A method, device and system for precise parking of trucks 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 slow speed, large error, unsuitable for precise parking of large trucks, etc., and achieve the effect of low implementation cost and strong portability
Active Publication Date: 2021-09-03
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] like 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 co...
Embodiment 2
[0141] like 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, the ...
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Abstract
Embodiments of the present application provide a method, device, and system for precise parking of trucks in a shore crane area. The method for precise parking of trucks in the shore crane area includes: obtaining real-time point cloud data obtained by scanning the lane spanned by the lidar on the opposite shore crane; clustering the real-time point cloud data to obtain a point cloud set of trucks traveling on the lane; The point cloud collection of the truck and the vehicle point cloud model are calculated to obtain the real-time distance from the driving truck to the target parking space; the vehicle point cloud model is the point cloud obtained by scanning the truck parked in the target parking space with lidar in advance. Collection; broadcasts a message containing the real-time distance, so that the vehicle controller controls the moving truck to stop at the target parking space according to the real-time distance contained in the message. The precise parking method for trucks in the shore crane area provided by the present application can control the truck to accurately stop at the target parking space at one time, and the entire parking process is automatically completed, which can achieve centimeter-level accuracy and has low implementation cost.
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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