摘要
Abstract
To address issues such as large blind spots and low obstacle avoidance reliability in traditional rail-mounted gantry cranes,an active 3D obstacle avoidance system based on multi-beam lidar was designed.In this system,a lidar featuring a 50 m detection range,±1 cm accuracy,32-beam scanning capability,and IP67 protection rating is used.By integrating noise filtering,ground segmentation,and Euclidean clustering algorithms for point cloud data processing,it achieves comprehensive three-dimensional perception of the rail environment and real-time obstacle identification.The system implements a hierarchical warning and control mechanism(audio-visual alerts,deceleration,emergency braking)and interfaces with the crane control system for autonomous safety decision-making.Application tests demonstrate that the system can stably detect static and dynamic obstacles within a 30 m range,with response times below 200 ms under rainy,foggy,or dusty conditions,significantly outperforming traditional ultrasonic or 2D lidar solutions.It effectively mitigates collision risks and provides a highly reliable safety solution for the intelligent upgrading of port lifting equipment.关键词
轨道式集装箱门式起重机/多线激光雷达/避障/控制/方案Key words
rail-mounted container gantry crane/multi-beam lidar/obstacle avoidance/control/plan分类
交通工程
