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Lane positioning method for self-driving container trucks in the wharf quay bridge area

A container truck and autonomous driving technology, which is applied in the field of lane positioning of autonomous container trucks in the quayside bridge area, can solve the problems of low efficiency, high cost, and small information transmission range, so as to reduce costs, facilitate positioning, and improve positioning. The effect of precision and efficiency

Active Publication Date: 2022-04-15
北京主线科技有限公司
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AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and provide a new lane positioning method for self-driving container trucks in the wharf and quay bridge area to solve the problems of small information transmission range, high cost, and problems in the existing port dispatching methods. Low efficiency and other issues

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  • Lane positioning method for self-driving container trucks in the wharf quay bridge area
  • Lane positioning method for self-driving container trucks in the wharf quay bridge area
  • Lane positioning method for self-driving container trucks in the wharf quay bridge area

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Embodiment Construction

[0045] The specific implementation of the present invention will be described in detail below in conjunction with preferred embodiments.

[0046] In order to solve the problems mentioned, this embodiment provides a method for lane positioning of self-driving container trucks in the wharf quay bridge area, the specific steps are as follows:

[0047] Step 1. Obtain the initial position of the shore container crane

[0048] Assuming that the container cranes on the shore move from left to right, it is first necessary to obtain the starting positions of all container cranes on the shore, such as figure 1 shown. In order to obtain the initial position, use theodolite or mobile GPS receiver (Sinan T30, high-precision GPS engineering stakeout receiver road survey point stakeout point measuring instrument) to collect the GPS position of the container crane and obtain its plane coordinates (x ori ,y ori )(like figure 1 As shown, x is the direction parallel to the lane line, and y i...

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Abstract

The present invention relates to a lane positioning method for an automatic driving container truck in the wharf quay bridge area, comprising the following steps: obtaining the initial position of the quayside container crane in the plane coordinates based on the GPS signal, and calculating its moving direction angle; An operation area map is established in the plane coordinates, and the operation area map includes lanes and the connection relationship of each lane; based on the operation area map, lane position estimation and path planning are performed according to task orders, and the task orders include shoreside container cranes name, lane number, and angular displacement of the crane; work is performed based on said lane position reckoning and path planning results. The beneficial effect of the present invention is: it can overcome the need to install a positioning device on each crane in the existing lane positioning method of the wharf quay bridge area and the transmission distance is limited due to the shielding of the metal mechanism of the crane, thereby reducing the cost of the lane positioning scheme in the wharf quayside bridge area , improve positioning accuracy and efficiency.

Description

technical field [0001] The invention belongs to the field of automatic driving and port operation dispatching, and in particular relates to a lane positioning method for an automatic driving container truck in a wharf quay bridge area. Background technique [0002] With the development of automation technology and unmanned driving technology, automated container terminals are the future development trend of ports. In the process of developing automated container terminals, how to ensure that self-driving container trucks can quickly find designated lanes from multiple operating lanes in the terminal quay bridge area, It is an important prerequisite for the development of automated terminals to complete the task of loading and unloading containers from the starting point to the vicinity of the designated shore container crane. [0003] At present, there are mainly two schemes for lane positioning in the wharf quayside bridge area. The first type: GPS position measuring devic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01C1/02G01C21/28G01C21/34G01S19/48
CPCG05D1/0214G05D1/0278G05D1/0276G01C21/28G01C21/3407G01C1/02G01S19/48
Inventor 阳钧张天雷何贝刘鹤云郑思仪
Owner 北京主线科技有限公司
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