In order to realize the automation of the container yard work,a fast and accurate chassis positioning system is needed urgently.A 3-D laser radar scanning system,which was made up of a motion control card,a stepper motor and a 2-D laser radar,was designed to satisfy the requirement.On this foundation,more than one 3-D laser radar system work way and improved ICP algorithm which adapts with 3-D laser radar system data processing and gradually localization method were applied in the chassis positioning system.The result of industry tries indicates that the loading efficiency achieved 80TEU/h and the control precision was less than 5mm.It is the first time that pilotless rail mounted gantry RMG is used to locate the container truck fast and accurately.This system also has much significance on other large-scale part examination and localization.
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