High-precision positioning parking method for unmanned container truck relative to automatic field bridge

Abstract

The invention relates to a high-precision positioning parking method for an unmanned container truck relative to an automatic field bridge. The method comprises the steps of: employing laser radar anda visual sensor to regulate a relative location interval between an unmanned container truck and an automatic field bridge in a range within 10m; through the automatic field bridge trailing locationdetection information, correcting a mutual position between the unmanned container truck and the automatic field bridge, and according to the relative location information, employing a location finite-state machine and a stepping parking controller to achieve the high-precision location of unmanned container truck field bridge operation. The high-precision positioning parking method for an unmanned container truck relative to an automatic field bridge solves the problem of the GPS/Beidou location errors when the unmanned container truck is operated in a storage yard, can achieve relative high-accuracy position of the unmanned container truck relative to the automatic field bridge, can reduce the number of times of position posture adjustment of the unmanned container truck, can achieve accurate parking and can improve the efficiency of encasement and unloading between the automatic field bridge and the container truck.

Description

technical field [0001] The invention belongs to the technical field of unmanned vehicles, and in particular relates to a high-precision positioning and parking method for an unmanned container truck relative to an automated yard bridge. Background technique [0002] The efficiency of port plane transportation mainly depends on the efficiency of loading and unloading between quay bridges, yard bridges and container trucks. At present, when loading and unloading operations between quay cranes, field cranes and container trucks, the requirements for the relative position and attitude between the bridge crane and the container truck are relatively high, and the error range is relatively small, often requiring the driver to adjust the relative position several times. Position and posture require high driving skills, and will also affect loading and unloading efficiency. [0003] The transformation of port automation mainly involves the transformation of the port operation dispat...

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Problems solved by technology

[0004] The difficulties in realizing the above scheme mainly include: when the unmanned container truck is operating in the yard, due to the obstruction of the automated yard bridge or the container, the GPS / Beidou positioning error will increase; when the automated yard bridge and the unmanned container truck move at the same time, How to coordinate the mutual movement between the two, provide an optimized control strategy, and reduce the number and distance of the adjustment of the position and attitude of the unmanned container truck; due to the change in the trailer size of the unmanned container truck, it will lead to the use of laser radar or visual sensors. There is a certain offset between the positioning position between the truck and the bridge and the actual loading and unloading position, and the loading and unloading operation cannot be completed correctly

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