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Visual positioning method and system of unmanned container truck, electronic equipment and storage medium

A visual positioning and card collection technology, applied in character and pattern recognition, instruments, computer parts and other directions, can solve the problems of weak GPS signal, unable to guarantee the complete reliability of positioning results, unable to meet the requirements of positioning accuracy, etc., to achieve fast and accurate positioning Effect

Active Publication Date: 2021-10-01
SHANGHAI WESTWELL INFORMATION & TECH CO LTD
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

However, because the yard is full of containers, the GPS signal is weak, and GPS alone cannot meet the positioning accuracy requirements; while visual positioning relies on visual sensors such as cameras, it cannot guarantee that the positioning results are completely reliable

Method used

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  • Visual positioning method and system of unmanned container truck, electronic equipment and storage medium
  • Visual positioning method and system of unmanned container truck, electronic equipment and storage medium
  • Visual positioning method and system of unmanned container truck, electronic equipment and storage medium

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Embodiment Construction

[0034] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.

[0035] The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different network and / or processor means...

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Abstract

The invention relates to the technical field of port operation, and provides a visual positioning method and system for an unmanned container truck, electronic equipment and a storage medium. The visual positioning method comprises the following steps: collecting visual features including actual positions of a lane line and a bay mark in a map coordinate system; In the driving process of the unmanned container truck, the pose deviation of the unmanned container truck is obtained according to the visual position and the actual position of the visual feature in an image coordinate system of a first camera of the unmanned container truck, and positioning correction is conducted on the unmanned container truck, comprising: according to the visual position of the lane line and the actual position of the lane line, the transverse pose deviation of the unmanned container truck is obtained, and transverse positioning correction is conducted on the unmanned container truck; and according to the visual position and the actual position of the storage position identifier, obtaining the longitudinal pose deviation of the unmanned container truck, and carrying out longitudinal positioning correction on the unmanned container truck. According to the method, transverse and longitudinal positioning correction is performed on the unmanned container truck in combination with a visual map and a visual means, so that rapid and accurate positioning of the unmanned container truck is realized.

Description

technical field [0001] The invention relates to the technical field of port operations, in particular to a visual positioning method, system, electronic equipment and storage medium for unmanned truck collection. Background technique [0002] In the port environment, the movement speed of unmanned trucks is low, but the requirements for positioning accuracy are very high. Generally speaking, the width of the unmanned collection truck itself is about 2.5 meters, and the width of the lane line in the yard is about 2.8 meters. The accuracy of lateral positioning is about 10 cm; Only when the alignment accuracy is 10cm can the box be picked and placed normally, so the vertical positioning accuracy is also about 10cm. [0003] The positioning of the unmanned truck can be realized by GPS (Global Positioning System, Global Positioning System) positioning or visual positioning. However, because the yard is full of containers, the GPS signal is weak, and GPS alone cannot meet the p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/32G06K9/62
Inventor 谭黎敏孙作雷王德俊周小凯
Owner SHANGHAI WESTWELL INFORMATION & TECH CO LTD
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