Template matching-based accurate positioning system and method for port unmanned container truck and crane

Abstract

The invention discloses a template matching-based accurate positioningsystem and method for a port unmanned container truckand crane.The system comprises an accurate positioning device, a positioningcomputer and an unmanned container truck controller, whereinthe accurate positioning device is connected with the unmanned container truck controller and is used for collecting the point cloud observation data of current container trucks in real time; the positioning computer is connected with the unmanned container truck controller and is used for obtaining a positioning result of an error between the actual positions of the container trucks and the target positions of the container trucksbased on a preset crane characteristic template and an Extended Kalman filtering method; and theunmannedcontainer truck controller is used for carrying out accurate positioningon thecontainer trucks and cranes according to the error between the actual positions of the container trucks and the target positions of the container trucks in the positioningresult. The system and the method can be applied to the unmanned container trucks, so that the accurate positioningof the unmanned container trucks andthe cranes is realized, the cargo transportation efficiency of aport is improved, human intervention of port transportation is reduced, and the safety is improved.

Description

technical field [0001] The invention relates to the technical field of truck positioning technology, in particular to a template matching-based precise alignment system and method for unmanned truck cranes in ports. Background technique [0002] With the rapid development of the international logistics industry, the number and throughput of container ports around the world continue to rise, and the operation intensity in the port is also increasing and becoming saturated. It is becoming more and more difficult to meet the current demand for operational efficiency and strength, and unmanned collection trucks in ports emerged as the times require. How to realize the precise alignment between the container truck and the bridge crane is the key condition to ensure that it can be truly practical. It is of great value to realize large-scale operation at the terminal. [0003] The alignment system and alignment strategy of the existing wharf are all geared towards manned collecti...

AI Technical Summary

Problems solved by technology

This system can only be applied to trucks with manned driving, and in the actual application process, due to the problems of the system measurement frequency and the refresh rate of the LED display, the prompt information displayed on the display screen has a certain delay, causing the driver to control the collection truck. In the process, it is necessary to predict the alignment information (for example, stop in advance when the value displayed on the display screen is close to the target value, so as to avoid late parking due to display delay), which leads to limited efficiency improvement in actual use and requires the driver to Only with a certain amount of experience can you quickly and effectively adjust the position of the collection card

[0006] The positioning of trucks in the prior art requires human assistance, and the positioning accuracy is not high, so it is difficult to apply to unmanned trucks. Therefore, the precise alignment method of unmanned trucks and cranes in ports is a problem to be solved

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