An automatic positioning method and device for port access of an off-port vehicle for a smart port

Abstract

The application discloses an automatic positioning method and device for an out-port vehicle entering and leaving a port of a smart port, wherein the device comprises a movable chassis, a label positioning part, an image recognition part and a clamping loading and unloading part arranged on the chassis; the label positioning part comprises a label storage rack arranged on the chassis, and a plurality of magnetic positioning labels are vertically and layer by layer stacked on the label storage rack; a unique label number nameplate is fixedly arranged on any magnetic positioning label; and a positioning module is arranged in the magnetic positioning label. The image recognition part comprises a first camera arranged on the chassis. The clamping loading and unloading part comprises a multi-axis manipulator, and the multi-axis manipulator is in control connection with the first camera. The application realizes the positioning and scheduling of the vehicle by identifying the license plate number of the entering port vehicle, using the multi-axis manipulator to adsorb the magnetic positioning label on the entering port vehicle, and binding the label number of the magnetic positioning label with the license plate.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, and in particular to an automatic positioning method and device for vehicles entering and leaving ports in smart ports. Background Technology

[0002] Port construction is not merely about investing in hardware; more importantly, it's about enhancing soft power. If port infrastructure construction forms the framework of a port, then elements like intelligence, safety, and sustainability inject vitality into its efficient operation. Intelligence, safety, and sustainability are the future direction of port development and crucial tasks in port construction.

[0003] Ports employ a wide variety and large number of mobile machines involved in production operations, including crawler cranes, loaders, forklifts, and trailers. Among these, the scheduling of trailers is of paramount importance. How to strengthen the operational order of trailers in ports, improve the management of project vehicles, and enhance cost reduction and efficiency improvement efforts have become urgent issues for major ports to address.

[0004] To ensure a more orderly operation of trucks entering the port and avoid a large number of trucks converging at the port during certain periods, and to ensure smooth traffic inside and outside the port area, many smart ports have implemented a reservation system for truck entry. However, how to quickly locate and schedule trucks after they enter the port is an urgent problem to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a method and device for automatic positioning of vehicles entering and leaving the port for smart ports. Magnetic positioning tags can be attached to trailers, and the magnetic positioning tags can be bound to the license plate number of the trailers to achieve rapid vehicle positioning and dispatching.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] Includes a movable chassis, on which are provided:

[0008] Tag positioning unit: includes a tag storage rack disposed on the chassis, wherein a plurality of magnetic positioning tags are stacked vertically in layers on the tag storage rack, each of the magnetic positioning tags is fixedly provided with a unique tag number nameplate, and a positioning module is disposed inside the magnetic positioning tag;

[0009] Image recognition unit: includes a first camera mounted on the chassis, used to identify the license plate number of the vehicle entering the port and the tag number of the magnetic positioning tag;

[0010] Clamping and unloading unit: includes a multi-axis manipulator fixedly mounted on the chassis, the multi-axis manipulator being controlled and connected to the first camera, used to attach the magnetic positioning tag to the vehicle entering the port and / or remove the magnetic positioning tag from the vehicle leaving the port.

[0011] By adopting the above technical solution, the license plate number of the vehicle entering the port is identified by image recognition at the port entrance gate. A multi-axis robot arm is then used to attach magnetic positioning tags to the vehicle. The tag number of the magnetic positioning tag is bound to the license plate, realizing the positioning and scheduling of the vehicle. When leaving the yard, the same multi-axis robot arm is used to identify the position of the magnetic positioning tag by image recognition, remove the magnetic positioning tag, and unbind it from the license plate number.

[0012] Preferably, a main control box is provided inside the chassis, the first camera is electrically connected to the main control box, and the main control box is communicatively connected to a central control console.

[0013] By adopting the above technical solution, the central control console can monitor and view the driving routes of vehicles entering the port in real time, which facilitates the staff to make dispatching.

[0014] Preferably, the magnetic positioning tag includes a square outer shell, a magnetic sticker is fixedly disposed on the back plate of the outer shell, and the tag number plate is disposed on the front plate of the outer shell.

[0015] Preferably, the top plate of the outer casing is fixedly provided with a positioning protrusion, and the bottom plate of the outer casing is provided with a positioning groove that engages and matches the positioning protrusion.

[0016] Through the snap-fit ​​adaptation of positioning protrusions and positioning grooves, magnetic positioning tags can be more stably stacked in layers within the tag storage rack.

[0017] Preferably, a pressure sensor is also provided on the bottom plate of the outer casing, and the pressure sensor is controlled and connected to the multi-axis robot. When a vehicle from outside the port stops at the gate, the robot removes the magnetic positioning tag and puts it back in the tag storage rack until the pressure sensor receives a pressure signal, at which point it controls the multi-axis robot to release the magnetic positioning tag.

[0018] Preferably, both side plates of the outer casing are provided with lifting lugs, and anti-slip pads are provided on the lifting lugs to increase friction, thereby facilitating gripping by the robotic arm.

[0019] Preferably, the chassis is provided with a slide rail and a drive mechanism for driving the label storage rack to reciprocate along the slide rail.

[0020] Preferably, the driving mechanism includes a base fixed to the bottom of the label storage rack, a slider that is slidably connected to the slide rail is fixedly arranged below the base, a lead screw is threaded through the base, bearing seats are respectively arranged at both ends of the lead screw, a motor is drivenly connected to one end of the lead screw, and the bearing seats and the motor are both fixedly connected to the upper end face of the chassis.

[0021] By adopting the above technical solution, the motor drives the lead screw to rotate, causing the base to move along the slide rail with the label storage rack, thereby adjusting the distance between the magnetic positioning label and the multi-axis robot arm, making it convenient for the multi-axis robot arm to hold the magnetic positioning label.

[0022] This invention also discloses an automatic positioning method for vehicles entering and leaving the port outside the port for smart ports, characterized by the following steps:

[0023] S1. Obtain information on vehicles entering and leaving the port from outside the port and create a background information database;

[0024] S2. The first camera identifies the license plate information of the vehicle waiting to enter the port. The license plate information is matched with the background information database. If the match is successful, proceed to the next step. If the match fails, the license plate information is entered into the confirmation database.

[0025] S3. The multi-axis robotic arm grips one of the magnetic positioning tags on the tag storage rack and moves it in front of the first camera. The first camera identifies the tag number of the magnetic positioning tag, binds the currently matched license plate number with the tag number, and stores the binding information in the background information database.

[0026] S4. The multi-axis robotic arm attaches the already bound magnetic positioning tag to the current vehicle;

[0027] S5. When a vehicle departs, the first camera identifies the position of the magnetic positioning tag. The multi-axis robotic arm removes the magnetic positioning tag from the departing vehicle and moves it in front of the first camera. The tag number is unbound from the license plate number of the departing vehicle, and the unbinding information and departure time are stored in the background information database.

[0028] The step S2 is further followed by: manually screening the license plate numbers in the database to be confirmed; if they belong to planned vehicles entering the port, they are marked as missed vehicles in the plan, the license plate number is manually entered, and the process proceeds to step S3; if they belong to unplanned vehicles entering the port, they are marked as unplanned vehicles, the feedback is sent to the central control console, and the process awaits further instructions.

[0029] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0030] 1. At the port entrance gate, a multi-axis robotic arm is used to attach magnetic positioning tags to vehicles entering the port. These magnetic positioning tags can be bound to the license plate numbers to enable vehicle positioning and dispatching. The central control console can view the driving routes of vehicles entering the port in real time, facilitating dispatching.

[0031] 2. When leaving the storage yard, a robotic arm is used to determine the position of the magnetic positioning tag through image recognition, and at the same time unbind it from the license plate number. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 An isometric view of an automatic positioning device for vehicles entering and leaving the port, used in smart ports;

[0034] Figure 2 A top view of an automatic positioning device for vehicles entering and leaving the port for use in smart ports;

[0035] Figure 3 This is a front view of an automatic positioning device for vehicles entering and leaving the port, used in smart ports.

[0036] Figure 4 This is a structural block diagram of an automatic positioning device for vehicles entering and leaving the port for use in smart ports.

[0037] Figure 5 This is a schematic diagram of the structure of a magnetic positioning tag in an automatic positioning device for vehicles entering and leaving the port, used in smart ports.

[0038] Figure 6 A front view of a magnetic positioning tag in an automatic positioning device for vehicles entering and leaving the port for use in smart ports.

[0039] Figure 7 This is a flowchart of an automatic positioning method for vehicles entering and leaving the port for use in smart ports.

[0040] Reference numerals: 1. Chassis; 2. Label storage rack; 3. Magnetic positioning label; 4. Label number nameplate; 5. Positioning module; 6. First camera; 7. Multi-axis robot arm; 8. Main control box; 9. Central control panel; 10. Outer shell; 11. Magnet; 12. Lifting lug; 13. Anti-slip pad; 14. Display screen; 15. Second camera; 16. Electric indexing rotary table; 17. Positioning protrusion; 18. Positioning groove; 19. Pressure sensor; 20. Slide rail; 21. Base; 22. Lead screw; 23. Bearing seat; 24. Motor. Detailed Implementation

[0041] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] Example 1

[0045] Reference Figures 1-6 This invention discloses an automatic positioning device for vehicles entering and leaving a smart port, comprising a movable chassis 1, on which a tag positioning unit, an image recognition unit, and a clamping and loading / unloading unit are mounted.

[0046] The tag positioning unit includes a tag storage rack 2 mounted on a chassis 1. Several magnetic positioning tags 3 are stacked vertically in layers on the tag storage rack 2. Each magnetic positioning tag 3 has a unique tag number plate 4 fixedly affixed to it. A positioning module 5 is installed inside each magnetic positioning tag 3. It should be noted that the positioning module 5 can be a GPS positioning module or a BeiDou positioning module. The technology of using GPS or BeiDou positioning modules for positioning is existing technology and will not be elaborated upon here.

[0047] Image recognition unit: includes a first camera 6 mounted on chassis 1. The first camera 6 is rotatable and is used to identify the license plate number of the vehicle entering the port and the tag number of the magnetic positioning tag 3.

[0048] The clamping and unloading unit includes a multi-axis manipulator 7 fixedly mounted on the chassis 1. The multi-axis manipulator 7 is controlled and connected to the first camera 6, and is used to attach the magnetic positioning tag 3 to the vehicle entering the port and / or remove the magnetic positioning tag 3 from the vehicle leaving the port.

[0049] The multi-axis robot arm 7 is equipped with an electric indexing rotary table 16 at its bottom, allowing it to rotate 360° in the horizontal plane. Two label storage racks 2 can be provided, with each rack positioned on one side of the electric indexing rotary table 16.

[0050] The chassis 1 houses a main control box 8. A first camera 6, a multi-axis robotic arm 7, and the main control box 8 are electrically connected. The main control box 8 is communicatively connected to a central control console 9. The central control console 9 stores a background information database formed from port entry and exit plans for vehicles from outside the port. This database includes, but is not limited to, license plate numbers, planned entry times, planned exit times, and transported cargo information. The central control console 9 can be a computer, mobile phone, or other mobile communication device. The first camera 6 can perform visual recognition and transmit data to the main control box 8 and the central control console 9. A communication module is installed within the magnetic positioning tag 3, and the positioning module 5 communicates with the central control console 9 through this module.

[0051] Reference Figure 5 and Figure 6 The magnetic positioning tag 3 includes a square outer shell 10. For ease of description and understanding, when the magnetic positioning tag 3 is stored in the tag storage rack 2, the side of the outer shell 10 facing away from the multi-axis robot 7 is called the back plate, and the side facing the multi-axis robot 77 is called the front plate. A magnet 11 is fixedly installed on the back plate of the outer shell 10. The magnet 11 has strong magnetism and can be used to attach the magnetic positioning tag 3 to the vehicle entering the port. The tag number nameplate 4 is set on the front plate of the outer shell 10.

[0052] The outer shell 10 has two opposite side plates with fixed lifting lugs 12. The lifting lugs 12 are provided with anti-slip rubber pads 13 to increase friction, thereby facilitating the gripping of the multi-axis robot arm 7.

[0053] Optionally, a display screen 14 and a second camera 15 are also provided on the front panel of the outer casing 10. The display screen 14 is connected to the central control console 9 via a communication module, and the second camera 15 is electrically connected to the display screen 14. The second camera 15 can identify the location number of the loading and unloading area and the parking number of the parking space, and the display screen 14 can display the arrival time, transported goods, location number of the loading and unloading area, and parking number of the parking space.

[0054] The working principle and beneficial effects of this embodiment are as follows:

[0055] First, the vehicle waiting to enter the port (such as a trailer) stops at the entrance gate of the terminal. The chassis 1 moves to the front of the vehicle and identifies the license plate number of the vehicle through the first camera 6. The license plate number of the vehicle waiting to enter the port is then matched with the license plate number in the background information database.

[0056] Next, the multi-axis robotic arm 7 grips one of the magnetic positioning tags 3 on the tag storage rack 2 and moves it in front of the first camera 6. The first camera 6 identifies the tag number of the magnetic positioning tag 3 and binds the currently matched license plate number to the tag number.

[0057] The multi-axis robotic arm 7 attaches the pre-bound magnetic positioning tag 3 to the current vehicle, enabling vehicle positioning and scheduling. The central control panel 9 can view the driving route of the vehicles entering the port in real time, facilitating scheduling.

[0058] When leaving the yard, the first camera 6 identifies the position of the magnetic positioning tag 3, and the multi-axis robot arm 7 removes the magnetic positioning tag 3 from the departing vehicle and moves it in front of the first camera 6. The tag number and the license plate number of the departing vehicle are unbound, and the multi-axis robot arm 7 puts the unbound magnetic positioning tag 3 into the tag storage rack 2.

[0059] Example 2

[0060] Reference Figure 5 and Figure 6 The difference between this embodiment and Embodiment 1 is that the top plate of the outer casing 10 is fixedly provided with a positioning protrusion 17, and the bottom plate of the outer casing 10 is provided with a positioning groove 18 that matches the positioning protrusion 17. The positioning groove 18 can be circular, square, annular, or other shapes, and is not limited here. Through the snap-fit ​​adaptation of the positioning protrusion 17 and the positioning groove 18, the magnetic positioning tags 3 can be more stably stacked in layers within the tag storage rack 2.

[0061] The bottom plate of the outer casing 10 is equipped with a pressure sensor 19. When a vehicle from outside the port stops at the gate, the robot arm removes the magnetic positioning tag 3 and puts it back into the tag storage rack 2. When the pressure sensor 19 receives a pressure signal, it controls the multi-axis robot arm 7 to release the magnetic positioning tag 3.

[0062] Example 3

[0063] Reference Figures 1-3 The difference between this embodiment and the previous embodiment is that the chassis 1 is provided with a slide rail 20 and a sliding mechanism for driving the label storage rack 2 to reciprocate along the slide rail 20. The sliding mechanism includes a base 21 fixed to the bottom of the label storage rack 2, a slider that is slidably connected to the slide rail 20 is fixedly provided below the base 21, a lead screw 22 is threaded through the base 21 along the length direction of the slide rail 20, bearing seats 23 are respectively provided at both ends of the lead screw 22 in the length direction, a motor 24 is driven to one end of the lead screw 22, and the bearing seats 23 and the motor 24 are both fixedly connected to the upper end surface of the chassis 1.

[0064] The motor 24 drives the lead screw 22 to rotate, causing the base 21 to move along the slide rail 20 with the label storage rack 2, thereby adjusting the distance between the magnetic positioning label 3 and the multi-axis robot 7, so that the multi-axis robot 7 can hold the magnetic positioning label 3.

[0065] Example 4

[0066] Reference Figure 7 An automatic positioning method for vehicles entering and leaving the port for smart ports includes the following steps:

[0067] S1. Obtain information on vehicles entering and leaving the port from outside the port and create a background information database;

[0068] S2. The first camera 6 identifies the license plate information of the vehicle waiting to enter the port. The license plate information is matched with the background information database. If the match is successful, proceed to the next step. If the match fails, the license plate information is entered into the confirmation information database.

[0069] S3. The multi-axis robotic arm 7 grips one of the magnetic positioning tags 3 on the tag storage rack 2 and moves it in front of the first camera 6. The first camera 6 identifies the tag number of the magnetic positioning tag 3, binds the currently matched license plate number with the tag number, and stores the binding information in the background information database.

[0070] S4. The multi-axis robotic arm 7 attaches the already bound magnetic positioning tag 3 to the current vehicle;

[0071] S5. When the vehicle departs, the first camera 6 identifies the position of the magnetic positioning tag 3, the multi-axis robot arm 7 removes the magnetic positioning tag 3 from the departing vehicle and moves it in front of the first camera 6, the tag number and the license plate number of the departing vehicle are unbound, and the unbinding information and departure time are stored in the background information database. The multi-axis robot arm 7 puts the unbound magnetic positioning tag 3 into the tag storage rack 2.

[0072] The step S2 is further followed by: manually screening the license plate numbers in the database to be confirmed; if they belong to planned vehicles entering the port, they are marked as missed vehicles in the plan, the license plate number is manually entered, and the process proceeds to step S3; if they belong to unplanned vehicles entering the port, they are marked as unplanned vehicles, and feedback is sent to the central control console 9 to await further instructions.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic positioning device for vehicles entering and leaving the port outside the port for smart ports, comprising a movable chassis (1), characterized in that, The chassis (1) is provided with: Tag positioning unit: includes a tag storage rack (2) set on the chassis (1), a number of magnetic positioning tags (3) are stacked vertically in layers on the tag storage rack (2), each of the magnetic positioning tags (3) is fixedly provided with a unique tag number nameplate (4), and a positioning module (5) is provided inside the magnetic positioning tag (3); Image recognition unit: includes a first camera (6) mounted on the chassis (1) for recognizing the license plate number of the vehicle entering the port and the tag number of the magnetic positioning tag (3); Clamping and unloading unit: includes a multi-axis manipulator (7) fixedly mounted on the chassis (1), the multi-axis manipulator (7) and the first camera (6) are controlled to be connected and used to attach the magnetic positioning tag (3) to the vehicle entering the port and / or remove the magnetic positioning tag (3) from the vehicle leaving the port. The chassis (1) is equipped with a main control box (8), the first camera (6), the multi-axis robot (7) and the main control box (8) are electrically connected, and the main control box (8) is communicatively connected to a central control console (9). The magnetic positioning tag (3) includes a square outer shell (10), a magnet (11) is fixedly provided on the back plate of the outer shell (10), and the tag number nameplate (4) is provided on the front plate of the outer shell (10).

2. The automatic positioning device for vehicles entering and leaving the port outside the port for smart ports according to claim 1, characterized in that, The top plate of the outer shell (10) is fixedly provided with a positioning protrusion (17), and the bottom plate of the outer shell (10) is provided with a positioning groove (18) that is matched and engaged with the positioning protrusion (17).

3. The automatic positioning device for vehicles entering and leaving the port outside the port for smart ports according to claim 1, characterized in that, A pressure sensor (19) is also provided on the bottom plate of the outer shell (10), and the pressure sensor (19) is connected to the multi-axis manipulator (7) for control.

4. The automatic positioning device for vehicles entering and leaving the port outside the port for smart ports according to claim 1, characterized in that, The outer shell (10) is provided with lifting lugs (12) on both side plates.

5. An automatic positioning device for vehicles entering and leaving the port outside the port for smart ports according to claim 1, characterized in that, The chassis (1) is provided with a slide rail (20) and a drive mechanism for driving the label storage rack (2) to reciprocate along the slide rail (20).

6. An automatic positioning device for vehicles entering and leaving the port outside the port for smart ports according to claim 5, characterized in that, The driving mechanism includes a base (21) fixed to the bottom of the label storage rack (2). A slider that is slidably connected to the slide rail (20) is fixedly provided below the base (21). A lead screw (22) is threaded through the base (21). Bearing seats (23) are respectively provided at both ends of the lead screw (22). A motor (24) is driven to one end of the lead screw (22). The bearing seats (23) and the motor (24) are both fixedly connected to the upper surface of the chassis (1).

7. A method for automatic positioning of vehicles entering and leaving the port outside the port for smart ports, applied to the automatic positioning device for vehicles entering and leaving the port outside the port for smart ports described in any one of claims 1-6, characterized in that, Includes the following steps: S1. Obtain information on vehicles entering and leaving the port from outside the port and create a background information database; S2. The first camera (6) identifies the license plate information of the vehicle to be brought into the port. The license plate information is matched with the background information database. If the match is successful, proceed to the next step. If the match fails, input the license plate information into the information database to be confirmed. S3. The multi-axis robot (7) grips one of the magnetic positioning tags (3) on the tag storage rack (2) and moves it to the front of the first camera (6). The first camera (6) identifies the tag number of the magnetic positioning tag (3), binds the currently matched license plate number with the tag number, and stores the binding information in the background information database. S4. The multi-axis robotic arm (7) attaches the already bound magnetic positioning tag (3) to the current vehicle; S5. When the vehicle departs, the first camera (6) identifies the position of the magnetic positioning tag (3), the multi-axis robot (7) removes the magnetic positioning tag (3) from the departing vehicle and moves it in front of the first camera (6), the tag number and the license plate number of the departing vehicle are unbound, and the unbinding information and departure time are stored in the background information database.

8. The automatic positioning method for vehicles entering and leaving the port outside the port for smart ports according to claim 7, characterized in that, The step S2 further includes: manually screening the license plate numbers in the information database to be confirmed; if they belong to planned vehicles entering the port, they are marked as vehicles missed in the plan, the license plate number is manually entered, and the process proceeds to step S3; if they belong to unplanned vehicles entering the port, they are marked as unplanned vehicles, and feedback is sent to the central control console (9) to await further instructions.

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