Precise parking method, device and system for truck in shore crane area

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: receiving a parking request, sent by a vehicle controller, of a to-be-parked truck; acquiring real-time point cloud data obtained by scanning a lane spanned by the shore crane by a laser radar; clustering the real-time point cloud data to obtain a point cloud set of the to-be-parked truck; utilizing an ICP algorithm to calculate the point cloud set of the to-be-parked truck and avehicle point cloud model, and obtaining and sending a real-time distance from the to-be-parked truck to a target parking space, wherein the vehicle point cloud model is a point cloud set obtained byscanning a truck parked in the target parking space by using the laser radar in advance. The ICP algorithm is used for calculating the real-time distance from the truck to the target parking space, the truck is controlled to accurately stop at the target parking space at a time according to the real-time distance, the whole parking process is automatically completed, manual command is not needed,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...

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