A method and device for positioning a tire hanger

Abstract

A tire hanger positioning method and device provided by the present application are applied to a tire hanger positioning system. The tire hanger positioning system includes: a 40-line laser radar installed on a smart heavy truck and a reflector fixedly installed on the tire hanger. The structure between the reflector and the tire hanger needs to maintain a rigid connection. In this method, the reflector is fixed on the tire hanger, the 40-line laser radar is installed on the smart heavy truck, and the 40-line laser radar is used to sense the environment of the smart heavy truck. , and extract the point cloud data whose reflectivity is greater than the set threshold to realize the precise positioning of the tire crane during the process of automatic container loading and unloading in the port, so that it can meet the positioning accuracy requirements of the tire crane, thereby assisting the intelligent heavy truck to complete the automatic loading and unloading operation of the port.

Description

technical field [0001] The present application relates to the technical field of intelligent transportation, and in particular, to a tire crane positioning method and device, which can realize precise positioning of the tire crane position in the process of automatic loading and unloading of containers in a port, and assist intelligent heavy trucks to complete the automatic loading and unloading of containers in ports. Background technique [0002] In the field of intelligent transportation technology, port automation is a key technology, and port automated container loading and unloading is a very critical step in the process of port automation. Position relationship, and then carry out the port automatic loading and unloading operation on this basis. Therefore, the positioning accuracy of the tire crane needs to meet certain requirements. [0003] At present, the conventional tire crane positioning methods on intelligent transportation vehicles include: inertial navigation...

AI Technical Summary

Problems solved by technology

[0003] At present, conventional tire crane positioning methods on intelligent transport vehicles include: inertial navigation and GPS combined system, UWB (UltraWide Band, ultra-wideband) system and SLAM (simultaneous localization and mapping, timely positioning and mapping) mapping positioning method, among which , the combined system of inertial navigation and GPS is mainly used for the global positioning of the vehicle, and the positioning accuracy is about 20 cm. If the container in the tire crane area blocks the GPS signal, the positioning result is prone to jump; the UWB system is mainly used for the local positioning of the vehicle. , but the UWB system is expensive, and environmental factors such as temperature and humidity are likely to affect the UWB signal, thereby affecting its use conditions; and using the laser radar SLAM mapping positioning method to achieve positioning, its positioning accuracy is about 10 cm, and is susceptible to Influenced by changes in the surrounding environment, it is also difficult to meet the positioning requirements of the port's automated loading and unloading process

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