Design And Implementation Of Automatic Positioning System For Stevedoring Steel Coil Based On Point Cloud Data

The steel industry of China has enjoyed rapid development over the past decades,but in recent years by the problem of serious overcapacity,the steel industry is in the doldrums.The transformation of automation intelligent coil logistics warehouse,as an important means to solve overcapacity,has attracted more and more attention of steel companies.As an important part of the automatic coil logistics warehouse,the automatic positioning system for stevedoring steel coil provide loading and unloading points accurately and quickly,which has great significance to the operation of the whole logistics warehouse.The steel coil automation logistics warehouse is normally composed of unmanned crane,steel coil loading and unloading positioning system,computer management system(CMS)and other parts.At present,the traditional coil logistics warehouse needs ground staff to guide the crane for steel coil loading and unloading,but it`s low efficiency and not conducive to intelligent logistics.Only through the automatically locating the steel coil loading or unloading position,the CMS can control the unmanned crane for automatic operation.So the steel coil loading and unloading positioning system,is the important part of automation coil logistics warehouse automation.The three-dimensional point cloud is a set of mass points that express the target spatial distribution and target surface characteristics under the same three-dimensional reference,and is usually sampled at the appearance of the product by means of a measuring instrument.Because it can accurately find the measured object space information for reverse engineering and positioning operations,and there are more and more industry application with point cloud in recent years.This paper intends to analyze the loading and unloading position of the steel coil by analyzing the point cloud data of the target.According to the spatial distribution of the steel coil point cloud data,to get the parameter equation of the steel coil surface and get the location point,when the steel coil is loading.Then,when the steel coil is unloading,According to the spatial distribution of point cloud data,get the spatial distribution relationship of the coil and Saddle,finally get the location point of the steel coil unloading position.The system uses a modular design approach,which is divided into point cloud data acquisition module,point cloud data processing module,steel coil loading positioning module,steel coil unloading positioning module and display and control module.The system implements the three-dimensional point cloud collection and storage of the measured target function,can locate the steel coil position automatically,and returns the result in the software interface fast and accurate,and it also can be expanded.At the same time if the system access to the higher level CMS,it will be helpful to the coil logistics warehouse automation.