initial installation; recording the installation position P1 of the scanner on the shore bridge trolley frame; keeping the position of the trolley unchanged, and recording the position of the trolley so that the scanning line passes through the two reference objects in the step 1; if two reference objects can be scanned simultaneously, the work of adjusting the installation angle of the scanner is finished, otherwise, an installer finely adjusts the installation angle and then detects the object again until the two reference objects can be scanned simultaneously.
2. The method for measuring the deflection angle of the installation of the harbor shore bridge laser scanner as claimed in claim 1, wherein in step 1, the installation position P1 of the measurement scanner on the shore bridge trolley frame needs to be measured on the trolley frame, comprising the following steps:
firstly, measuring the displacement S from the central point of the scanner to the central point of the trolley in the direction of the trolleyTSX(ii) a The center of the trolley frame corresponds to the center of the lifting appliance;
then measuring the displacement S from the central point of the scanner to the central point of the trolley in the direction of the cartTSZ；
Said STSZIs (U, L), and if it is out of the range, reinstallation is required, and S is recordedTSXAnd STSZ。
3. The method for measuring the deflection angle of the harbor shore bridge laser scanner installation according to claim 1, wherein in step 1, the scanning line of the scanner needs to be searched on the ground when passing through two reference objects, which specifically comprises the following steps: 2 reference objects are placed on the ground to find the scanning line, and the 2 reference objects are respectively marked as PAAnd PB；
(1) The trolley is stopped at the parking space and kept still, and the position S of the trolley is recordedTX；
(2) The height of the scanner is viewed from the rectangular coordinates of the graphical interface on the computer, denoted STSY；
(3) Putting the sling on the ground, and finding the position P of the central point of the sling on the groundHAnd marking on the ground;
(4) between the two saddle beams, a reference object P is placed close to the land side saddle beamA；
(5) Between the two saddle beams, a reference object P is placed near the sea side saddle beamB；
(6) Reference object PAAnd reference object PBThe connecting line of (1) is a scanning line of the scanner on the ground;
(7) record STX、SAX、SBX、STSY(ii) a Wherein S isTXIs the position of the trolley, SAXIs the position of the reference PA in the direction of travel of the carriage, SBXIs the position of the reference PB in the direction of travel of the carriage, STSYIs the height of the scanner.
4. Method for measuring the deflection angle of a harbor shore bridge laser scanner installation according to claim 3, characterized in that in said steps (4) and (5), a reference object P is placed between two saddle beamsAAnd PBThe specific method comprises the following steps: moving reference object back and forth on ground near the land side and sea side saddle beams, and placing reference object P on ground when observing the height projection of scanner on the rectangular coordinate of graphical interface on computerAAnd PBAnd (4) marking.
5. The method for measuring the deflection angle of the installation of the harbor shore bridge laser scanner according to claim 1, wherein in step 1, the coordinate position of the reference object is decomposed into the X axis and the Z axis of rectangular coordinates, and the installation deflection angle of the scanner is calculated by using trigonometric function relation; measuring the displacement of a reference object in the direction of the cartPoint PHThe specific measurement method for the position of the central point when the lifting appliance is placed on the ground is as follows:
(a) drawing a passing point P parallel to the direction of the trolley on the groundHLine LT；
(b) Measuring reference P with a tape measureATo line LTIs marked as SAZ，SAZIf the value range is beyond the range (U, L), the scanner needs to be reinstalled and adjusted to meet the range requirement, SAZAnd STSZIf the difference value of the two-dimensional scanning is smaller than K, otherwise, the scanner needs to be installed and adjusted again to meet the range requirement;
(c) measuring reference P with a tape measureBTo line LTIs marked as SBZ；SBZIf the value exceeds the range, the scanner needs to be reinstalled and adjusted to meet the range requirement, SBZAnd STSZIf the difference value of the two-dimensional scanning is smaller than K, otherwise, the scanner needs to be installed and adjusted again to meet the range requirement;
(d)SAZand SBZIf the difference value of the two-dimensional scanning is smaller than K, otherwise, the scanner needs to be installed and adjusted again to meet the range requirement;
(e) record SAZAnd SBZFor use in a subsequent step;
the deflection angle is calculated as follows:
angle α -the angle of deflection about the Y-axis
Angle β -the angle of deflection about the X-axis
tan(α)＝(SBZ－SAZ)/(SBX－SAX)
tan(β)＝[SAZ×(SBX－STX)]/[STX－SAX)－STSZ]/(STSY) Wherein S isTSZIs the displacement from the central point of the scanner to the central point of the trolley in the direction of the cart, STXIs the position of the trolley, SAXIs the position of the reference PA in the direction of travel of the carriage, SBXIs the position of the reference PB in the direction of travel of the carriage, STSYIs the height of the scanner.
6. The method for measuring the deflection angle of the harbor shore bridge laser scanner installation according to claim 1, wherein in step 1, the value of M is in the range of (22, 28) meters.
7. The method for measuring the deflection angle of the harbor shore bridge laser scanner installation according to claim 2 or 5, wherein said U and L are 100cm and 200cm, respectively.
8. The method for measuring the deflection angle of the harbor quay crane laser scanner installation according to claim 5, wherein the K is 50 cm.
9. The method for measuring the deflection angle of a harbor quay crane laser scanner installation according to claim 5, wherein said threshold value is 1.5 °.
10. The system for measuring the deflection angle of a harbor shore bridge laser scanner installation according to claim 1, comprising: the laser scanner is installed on the shore bridge trolley frame, and the computer is connected with the laser scanner and used for scanning profile information processing and a graphical interface rectangular coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710214219.5A CN107664492B (en) | 2017-04-01 | 2017-04-01 | Deflection angle measuring method and system for mounting port shore bridge laser scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710214219.5A CN107664492B (en) | 2017-04-01 | 2017-04-01 | Deflection angle measuring method and system for mounting port shore bridge laser scanner |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107664492A CN107664492A (en) | 2018-02-06 |
| CN107664492B true CN107664492B (en) | 2020-07-10 |
Family
ID=61122150
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710214219.5A Active CN107664492B (en) | 2017-04-01 | 2017-04-01 | Deflection angle measuring method and system for mounting port shore bridge laser scanner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107664492B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109141285A (en) * | 2018-09-14 | 2019-01-04 | 上海川丰机电科技发展有限公司 | Ship type outline detection system and its detection method |
| CN113734976B (en) * | 2021-09-14 | 2023-08-22 | 三一海洋重工有限公司 | Method and device for detecting deflection gesture and box width of lifting appliance and crane |
| CN114065555B (en) * | 2022-01-13 | 2022-07-01 | 聚时领臻科技(浙江)有限公司 | Deviation correction compensation method for identifying target in quayside crane lane |
| CN114234905B (en) * | 2022-02-24 | 2022-05-03 | 山东拓普地理信息工程有限公司 | Angle measuring instrument for bridge engineering detection |
| CN114993252B (en) * | 2022-05-18 | 2023-06-23 | 三一海洋重工有限公司 | Scanner leveling method, device, equipment, scanning system and crane |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104860203A (en) * | 2014-02-21 | 2015-08-26 | 西门子公司 | Method For Calibrating Laser Scanners To A Container Transportation Crane |
| CN205096833U (en) * | 2015-10-30 | 2016-03-23 | 中国国际海运集装箱(集团)股份有限公司 | Correcting unit of equipment fixing gesture |
| CN105819341A (en) * | 2016-06-02 | 2016-08-03 | 北京国泰星云科技有限公司 | System for profile identification of ship under container terminal quay crane and anti-collision of lifting sling and method for profile identification of ship under container terminal quay crane |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9436003B2 (en) * | 2014-05-12 | 2016-09-06 | Faro Technologies, Inc. | Robust index correction of an angular encoder in a three-dimensional coordinate measurement device |
-
2017
- 2017-04-01 CN CN201710214219.5A patent/CN107664492B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104860203A (en) * | 2014-02-21 | 2015-08-26 | 西门子公司 | Method For Calibrating Laser Scanners To A Container Transportation Crane |
| CN205096833U (en) * | 2015-10-30 | 2016-03-23 | 中国国际海运集装箱(集团)股份有限公司 | Correcting unit of equipment fixing gesture |
| CN105819341A (en) * | 2016-06-02 | 2016-08-03 | 北京国泰星云科技有限公司 | System for profile identification of ship under container terminal quay crane and anti-collision of lifting sling and method for profile identification of ship under container terminal quay crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107664492A (en) | 2018-02-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107664492B (en) | Deflection angle measuring method and system for mounting port shore bridge laser scanner | |
| CN107089599B (en) | Suspender safety anticollision system and method based on the identification of container case area contoured three-dimensional | |
| CN103030063B (en) | For determining method and the container spreader of target position for container spreader | |
| CN106839985B (en) | The automatic identification localization method of unmanned overhead traveling crane coil of strip crawl | |
| KR101699672B1 (en) | Method and system for automatically landing containers on a landing target using a container crane | |
| CN107428515B (en) | For the method for positioning clamping component, load manipulation device and computer-readable memory component | |
| CN104528531B (en) | Under terminal of containers RTG, RMG, truck contraposition guides system and method | |
| EP2998927A1 (en) | Method for detecting the bad positioning and the surface defects of specific components and associated detection device | |
| US20230324554A1 (en) | Container positioning method and apparatus based on multi-line laser data fusion | |
| US11694351B2 (en) | Vehicle positioning method and system based on laser device | |
| CN104477779A (en) | System and method for alignment and safety control of trucks under bridge cranes of container wharves | |
| CN104374499A (en) | Welding residual stress measuring method based on XJTUOM three-dimensional optical surface scanning and measuring system | |
| CN109987519A (en) | A kind of grab bucket ship unloader carries out the method, apparatus and system of ship-discharging operation | |
| CN112833784B (en) | Steel rail positioning method combining monocular camera with laser scanning | |
| CN109019334A (en) | A kind of railway goods yard gantry crane is to compartment localization method | |
| CN107055331A (en) | Container guides system to case | |
| CN102865903A (en) | Ship loader level detecting method based on laser radar | |
| CN106643661B (en) | Locomotive crane suspender pose detection system and method based on machine vision | |
| JP2023040090A (en) | Method for generating landing solution for container on landing surface and system background | |
| CN204355976U (en) | Visual truck alignment system under bank bridge | |
| CN114890280A (en) | Detection alignment method and device for lifting appliance | |
| CN105271006A (en) | Rubber-tyred gantry crane walking positioning, correcting and container truck alignment anti-lifting method | |
| CN117237616B (en) | Material dispatching scanning identification system and method for steel plate storage yard | |
| CN105469401B (en) | A kind of headchute localization method based on computer vision | |
| Malek et al. | Realtime conversion of cracks from pixel to engineering scale using Augmented Reality |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |