Vehicle parking method, device, equipment and storage medium

Abstract

The present application discloses a vehicle docking method, apparatus, equipment and storage medium, the method comprising the steps of: before the target vehicle arrives at the target quay crane parking point, receiving first positioning information of the target vehicle determined based on other non-target quay cranes; determining a standardized path for the target vehicle to travel to the target quay crane parking point based on the first positioning information, wherein the end point of the standardized path coincides with the alignment line of the target quay crane parking point, and the standardized path is determined based on an optimal operating waypoint, which is determined based on the shortest distance between the position of the target vehicle and a preset waypoint area and the travel time from the operating waypoint to the target quay crane parking point; and controlling the target vehicle to travel to the target quay crane parking point according to the standardized path. The present application improves the alignment efficiency of vehicles and quay cranes.

Description

Technical Field

[0001] The present application relates to the field of intelligent connected vehicle technology, and in particular to a vehicle parking method, device, equipment and storage medium. Background Art

[0002] When a container ship is anchored at a port, the quay crane (QSC) and container trucks work together to complete the container handling work. Since the containers are placed in a fixed position on the ship, the QSC crane operates at a fixed position on the ship for a certain period of time. During this period, the QSC crane is stationary, and the trolley on the QSC crane interacts with the container trucks to carry out the container loading and unloading tasks.

[0003] Before the trolley and the container truck interact, there will be a vehicle alignment preparation process, that is, the container truck adjusts its own position according to the current parking position of the quay crane. When the container truck meets the position requirements, the sling lowered by the trolley can carry out the loading or unloading task. During the loading and unloading process, the trolley carrying the container has high requirements for the parking position of the container truck under the quay crane. In the existing method, after the container truck arrives under the quay crane, the parking position of the container truck is repeatedly adjusted according to the feedback of the manual or unmanned driving system until it meets the requirements of the trolley sling. This method is time-consuming and leads to low efficiency in the alignment of the container truck and the quay crane. Summary of the Invention

[0004] The main purpose of this application is to provide a vehicle parking method, device, equipment and storage medium, aiming to solve the technical problem in related technologies that the parking position of the container truck is repeatedly adjusted through feedback from a manual or unmanned driving system until the parking position meets the requirements of the trolley hoist, resulting in low efficiency in the alignment of the container truck with the quay crane.

[0005] To achieve the above objectives, an embodiment of the present application provides a vehicle parking method, the method comprising:

[0006] Before the target vehicle arrives at the target quay crane parking point, receiving first positioning information of the target vehicle determined based on other non-target quay cranes;

[0007] Determining, based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point, wherein an end point of the standardized path coincides with a line of alignment of the target quay crane parking point, and the standardized path is determined based on an optimal operation waypoint, wherein the optimal operation waypoint is determined based on a shortest distance between the position of the target vehicle and a preset waypoint area and a travel time from the operation waypoint to the target quay crane parking point;

[0008] The target vehicle is controlled to travel to the target quay crane parking point according to the standardized path.

[0009] In a possible implementation manner of the present application, the non-target quay crane includes an adjacent quay crane of the target quay crane, and the first positioning information includes a position of the target vehicle;

[0010] The step of determining, based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point includes:

[0011] Determining a cost for an operation waypoint in a preset waypoint area based on the position of the target vehicle and the target quay crane parking point, wherein the cost is calculated based on a travel distance from the position of the target vehicle to the operation waypoint and a travel time from the operation waypoint to the target quay crane parking point;

[0012] determining an optimal operation midpoint for the target vehicle based on the minimum cost value of a plurality of operation midpoints;

[0013] According to the optimal operation midway point, a standardized path for the target vehicle to travel to the target quay crane parking point is determined.

[0014] In a possible implementation of the present application, the step of determining, based on the optimal operation waypoint, a standardized path for the target vehicle to travel to the target quay crane parking point includes:

[0015] A path from the optimal operation midway point to the target quay crane parking point is matched from the preset database and used as the standardized path.

[0016] In a possible implementation manner of the present application, the step of receiving first positioning information of the target vehicle determined based on other non-target quay cranes includes:

[0017] Receive first positioning information after the target vehicle is positioned based on the laser alignment system of other non-target quay cranes and the target vehicle's own laser radar; wherein, when the laser alignment system of the other non-target quay cranes and the target vehicle's own laser radar position the target vehicle, no additional markers are required.

[0018] In a possible implementation of the present application, the laser alignment system corresponding to the target quay crane also positions non-target vehicles to avoid significant peak-to-valley differences in the use of the laser alignment system of a single quay crane.

[0019] In a possible implementation manner of the present application, the step of controlling the target vehicle to travel to the target quay crane parking point according to the standardized path includes:

[0020] Determining status information of the target vehicle at an optimal midway point;

[0021] determining speed information of the target vehicle based on the state information and the standardized path;

[0022] The target vehicle is controlled to travel to the target quay crane parking point according to the standardized path and the speed information.

[0023] In a possible embodiment of the present application, the preset midpoint area is associated with the alignment line of the target quay crane parking point, and the alignment line of the target quay crane parking point is connected to the operation midpoint in the preset midpoint area through the standardized path.

[0024] The present application also provides a vehicle docking device, which further includes:

[0025] A receiving module, configured to receive first positioning information of the target vehicle determined based on other non-target quay cranes before the target vehicle arrives at the target quay crane parking point;

[0026] a determination module, configured to determine, based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point, wherein an end point of the standardized path coincides with a line of alignment of the target quay crane parking point, and the standardized path is determined based on an optimal operation waypoint, wherein the optimal operation waypoint is determined based on a shortest distance between the position of the target vehicle and a preset waypoint area and a travel time from the operation waypoint to the target quay crane parking point;

[0027] A control module is used to control the target vehicle to travel to the target quay crane parking point according to the standardized path.

[0028] The present application also provides a vehicle docking device, which is a physical node device. The vehicle docking device includes: a memory, a processor, and a program of the vehicle docking method stored in the memory and runnable on the processor. When the program of the vehicle docking method is executed by the processor, the steps of the vehicle docking method described above can be implemented.

[0029] To achieve the above-mentioned purpose, a storage medium is further provided, on which a vehicle parking program is stored. When the vehicle parking program is executed by a processor, the steps of any of the above-mentioned vehicle parking methods are implemented.

[0030] The present application provides a vehicle parking method, device, equipment and storage medium. Compared with the related art, in which the parking position of the container truck is repeatedly adjusted by feedback from a manual or unmanned driving system until the parking position meets the requirements of the trolley hoist, thereby making the alignment of the container truck and the quay crane inefficient, in the present application, before the target vehicle arrives at the target quay crane parking point, the first positioning information of the target vehicle determined based on other non-target quay cranes is received; based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point is determined, wherein the end point of the standardized path coincides with the alignment line of the target quay crane parking point, and the standardized path is determined based on the optimal operation midpoint, which is determined based on the shortest distance between the position of the target vehicle and the preset midpoint area and the driving time from the operation midpoint to the target quay crane parking point; the target vehicle is controlled to travel to the target quay crane parking point according to the standardized path. In the present application, before the target vehicle drives to the target quay crane parking point, the position of the target vehicle is first detected by other non-target quay cranes to determine the first positioning information of the target vehicle and complete the preliminary positioning of the target vehicle. According to the first positioning information, the standardized path for the target vehicle to drive to the target quay crane parking point is determined, and the operation waypoint corresponding to the first positioning information is selected from the preset waypoint area, and the target vehicle is controlled to drive to the target quay crane parking point according to the standardized path. In the local database, the driving path of each operation waypoint in the preset waypoint area to reach the target quay crane is determined. Since the end point of the standardized path coincides with the alignment line of the target quay crane parking point, when the target vehicle drives to the target quay crane parking point along the standardized path, it can be parked inside the target quay crane parking point, thereby improving the success rate of the one-time alignment of the target vehicle and the target quay crane, and there is no need to repeatedly adjust the position of the target vehicle, thereby improving the alignment efficiency of the target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a flow chart of a first embodiment of the vehicle parking method of the present application;

[0032] Figure 2 This is a detailed flowchart of step S20 in the first embodiment of the vehicle parking method of this application;

[0033] Figure 3 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application;

[0034] Figure 4 This is a schematic diagram of the implementation process involved in the vehicle parking method of this application;

[0035] Figure 5 This is a schematic diagram of the application scenario involved in the vehicle parking method of this application. DETAILED DESCRIPTION

[0036] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0037] The present application provides a method for parking a vehicle. In the first embodiment of the method for parking a vehicle, referring to Figure 1 , the method comprising:

[0038] Step S10, before the target vehicle arrives at the target quay crane parking point, receiving first positioning information of the target vehicle determined based on other non-target quay cranes;

[0039] Step S20: determining a standardized path for the target vehicle to travel to the target quay crane parking point based on the first positioning information, wherein an end point of the standardized path coincides with a line of alignment of the target quay crane parking point, and the standardized path is determined based on an optimal operation waypoint, wherein the optimal operation waypoint is determined based on the shortest distance between the target vehicle's position and a preset waypoint area and a travel time from the operation waypoint to the target quay crane parking point;

[0040] Step S30: Control the target vehicle to travel to the target quay crane parking point according to the standardized path.

[0041] In this embodiment, the research and development background is:

[0042] When loading and unloading containers on a ship, the container truck needs to stop at a specific position and interact with the quay crane to complete the container handling process. Before the container truck reaches the quay crane, it can only ensure that it is docked under the target quay crane and cannot be aligned with the trolley spreader on the quay crane. When the container truck reaches the target quay crane, it needs to be adjusted repeatedly to complete the alignment process with the trolley spreader, resulting in low alignment efficiency.

[0043] The purpose of this embodiment is to achieve precise parking by performing preliminary positioning before the target vehicle reaches the target quay crane, and then driving the target vehicle to the midway point area and then driving it to the target quay crane parking point along a standardized path, thereby reducing the alignment time between the target vehicle and the target quay crane.

[0044] The specific steps are as follows:

[0045] Step S10, before the target vehicle arrives at the target quay crane parking point, receiving first positioning information of the target vehicle determined based on other non-target quay cranes;

[0046] As an example, the vehicle docking method may be applied to a vehicle docking device, which belongs to a vehicle docking system, which belongs to a vehicle docking equipment.

[0047] As an example, the target vehicle may be an unmanned container truck, a manually driven container truck, a flatbed truck, or other vehicles that can carry out container handling (hereinafter referred to as a container truck).

[0048] As an example, the non-target quay bridge can be a quay bridge adjacent to the target quay bridge, or it can be other quay bridges. Taking the adjacent quay bridge as an example, the adjacent quay bridge can be located on the left or right side of the target quay bridge. The positioning of the adjacent quay bridge is related to the driving direction of the target vehicle. When the target vehicle drives from the right side of the target quay bridge to the target quay bridge, the adjacent quay bridge is located on the right side of the target quay bridge. Similarly, when the target vehicle drives from the left side of the target quay bridge to the target quay bridge, the adjacent quay bridge is located on the left side of the target quay bridge. In the process of the target vehicle driving to the target quay bridge, the target vehicle always passes the non-target quay bridge first.

[0049] As an example, when a container truck travels to a non-target quay crane, it stops under the non-target quay crane. The non-target quay crane can detect the current position of the container truck through its own sensing device. After detecting that the container truck is under the non-target quay crane, the non-target quay crane begins to perform preliminary positioning of the container truck.

[0050] As an example, the target quay crane is specifically the operating quay crane where the container truck needs to dock. When the container truck docks at the target quay crane parking point at the target quay crane, the trolley hoist on the target quay crane interacts with the container truck to complete the operation process.

[0051] As an example, the target quay crane parking point can be obtained through the interactive task system between the container truck and the quay crane. The target quay crane parking point can be a rectangular box, and the size of the target quay crane parking point is slightly larger than the target vehicle.

[0052] As an example, each quay crane is equipped with a laser ranging device. Similarly, a laser radar is provided on the container truck. When positioning is performed, the laser ranging device on the non-target quay crane interacts with the laser radar to determine the first positioning information of the container truck.

[0053] As an example, the first positioning information is the absolute position of the target vehicle, and the absolute position may be the specific coordinates of the container truck.

[0054] As an example, the first positioning information is determined by the relative deviation value between the current position and the alignment line of the non-target quay crane and the relative coordinates of the target vehicle and the non-target quay crane. The relative deviation value is the deviation angle of the center line of the current position of the target vehicle. The coordinates of the non-target quay crane can be obtained through the task system. The absolute position of the target vehicle can be calculated through the coordinates of the non-target quay crane, the relative deviation value and the relative coordinates of the target vehicle and the non-target quay crane.

[0055] Step S20: determining a standardized path for the target vehicle to travel to the target quay crane parking point based on the first positioning information, wherein an end point of the standardized path coincides with a line of alignment of the target quay crane parking point, and the standardized path is determined based on an optimal operation waypoint, wherein the optimal operation waypoint is determined based on the shortest distance between the target vehicle's position and a preset waypoint area and a travel time from the operation waypoint to the target quay crane parking point;

[0056] As an example, the standardized path is stored in a local database. After determining the first positioning information of the target vehicle, the corresponding standardized path is matched through the operation waypoints in the preset waypoint area.

[0057] As an example, the end point of the standardized path coincides with the alignment line of the target quay crane parking point, so the target vehicle can eventually park inside the target quay crane parking point.

[0058] As an example, the preset waypoint area is a collection area of ​​set waypoints, located between adjacent quay cranes and the target quay crane. Each waypoint and target quay crane parking point in the preset waypoint area corresponds to an independent standard path. When the container truck stops at different operating waypoints, the standard path of travel is also different, and each standard path is stored in the local database.

[0059] As an example, the process of constructing a preset waypoint area can be: between the non-target quay crane and the target quay crane, reverse calculation is performed to construct an operation waypoint area. First, the target alignment line of the target quay crane parking point is determined, and a series of points with a fixed distance from the target alignment line are taken as the first column of operation waypoints. The fixed distance is a measurement line segment parallel to the driving route of the target vehicle. The first column of operation waypoints are all at the same distance from the target alignment line. They are arranged according to the spacing calibrated in the database to obtain an area containing a certain number of operation waypoints. The arrangement of the waypoints in the preset waypoint area is not limited to three columns, but can also be five columns, which can be adjusted according to actual conditions.

[0060] As an example, when selecting the optimal operation midpoint, many factors need to be considered, such as the distance between the target vehicle's position and the preset midpoint area, the driving time from the operation midpoint to the target quay crane parking point, and the passability of the standardized path. Based on the above factors, the cost function is calculated to select the corresponding optimal operation midpoint.

[0061] Step S30: Control the target vehicle to travel to the target quay crane parking point according to the standardized path.

[0062] As an example, the standardized path is uploaded to the background system of the target vehicle, and the target vehicle is controlled to travel to the target quay crane parking point along the standardized path.

[0063] As an example, the normalized path may be a straight line or a curved line.

[0064] The step of controlling the target vehicle to travel to the target quay crane parking point according to the standardized path includes:

[0065] Step S31, determining the state information of the target vehicle at the optimal operation midway point;

[0066] As an example, the status information may be vehicle speed, vehicle heading, vehicle acceleration, etc.

[0067] Step S32, determining the speed information of the target vehicle according to the state information and the standardized path;

[0068] As an example, a corresponding speed is configured for the target vehicle according to the state information of the target vehicle. Each standardized path corresponds to a fixed speed and is stored in the database.

[0069] As an example, the speed information is specifically the driving speed of the vehicle.

[0070] Step S33: Control the target vehicle to travel to the target quay crane parking point according to the standardized path and the speed information.

[0071] As an example, the speed information and standardized path are used to determine the target vehicle's driving speed and driving path, thereby ensuring that the target vehicle can accurately park at the target quay crane parking point.

[0072] As an example, the target vehicle may travel from a non-target quay crane to a target quay crane in the following manner:

[0073] 1. Drive at a constant speed to the midway point of the operation. Do not stop at the midway point. Pass the midway point directly and drive to the target quay crane along the corresponding standardized path. When on the standardized path, gradually reduce the speed to the preset speed until it stops at the target quay crane parking point. This method can save vehicle driving time;

[0074] 2. Drive at a constant speed to the midway point of the operation, stop at the midway point, and drive to the target quay crane along the corresponding standardized path. When on the standardized path, the acceleration remains unchanged until the vehicle speed reaches the preset speed, and then drive to the target quay crane parking point and stop. This method is more accurate in docking and can increase the success rate of one-time alignment of the target vehicle and the trolley hoist on the quay crane.

[0075] As an example, when the target vehicle travels from the non-target quay crane to the target quay crane, there are multiple lanes on the driving path. The number of lanes can be 3-4 or 7. Depending on the actual situation, the number of lanes will change accordingly, and the vehicles traveling in each lane will not affect each other.

[0076] As an example, the selected standardized path is also related to the passability of the driving path. If an obstacle is detected on the standardized path, which prevents the vehicle from passing, or if there are other vehicles on the standardized path, it is necessary to reselect the working waypoint in the preset waypoint area in order to subsequently change the driving path.

[0077] The preset midpoint area is associated with the alignment line of the target quay crane parking point, and the alignment line of the target quay crane parking point is connected to the operation midpoint in the preset midpoint area through the standardized path.

[0078] As an example, the alignment line is specifically the center line of the target quay crane parking point. The alignment line is perpendicular to the driving direction of the target vehicle. When the center line of the target vehicle coincides with the alignment line, it is determined that the target vehicle is parked at the center of the target quay crane parking point. At this time, the alignment of the target vehicle and the trolley hoist on the quay crane is completed.

[0079] As an example, the two ends of the standardized path are the operation waypoint in the preset waypoint area and the target alignment line. Connecting the operation waypoint and the target alignment line can ensure that when the target vehicle travels along the standardized path, the final stop position can coincide with the target alignment line.

[0080] As an example, the implementation process of the vehicle parking method is as follows Figure 4 As shown by Figure 4 It can be seen that, taking the case where the non-target quay crane is an adjacent quay crane as an example, before the target vehicle reaches the target quay crane position, it first stops at the adjacent quay crane, and uses the quay crane adjacent to the target quay crane to preliminarily locate the target vehicle and determine the absolute position of the target vehicle. After the absolute position of the target vehicle is determined, the target vehicle is controlled to drive to the operation midway point area between the adjacent quay crane and the target quay crane, and then, using the operation midway point as another starting point, it drives to the target quay crane parking point according to the preset standard path, and then interacts with the target vehicle through the operation trolley on the target quay crane, thereby completing the container loading and unloading process. Figure 4We can see that the target vehicle originally drove in lane 3 and then drove to lane 2 according to the standardized path. Generally speaking, the length of the standardized path is the shortest from the operation midway point area to the quay crane. However, in the actual operation process, many factors need to be considered. For example, there may be other vehicles parked at the parking position under the target quay crane in the same lane, or there may be other obstacles on the lane that make it impossible to pass. Therefore, the driving path of the target vehicle from the operation midway point area to the target quay crane parking point needs to be changed accordingly according to the actual situation.

[0081] As an example, the application scenario diagram of the vehicle parking method is as follows: Figure 5 As shown by Figure 5 It can be seen that the unmanned container truck with a hook is equipped with an on-board laser radar. Similarly, the quay crane is also equipped with a laser ranging radar. The radars on the unmanned container truck with a hook and the quay crane are used to complete the alignment process of the container truck and the quay crane. Wheels are provided under the quay crane, and the quay crane can move along the large vehicle operating track. When the unmanned container truck with a hook interacts with the operating trolley, the quay crane remains fixed, and the ranging radars on the quay crane are evenly distributed on both sides of the quay crane. Such distribution ensures that the unmanned container truck with a hook on multiple lanes can be positioned. Before the unmanned container truck with a hook drives to the target quay crane, the target quay crane parking point has been determined. After the unmanned container truck with a hook parks at the target quay crane parking point, the interaction process between the operating trolley and the unmanned container truck with a hook begins.

[0082] The present application provides a vehicle parking method, device, equipment and storage medium. Compared with the related art, in which the parking position of the container truck is repeatedly adjusted by feedback from a manual or unmanned driving system until the parking position meets the requirements of the trolley hoist, thereby making the alignment of the container truck and the quay crane inefficient, in the present application, before the target vehicle arrives at the target quay crane parking point, the first positioning information of the target vehicle determined based on other non-target quay cranes is received; based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point is determined, wherein the end point of the standardized path coincides with the alignment line of the target quay crane parking point, and the standardized path is determined based on the optimal operation midpoint, which is determined based on the shortest distance between the position of the target vehicle and the preset midpoint area and the driving time from the operation midpoint to the target quay crane parking point; the target vehicle is controlled to travel to the target quay crane parking point according to the standardized path. In the present application, before the target vehicle drives to the target quay crane parking point, the position of the target vehicle is first detected by other non-target quay cranes to determine the first positioning information of the target vehicle and complete the preliminary positioning of the target vehicle. According to the first positioning information, the standardized path for the target vehicle to drive to the target quay crane parking point is determined, and the operation waypoint corresponding to the first positioning information is selected from the preset waypoint area, and the target vehicle is controlled to drive to the target quay crane parking point according to the standardized path. In the local database, the driving path of each operation waypoint in the preset waypoint area to reach the target quay crane is determined. Since the end point of the standardized path coincides with the alignment line of the target quay crane parking point, when the target vehicle drives to the target quay crane parking point along the standardized path, it can be parked inside the target quay crane parking point, thereby improving the success rate of the one-time alignment of the target vehicle and the target quay crane, and there is no need to repeatedly adjust the position of the target vehicle, thereby improving the alignment efficiency of the target vehicle.

[0083] Furthermore, based on the first embodiment of the present application, another embodiment of the present application is provided. In this embodiment, the non-target quay crane includes an adjacent quay crane of the target quay crane, and the first positioning information includes the position of the target vehicle;

[0084] The step of determining, based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point includes:

[0085] Step S21, determining a cost of an operation waypoint in a preset waypoint area based on the position of the target vehicle and the target quay crane parking point, wherein the cost is calculated based on the travel distance from the position of the target vehicle to the operation waypoint and the travel time from the operation waypoint to the target quay crane parking point;

[0086] As an example, when the target vehicle travels from the operation midpoint to the target gantry crane parking point, many factors need to be considered, such as accessibility, driving time, driving distance, and traffic safety rules. It is not just about selecting the shortest standardized path as the driving path. In this embodiment, the optimal operation midpoint is selected through a cost function.

[0087] As an example, the cost value is a value calculated by substituting various variables into the cost function. The cost value is used to select the best operation midpoint from multiple operation midpoints in the same lane. This method can obtain a better driving path.

[0088] As an example, the cost value may be calculated by substituting the travel distance from the target vehicle's position to the operation midpoint and the travel time from the operation midpoint to the target quay crane parking point into the cost function.

[0089] In this embodiment, the cost value is calculated using accessibility, travel time, and travel distance as variables. The variables of the output cost function may also be multiple, which will not be elaborated here.

[0090] Step S22, determining the optimal operation midpoint of the target vehicle according to the minimum cost value of multiple operation midpoints;

[0091] As an example, cost values ​​corresponding to multiple operation midpoints are selected, and the minimum value among the cost values ​​is determined, and the operation midpoint corresponding to the minimum value is used as the optimal operation midpoint.

[0092] Step S23: determining a standardized path for the target vehicle to travel to the target quay crane parking point based on the optimal operation midway point.

[0093] As an example, when the optimal work midpoint is determined, the standardized path is also determined.

[0094] The step of determining a standardized path for the target vehicle to travel to the target quay crane parking point based on the optimal operation midway point includes:

[0095] Step A1: Match a path from the optimal operation midway point to the target quay crane parking point from a preset database, and use this path as the standardized path.

[0096] As an example, the operation waypoints in the preset waypoint area and the standard paths corresponding to the operation waypoints are stored together in a preset database. When the optimal operation waypoint is determined, the standardized path can be directly retrieved from the preset database.

[0097] In this embodiment, the optimal operation midpoint is determined by the cost value, and the corresponding standardized path is determined based on the optimal operation midpoint. Since the calculation of the cost value takes into account many factors, the optimal operation midpoint is more referenceable, so that the target vehicle can travel to the target quay crane parking point along the optimal driving path.

[0098] Furthermore, based on the first and second embodiments of the present application, another embodiment of the present application is provided. In this embodiment, the step of receiving first positioning information of the target vehicle determined based on other non-target quay cranes includes:

[0099] Step B1, receiving the first positioning information after the target vehicle is positioned based on the laser alignment system of other non-target quay cranes and the laser radar of the target vehicle itself; wherein, when the laser alignment system of the other non-target quay cranes and the laser radar of the target vehicle itself locates the target vehicle, no additional markers are required.

[0100] As an example, the first positioning information is obtained after other non-target quay cranes locate the target vehicle. When the non-target quay cranes locate the vehicle, no additional markers are required.

[0101] As an example, when positioning a target vehicle under other non-target quay cranes, it is sufficient to use the laser radar of the quay crane itself and the target vehicle, and no additional positioning steps are required before driving to the target quay crane.

[0102] In this embodiment, the target vehicle is co-located by cooperating with the positioning system of the non-target quay crane without the need for additional markers, thereby ensuring that the target vehicle can be accurately parked even in severe weather.

[0103] Furthermore, based on the first, second and third embodiments of the present application, another embodiment of the present application is provided. In this embodiment, the laser alignment system corresponding to the target quay crane also positions non-target vehicles to avoid obvious peak-to-valley differences in the use of the laser alignment system of a single quay crane.

[0104] As an example, in the related art, the laser alignment system of each quay crane only starts alignment when the work vehicle arrives at the quay crane, and remains idle until other work vehicles arrive, resulting in a large peak-to-valley difference in the use of the alignment system.

[0105] In this embodiment, before the operating vehicle corresponding to the target quay crane arrives, the target quay crane can cooperate with other quay cranes to locate non-target vehicles, so that the laser alignment system of a single quay crane can also perform positioning before the operating vehicle corresponding to the quay crane arrives.

[0106] As an example, the process of preliminary positioning of other operating vehicles under the target quay crane is the same as the steps of positioning the adjacent quay crane, which will not be described in detail here.

[0107] As an example, in the related art, when the quay crane is aligned, the information feedback time period of the alignment process (detecting whether the position of the container truck meets the requirements) is very concentrated. The position detection will not start until the container truck arrives under the quay crane. After the container truck completes the alignment, the alignment system is in an idle state before the next container truck operating on the quay crane arrives. The peak-to-valley difference in the use of the laser alignment system of a single quay crane is obvious. By coordinating the laser alignment systems of multiple quay cranes, the position of the container truck can be detected in advance, the utilization rate of the laser alignment systems of all quay cranes can be improved, and the peak-to-valley difference in the use of the laser alignment of a single quay crane can be smoothed.

[0108] In this embodiment, the non-target vehicle is positioned by the target quay crane, thereby increasing the usage frequency of a single quay crane and reducing the peak-to-valley difference in the use of the laser alignment system of the single quay crane.

[0109] Reference Figure 3 , Figure 3 It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present application.

[0110] like Figure 3 As shown, the vehicle docking device may include: a processor 1001 , a memory 1005 , and a communication bus 1002 . The communication bus 1002 is used to implement connection and communication between the processor 1001 and the memory 1005 .

[0111] Optionally, the vehicle docking device may further include a user interface, a network interface, a camera, an RF (Radio Frequency) circuit, a sensor, a WiFi module, and the like. The user interface may include a display screen and an input submodule such as a keyboard. The optional user interface may also include a standard wired interface and a wireless interface. The network interface may include a standard wired interface and a wireless interface (such as a WiFi interface).

[0112] Those skilled in the art will understand that Figure 3 The vehicle docking equipment structure shown in the figure does not constitute a limitation to the vehicle docking equipment, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0113] like Figure 3As shown, memory 1005, a storage medium, may include an operating system, a network communication module, and a vehicle docking program. The operating system manages and controls the hardware and software resources of the vehicle docking system, supporting the operation of the vehicle docking program and other software and / or programs. The network communication module facilitates communication between components within memory 1005, as well as with other hardware and software in the vehicle docking system.

[0114] exist Figure 3 In the vehicle docking device shown, the processor 1001 is used to execute the vehicle docking program stored in the memory 1005 to implement the steps of any of the above-mentioned vehicle docking methods.

[0115] The specific implementation of the vehicle docking equipment of the present application is basically the same as the various embodiments of the above-mentioned vehicle docking method, and will not be repeated here.

[0116] The present application also provides a vehicle docking device, comprising:

[0117] A receiving module, configured to receive first positioning information of the target vehicle determined based on other non-target quay cranes before the target vehicle arrives at the target quay crane parking point;

[0118] a determination module, configured to determine, based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point, wherein an end point of the standardized path coincides with a line of alignment of the target quay crane parking point, and the standardized path is determined based on an optimal operation waypoint, wherein the optimal operation waypoint is determined based on a shortest distance between the position of the target vehicle and a preset waypoint area and a travel time from the operation waypoint to the target quay crane parking point;

[0119] A control module is used to control the target vehicle to travel to the target quay crane parking point according to the standardized path.

[0120] In a possible implementation manner of the present application, the determining module includes:

[0121] a first determining unit, configured to determine, based on the position of the target vehicle and the target quay crane parking point, a cost value of an operation waypoint in a preset waypoint area, wherein the cost value is calculated by a travel distance from the position of the target vehicle to the operation waypoint and a travel time from the operation waypoint to the target quay crane parking point;

[0122] a second determining unit, configured to determine an optimal operation waypoint of the target vehicle according to the minimum cost value of a plurality of operation waypoints;

[0123] The third determining unit is used to determine a standardized path for the target vehicle to travel to the target quay crane parking point based on the optimal operation midway point.

[0124] In a possible implementation manner of the present application, the third determining unit includes:

[0125] The matching subunit is used to match a path from the optimal operation midway point to the target quay crane parking point from a preset database and use the path as the standardized path.

[0126] In a possible implementation manner of the present application, the receiving module includes:

[0127] A receiving unit is used to receive the first positioning information after the target vehicle is positioned based on the laser alignment system of other non-target quay cranes and the laser radar of the target vehicle itself; wherein, when the laser alignment system of the other non-target quay cranes and the laser radar of the target vehicle itself locates the target vehicle, no additional markers are required.

[0128] In a possible implementation manner of the present application, the control module includes:

[0129] a fourth determining unit, configured to determine status information of the target vehicle at an optimal halfway point;

[0130] a fifth determining unit, configured to determine speed information of the target vehicle based on the state information and the standardized path;

[0131] A control unit is used to control the target vehicle to travel to the target quay crane parking point according to the standardized path and the speed information.

[0132] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0133] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0134] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0135] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle parking method, characterized in that: The method comprises the following steps: Before the target vehicle arrives at the target quay crane parking point, receiving first positioning information of the target vehicle determined based on other non-target quay cranes; The step of receiving first positioning information of the target vehicle determined based on other non-target quay cranes includes: Receiving first positioning information after the target vehicle is positioned based on the laser alignment system of other non-target quay cranes and the laser radar of the target vehicle itself; wherein, when the laser alignment system of the other non-target quay cranes and the laser radar of the target vehicle are used to position the target vehicle, no additional markers are required; Determining, based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point, wherein an end point of the standardized path coincides with a line of alignment of the target quay crane parking point, and the standardized path is determined based on an optimal operation waypoint, wherein the optimal operation waypoint is determined based on a shortest distance between the position of the target vehicle and a preset waypoint area and a travel time from the operation waypoint to the target quay crane parking point; The step of determining a standardized path for the target vehicle to travel to the target quay crane parking point based on the first positioning information includes: Determining a cost for an operation waypoint in a preset waypoint area based on the position of the target vehicle and the target quay crane parking point, wherein the cost is calculated based on a travel distance from the position of the target vehicle to the operation waypoint and a travel time from the operation waypoint to the target quay crane parking point; determining an optimal operation midpoint for the target vehicle based on the minimum cost value of a plurality of operation midpoints; The target vehicle is controlled to travel to the target quay crane parking point according to the standardized path.

2. The vehicle parking method according to claim 1, wherein: The non-target quay crane includes an adjacent quay crane of the target quay crane, and the first positioning information includes the position of the target vehicle; The step of determining, based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point includes: According to the optimal operation midway point, a standardized path for the target vehicle to travel to the target quay crane parking point is determined.

3. The vehicle parking method according to claim 2, wherein: The step of determining a standardized path for the target vehicle to travel to the target quay crane parking point based on the optimal operation midway point includes: A path from the optimal operation midway point to the target quay crane parking point is matched from the preset database and used as the standardized path.

4. The vehicle parking method according to claim 1, wherein: The laser alignment system corresponding to the target quay crane also positions non-target vehicles to avoid obvious peak-to-valley differences in the use of the laser alignment system of a single quay crane.

5. The vehicle parking method according to claim 1, wherein: The step of controlling the target vehicle to travel to the target quay crane parking point according to the standardized path includes: Determining status information of the target vehicle at an optimal operation midway point; determining speed information of the target vehicle based on the state information and the standardized path; The target vehicle is controlled to travel to the target quay crane parking point according to the standardized path and the speed information.

6. The vehicle parking method according to claim 1, wherein: The preset midpoint area is associated with the alignment line of the target quay crane parking point, and the alignment line of the target quay crane parking point is connected to the operation midpoint in the preset midpoint area through the standardized path.

7. A vehicle parking device, characterized in that: The vehicle parking device comprises: A receiving module, configured to receive first positioning information of the target vehicle determined based on other non-target quay cranes before the target vehicle arrives at the target quay crane parking point; a receiving unit, configured to receive first positioning information after positioning the target vehicle based on the laser alignment systems of other non-target quay cranes and the target vehicle's own laser radar; wherein, when positioning the target vehicle by the laser alignment systems of the other non-target quay cranes and the target vehicle's own laser radar, no additional markers are required; a determination module, configured to determine, based on the first positioning information, a standardized path for the target vehicle to travel to the target quay crane parking point, wherein an end point of the standardized path coincides with a line of alignment of the target quay crane parking point, and the standardized path is determined based on an optimal operation waypoint, wherein the optimal operation waypoint is determined based on a shortest distance between the position of the target vehicle and a preset waypoint area and a travel time from the operation waypoint to the target quay crane parking point; a first determining unit, configured to determine, based on the position of the target vehicle and the target quay crane parking point, a cost value of an operation waypoint in a preset waypoint area, wherein the cost value is calculated by a travel distance from the position of the target vehicle to the operation waypoint and a travel time from the operation waypoint to the target quay crane parking point; a second determining unit, configured to determine an optimal operation waypoint of the target vehicle according to the minimum cost value of a plurality of operation waypoints; A control module is used to control the target vehicle to travel to the target quay crane parking point according to the standardized path.

8. A vehicle parking device, characterized in that: The device includes: a memory, a processor, and a vehicle parking program stored in the memory and executable on the processor, wherein the vehicle parking program is configured to implement the steps of the vehicle parking method according to any one of claims 1 to 6.

9. A computer storage medium, characterized in that The computer storage medium stores a vehicle parking program, which, when executed by a processor, implements the steps of the vehicle parking method according to any one of claims 1 to 6.

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