Pose detection of moving vehicle using rotating LSB (laser slit beam)

Most of the moving area of an AGV is between the apron and stacking yard in container terminal. The operator of the yard tractor takes charge of its movement in conventional container terminals. But, in automated container terminals, an AGV takes charge of yard tractor´s role, and the information of deriving path of AGV is ordered from the supervisory control system. The automated container terminal requires a docking system in order to guide the AGV that is derived in high speed and highly accurate position. In this study, a new method to detect the docking position is proposed and it is composed of a rotating LSB (laser slit beam) generator and two pairs of photo receivers. The LSB generator is installed on the pole in ground and the photo receiver is installed on the topside surface of the vehicle. The proposed docking system is implemented in order to confirm its function and accuracy. The accuracy of the measured position shows ±5 mm in one sampling time