Precise parking method, device and system for truck in shore crane area
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A truck and precise technology, applied in the field of intelligent transportation, can solve the problems of precise parking, large error and slow speed that are not suitable for large trucks
Active Publication Date: 2020-07-03
BEIJING TUSEN ZHITU TECH CO LTD
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[0003] At present, the most common vehicle parking methods are to locate vehicles and parking spaces through vehicle positioning equipment or vehicle cameras. This method has disadvantages such as large errors and slow speeds, and is especially not suitable for precise parking of large trucks.
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Embodiment 1
[0128] Such as Figure 5 As shown, the quay crane numbered AD1000 spans 6 lanes numbered E1~E6, and the bottom of the contact beam of the quay crane is equipped with 6 laser radars numbered Lidar1~Lidar6, and Lidar1~Lidar6 scan E1~Lidar6 respectively. E6, that is, each laser radar is responsible for scanning a lane, and the main controller M is connected to the laser radars Lidar1~Lidar6, and is responsible for the precise parking of trucks on each lane under the shore crane AD1000.
[0129] At a certain moment, the numbers of the trucks driving on the lanes E1-E6 are K005, K006, and K007 respectively. Among them, the trucks K005 and K006 are loaded with containers and are carrying out the container loading task. The truck K007 was not loaded with containers, and was not performing container loading and unloading tasks. The vehicle model of the truck K005 is SQ05, the vehicle model of the truck K006 is SQ06, and the vehicle model of the truck K007 is SQ07.
[0130] The main...
Embodiment 2
[0141] Such as Figure 6 As shown, the quay crane numbered AD1000 spans 6 lanes numbered E1~E6 respectively. Two laser radars numbered Lidar1 and Lidar2 are installed at the bottom of the contact beam of the quay crane. Lidar1 is responsible for scanning the lanes E1~E3 , Lidar2 is responsible for scanning E4~E6, that is, each lidar is responsible for scanning 3 lanes, and the main controller M is connected to lidar Lidar1 and Lidar2, and is responsible for the precise parking of trucks on each lane under the shore crane AD1000.
[0142]At a certain moment, there are three driving vehicles K005, K006, and K007 on the lane spanned by the shore crane AD1000, which are respectively located on the lanes E2, E4, and E6. Among them, the trucks K005, K006, and K007 were not loaded with containers, the trucks K005, K006 were performing container unloading tasks, and the truck K007 was not performing container loading and unloading tasks. The vehicle model of the truck K005 is SQ05, t...
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Abstract
The embodiment of the invention provides a precise parking method, device and system for a truck in a shore crane area. The accurate parking method for the truck in the shore crane area comprises thefollowing steps: obtaining real-time point cloud data obtained by scanning a lane spanned by a shore crane through a laser radar; clustering the real-time point cloud data to obtain a point cloud setof a truck running on the lane; calculating the point cloud set of the running truck and a vehicle point cloud model by using an ICP algorithm to obtain a real-time distance from the running truck toa target parking space, wherein the vehicle point cloud model is a point cloud set obtained by scanning a truck parked in the target parking space by using the laser radar in advance; and broadcastinga message containing the real-time distance to make the vehicle controller control the running truck to stop at the target parking space according to the real-time distance contained in the message.According to the accurate parking method for the truck in the shore crane area, the truck can be controlled to accurately stop at the target parking space at a time, the whole parking process is automatically completed, the centimeter-level precision can be achieved, and the implementation cost is low.
Description
technical field [0001] The embodiments of the present application relate to the technical field of intelligent transportation, and more specifically, the embodiments of the present application relate to a method, equipment and system for precise parking of trucks in a shore crane area. Background technique [0002] This section is intended to provide a background or context to the implementations of the application that are recited in the claims. The descriptions herein are not admitted to be prior art by inclusion in this section. [0003] At present, the common vehicle parking methods are mostly to locate vehicles and parking spaces through vehicle-mounted positioning equipment or vehicle-mounted cameras. This method has disadvantages such as large errors and slow speeds, and is especially not suitable for precise parking of large trucks. [0004] Shoreside container cranes, also known as quayside cranes, are special cranes for loading and unloading containers at port ter...
Claims
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