Serial navigation method and system of unmanned vehicles for horizontally carrying port containers
A navigation method and navigation system technology, which is applied in the field of navigation control of unmanned vehicles for horizontal handling of containers in ports, can solve problems such as large errors and low work efficiency, and achieve the effect of consistent trajectory and ensuring safety
Inactive Publication Date: 2017-12-08
深圳市招科御驾科技有限公司
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[0003] In order to solve the problem of low efficiency and large error in serial cooperative work of unmanned vehicles for port handling in the prior art, the present invention proposes a serial navigation method for unmanned vehicles for horizontal handling of port containers. The navigation method includes:
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[0029] In order to be able to understand the above objectives, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other if there is no conflict.
[0030] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Therefore, the protection scope of the present invention is not limited to the specific details disclosed below. Limitations of the embodiment.
[0031] The present invention proposes a navigation method for the serial port container horizontal transport unmanned vehicle, which uses the attitude of the preceding vehicle as the target attitude of t...
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The invention relates to a serial navigation method of unmanned vehicles for horizontally carrying port containers. The navigation method comprises the following steps: measuring relative position-attitude information of a first carrying vehicle relative to a second carrying vehicle; acquiring position-attitude information of the second conveying vehicle; generating target position-attitude information according to the position-attitude information of the second conveying vehicle, the relative position-attitude information and size information of the first carrying vehicle and the second carrying vehicle; controlling the second carrying vehicle to perform navigation operation according to the target position-attitude information, wherein the second carrying vehicle runs with the first carrying vehicle. The invention further provides a serial navigation system of the unmanned vehicles for horizontally carrying the port containers. The serial navigation system comprises a measuring unit, an attitude acquiring unit, a generating unit and a navigation unit. The position and attitude of a front vehicle measured by using a rear vehicle are taken as the target position and attitude of the rear vehicle to ensure the track of the serial front and rear vehicles to be consistent so as to ensure the safety of carried goods.
Description
Technical field [0001] The invention relates to the navigation control field of an unmanned vehicle for horizontal port container handling, in particular to a serial navigation method for an unmanned vehicle for horizontal port container handling and a serial navigation system for an unmanned vehicle for port container horizontal handling. Background technique [0002] In the port environment, the transportation of containers conventionally requires man-powered trucks to carry them back and forth, which is inefficient and often waits in line, resulting in waste of resources; the existing automatic container trucks obtain real-time access through the combination of magnetic nails and inertial navigation Position and posture, so as to reach the target position, reducing human intervention; in reality, multiple automatic transport vehicles are often required to work together to transport objects, such as group transport; on the other hand, sometimes transported objects (such as super...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 牛涛王彪刘露强肖立许开国刘乐明
Owner 深圳市招科御驾科技有限公司