Container wharf flow equipment automatic walking method

Abstract

The invention provides a container wharf flow equipment automatic walking method. Laser scanners are installed on four door leg tire front wheel brackets of a tire crane correspondingly, vertical columns are installed between the back surfaces of two tire crane lanes by a certain distance or the length of a container at intervals and are located in a straight line, the positions of the vertical columns are detected through the tire crane laser scanners, and automatic walking of the tire crane is achieved. Meanwhile, vertical columns are installed on the two sides of a road lane by a certain distance and are located in a straight line; vertical columns are installed on the inner sides of two door legs, close to the lane, of the tire crane correspondingly; and vertical columns are installed on the inner side and the outer side of each door leg of a bridge crane correspondingly. An ordinary container lorry is improved into an automatic navigation vehicle, the vertical columns higher than the top surface of the container, a camera and the laser scanners are installed on the navigation vehicle, walking datum line paint is at the center of the ground lane, the navigation vehicle shoots the walking datum line through the camera so as to conduct image processing and alignment, the positions of the vertical columns are detected through the scanners, and automatic walking of the navigation vehicle is achieved.

Description

technical field [0001] The invention relates to an automatic container wharf, in particular to the automatic positioning and automatic walking of flow equipment on the container wharf, and is especially suitable for tire crane hoisting and container truck loading and unloading operations. Background technique [0002] At present, the automatic walking methods of tire cranes and container trucks on container terminals mainly include GPS positioning automatic deviation correction method, single-point laser range finder combined with reflective plate automatic deviation correction method, and manual deviation correction, but these methods have their own shortcomings. GPS positioning is vulnerable to human tampering with data resulting in data errors and requires regular corrections. The single-point laser rangefinder combined with the automatic deviation correction method of the reflector needs to install a long reflector on the side, which is not practical. Manual deviation c...

AI Technical Summary

Problems solved by technology

GPS positioning is vulnerable to artificial tampering with data, resulting in data errors and requiring regular corrections

The single-point laser rangefinder combined with the automatic deviation correction method of the reflector needs to install a long reflector on the side, which is not practical

Manual deviation correction, that is, the driver adjusts the running direction of the tire crane and container truck. This method has low precision and may easily cause driver fatigue

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