A positioning system for autonomous driving technology in ports

Abstract

The present invention provides a positioning system for port autonomous driving technology, comprising: a global navigation satellite module, an inertial measurement module, an environmental perception module, a map bearing module and a control module, wherein the environmental perception module comprises a plurality of distance measuring sensors, and the plurality of distance measuring sensors are respectively installed on the four sides of a transport vehicle; the positioning system for port autonomous driving technology also comprises a rotating calibration member and a plurality of side calibration plates, wherein the rotating calibration member is installed at one end of a material waiting parking space of a transport lane, and when the transport vehicle is parked in the material waiting parking space, the rotating calibration member is located at the front side of the transport vehicle, and the plurality of side calibration plates are installed at intervals on one side of the material waiting parking space. The positioning system for port autonomous driving technology provided by the present invention realizes that the vehicle is accurately parked in the material waiting parking space through the distance measuring sensor, the side calibration plate and the rotating calibration member.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving vehicles in ports, and in particular to a positioning system for autonomous driving technology in ports. Background Art

[0002] At present, in order to improve the efficiency and safety of port transportation operations, smart ports have been proposed. Advanced information technology, automation technology and intelligent equipment are used to comprehensively optimize and upgrade various aspects of port logistics, operations, management, etc. In the realization of smart ports, the implementation and positioning of the positions of autonomous driving transport vehicles is particularly important.

[0003] The existing technology for positioning autonomous vehicles includes global navigation satellite modules (GNSS), inertial measurement units (IMU), lidar, millimeter-wave radar, high-definition cameras, on-board maps, etc. Through the combination of multiple systems, the vehicle can be positioned in real time, so that many autonomous transport vehicles can transport goods according to the set routes to avoid collisions, etc. When transporting goods, the autonomous transport vehicle automatically drives to the loading position according to the positioning system, and then the lifting equipment and the like lift the cargo from the carrier ship to the transport vehicle; since the entire positioning system needs to rely on network connection to achieve positioning and transmission of vehicle commands, it is more dependent on the quality of the network. When the network quality is poor, etc., when the autonomous vehicle stops to load, the parking position may have a deviation exceeding the threshold, resulting in the inability to accurately load the goods to the loading position of the transport vehicle.

[0004] Therefore, it is necessary to provide a positioning system for port autonomous driving technology to solve the above technical problems. Summary of the invention

[0005] The present invention provides a positioning system for port autonomous driving technology, which solves the problem that when the network quality is poor, the parking position of the autonomous driving vehicle may deviate when parking to load materials, resulting in the inability to accurately load the goods.

[0006] In order to solve the above technical problems, the present invention provides a positioning system for port automatic driving technology, comprising: a global navigation satellite module, an inertial measurement module, an environment perception module, a bearing map module and a control module, wherein the environment perception module comprises a plurality of ranging sensors, and the plurality of ranging sensors are respectively installed on the four sides of the transport vehicle;

[0007] The positioning system for port autonomous driving technology also includes a rotating calibration component and multiple side calibration plates. The rotating calibration component is installed at one end of the material waiting position of the transport lane, and when the transport vehicle parks in the material waiting position, the rotating calibration component is located on the front side of the transport vehicle, and multiple side calibration plates are installed at intervals on one side of the material waiting position.

[0008] Preferably, the perception module also includes multiple laser radar devices and multiple cameras, the multiple laser radar devices are respectively installed at both ends of the transport vehicle, and the multiple cameras are installed on the transport vehicle at intervals.

[0009] Preferably, the rotating calibration member comprises a bracket, a rotating motor and a front end calibration plate, the bracket is mounted on the transport path, the rotating motor is mounted on the bracket, and the front end calibration plate is mounted on the output shaft of the rotating motor.

[0010] Preferably, the positioning system for port autonomous driving technology also includes a cleaning module, and the cleaning module is used to clean the environmental perception module.

[0011] Preferably, the cleaning module includes a water spray mechanism, a water tank, a water pump, a drain pipe and a water inlet pipe. The water spray mechanism is installed on the transport vehicle, and the output end is toward the detection end of the environmental perception module. The water tank and the water pump are both installed on the transport vehicle. The input end of the water pump is connected to the water tank through the water inlet pipe, and the output end of the water pump is connected to the water spray mechanism through the drain pipe.

[0012] Preferably, the water spray mechanism includes a mounting frame, an adjusting motor, a rotating cylinder and a nozzle, the mounting frame is installed on the transport vehicle, the rotating cylinder is rotatably installed inside the mounting frame, the adjusting motor is installed on the mounting frame, and the output end of the adjusting motor passes through the mounting frame and is connected to the rotating cylinder, the nozzle is installed on the rotating cylinder and is connected to the rotating cylinder, and one end of the drain pipe is connected to the rotating cylinder through a rotating connector.

[0013] Preferably, the positioning system for port autonomous driving technology also includes a wiping assembly, which includes a wiping sponge, an arc-shaped sleeve and a driving member. The arc-shaped sleeve is rotatably installed inside the mounting frame, and the arc-shaped sleeve is mounted on the rotating cylinder. The wiping sponge is installed on the arc-shaped sleeve, and the driving member is used to drive the arc-shaped sleeve to rotate.

[0014] Preferably, the driving member is a driving block, one end of the driving member is connected to the rotating cylinder, and the other end of the driving member extends to the interior of the arc sleeve, and the upper end and the lower end of the arc sleeve are both sealed.

[0015] Preferably, the wiping assembly also includes a deformable cover plate, one end of which is connected to the rotating cylinder, and the other end of which covers the wiping sponge, and the water spraying mechanism also includes an arc-shaped limit plate, which is mounted on the mounting frame and is located above one side of the deformable cover plate.

[0016] Preferably, a heating device is installed inside the water tank.

[0017] Compared with the related art, the positioning system for port automatic driving technology provided by the present invention has the following beneficial effects:

[0018] The present invention provides a positioning system for port automatic driving technology. When a transport vehicle approaches and enters a material-waiting parking space, first, a distance measuring sensor on the side of the transport vehicle acts on a calibration plate on one side to detect whether the distance between the side of the transport vehicle and the side calibration plate is a preset value. When the detected distance value is different from the preset distance value, the transport vehicle adjusts the distance. After adjustment, the distance measuring sensor detects the spacing value between the calibration plate on the other side to keep the distance between the transport vehicle and the side calibration plate at the preset value before stopping. The distance measuring sensor on the front side of the transport vehicle in the driving direction acts on a rotating calibration piece. When it is detected that the spacing between the calibration plate at the front end is the preset value, the transport vehicle stops. At this time, the transport vehicle just stops at the material-waiting parking space and waits for loading. The distance measuring sensor, the side calibration plate and the rotating calibration piece are used to realize the accurate parking of the vehicle at the material-waiting parking space. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A system block diagram of a positioning system for port autonomous driving technology provided by the present invention;

[0020] Figure 2 A schematic diagram of the installation distribution of the rotary calibration member and the side calibration plate provided by the present invention;

[0021] Figure 3 for Figure 2 An enlarged schematic diagram of part A is shown;

[0022] Figure 4 A schematic diagram of the structure of the cleaning module provided by the present invention;

[0023] Figure 5 for Figure 4 The structural schematic diagram of the water spray mechanism shown;

[0024] Figure 6 for Figure 5 A cross-sectional view of the water spray mechanism shown;

[0025] Figure 7 for Figure 5 A schematic diagram showing the removal of the deformable cover sheet and the arc-shaped limiting sheet;

[0026] Figure 8 A schematic diagram of the water spraying range of the water spraying mechanism provided by the present invention;

[0027] Fig. 9 A schematic diagram of the driving member provided by the present invention abutting against the upper end of the inner wall of the arc-shaped sleeve;

[0028] Fig.10 This is a schematic diagram of the wiping range of the wiping sponge provided by the present invention.

[0029] Numbers in the figure:

[0030] 1. Rotating calibration piece; 11. Bracket; 12. Rotating motor; 13. Front end calibration plate;

[0031] 2. Side marking plate;

[0032] 3. Transport vehicle;

[0033] 4. Transport lane; 41. Waiting space for materials;

[0034] 5. Cleaning module; 51. Water spray mechanism; 52. Water tank; 53. Water pump; 54. Drain pipe; 55. Water inlet pipe;

[0035] 511, mounting frame; 512, adjusting motor; 513, rotating cylinder; 514, nozzle; 515, arc-shaped limiting piece; 541, rotating connector;

[0036] 6. Wiping assembly; 61. Wiping sponge; 62. Arc sleeve; 63. Deformable cover sheet; 64. Driving member; 65. Support plate;

[0037] 7. Heating equipment;

[0038] 10. LiDAR equipment; 20. Camera; 30. Distance measuring sensor. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The present invention provides a positioning system for port automatic driving technology.

[0041] Please refer to Figures 1 to 3 In one embodiment of the present invention, the positioning system for port autonomous driving technology includes: a global navigation satellite module, an inertial measurement module, an environment perception module, a load-bearing map module and a control module, wherein the environment perception module includes a plurality of ranging sensors 30, and the plurality of ranging sensors 30 are respectively installed on four sides of the transport vehicle 3;

[0042] The positioning system for port autonomous driving technology also includes a rotating calibration component 1 and multiple side calibration plates 2. The rotating calibration component 1 is installed at one end of the material waiting position 41 of the transport lane 4, and when the transport vehicle 3 parks in the material waiting position 41, the rotating calibration component 1 is located on the front side of the transport vehicle 3, and multiple side calibration plates 2 are installed at intervals on one side of the material waiting position 41.

[0043] In this embodiment, the material waiting parking space 41 is located below the lifting equipment for unloading. When the transport vehicle 3 stops automatically, the lifting equipment will lift the goods from the transport ship to the transport vehicle 3 for transportation. The ranging sensor 30 is connected to the control module of the transport vehicle 3 through a line.

[0044] When the transport vehicle 3 approaches and enters the material waiting parking space 41, the distance measuring sensor 30 on the side of the transport vehicle 3 first acts on the side calibration plate 2 to detect whether the distance between the side of the transport vehicle 3 and the side calibration plate 2 is a preset value. When the detected distance value is different from the preset distance value, the transport vehicle 3 adjusts the distance. After adjustment, the distance measuring sensor 30 detects the spacing value between the calibration plate 2 on the other side to keep the distance between the transport vehicle 3 and the side calibration plate 2 at the preset value before stopping. The distance measuring sensor 30 on the front side of the transport vehicle 3 in the driving direction acts on the rotating calibration part 1. When it is detected that the spacing between the rotary calibration part 1 is the preset value, the transport vehicle 3 stops. At this time, the transport vehicle 3 is just parked at the material waiting parking space 41, waiting for loading. The distance measuring sensor 30, the side calibration plate 2 and the rotating calibration part 1 are used to ensure that the vehicle is accurately parked at the material waiting parking space 41.

[0045] By setting a plurality of side marking plates 2, the spacing is set so that when the transport vehicle 3 begins to detect that the distance between the transport vehicle 3 and the side marking plate 2 is greater than or less than the preset spacing value, the transport vehicle 3 can conveniently adjust the distance between the transport vehicle 3 and the side marking plate 2 during the process of moving to the material waiting position 41. In this embodiment, two side marking plates 2 are correspondingly set for each rotating marking member 1. The side marking plates 2 and the rotating marking member 1 are correspondingly installed at the side lane lines of the transport lane 4.

[0046] In this embodiment, the perception module, global navigation satellite module, inertial measurement module, environmental perception module, and on-board map module are connected to the input end signal of the control module, and are connected to the execution module and the background control module through the input end of the control module. After each module of the positioning system detects the vehicle's location information, the control module integrates and processes the information, and then transmits the location information to the background control module through the communication module. The background staff can monitor the location information of each vehicle; at the same time, the control module controls the execution module of the transport vehicle 3 to drive according to the detected road environment information and the location information of the self-set vehicle. The execution module is the driving part, steering and braking part of the transport vehicle 3.

[0047] Among them, global navigation satellite modules such as GPS and BeiDou provide approximate location information of the vehicle;

[0048] The inertial measurement module measures the acceleration and angular velocity of the vehicle to assist in positioning the vehicle;

[0049] The on-board map module contains detailed map information of the port, such as roads, yards, buildings, etc., which is combined with real-time sensor data for positioning.

[0050] The distance measuring sensor 30 may be a radar distance measuring device, an ultrasonic distance measuring device or the like.

[0051] See also Figure 3 The perception module also includes multiple laser radar devices 10 and multiple cameras 20. The multiple laser radar devices 10 are respectively installed at both ends of the transport vehicle 3, and the multiple cameras 20 are installed on the transport vehicle 3 at intervals.

[0052] The laser radar device 10 is used to scan the surrounding environment and create a point cloud map to achieve accurate positioning of the vehicle and perception of surrounding obstacles; since both ends of the transport vehicle 3 can usually be used as the front of the vehicle for driving, the laser radar device 10 is set at both ends of the transport vehicle 3;

[0053] The camera 20 collects image information and obtains information such as road signs and lane lines through image processing and recognition technology to assist in positioning.

[0054] In one embodiment, the cameras 20 are arranged at both ends of the transport vehicle 3 along the travel direction and are spaced apart from the laser radar;

[0055] In another embodiment, the cameras 20 are disposed at both ends of the transport vehicle 3 along the travel direction and at the other two outer side surfaces, and can assist in collecting graphic information on both sides of the transport vehicle 3 .

[0056] See also Figure 3 As an optional method of this embodiment, the rotating calibration component 1 includes a bracket 11, a rotating motor 12 and a front end calibration plate 13, the bracket 11 is installed on the transport path 4, the rotating motor 12 is installed on the bracket 11, and the front end calibration plate 13 is installed on the output shaft of the rotating motor 12.

[0057] See also Figure 2 The front end calibration plate 13 extends inside the transport path 4 and can interact with the distance measuring sensor 30 at the front end of the transport vehicle 3 in the travel direction to achieve distance measurement detection.

[0058] A plurality of material waiting parking spaces 41 may be arranged on a transport lane 4, and a plurality of transport vehicles 3 may perform transport work at the same time. Figure 2There are three waiting parking spaces 41 set on a transport lane 4. When the transport vehicle 3 travels from right to left, when the first transport vehicle 3 comes over, the two rotating marking parts 1 on the right side can rotate upward, so that the first transport vehicle 3 can move to the leftmost waiting parking space 41, and then the rotating motor 12 in the middle rotating marking part 1 drives the front marking plate 13 to rotate downward to horizontal, so as to position the second transport vehicle 3 entering, and similarly, the third transport vehicle 3 can move to the corresponding waiting parking space 41. By setting the front marking plate 13 to be rotatable, it does not affect the movement of multiple transport vehicles 3 to the corresponding waiting parking spaces 41.

[0059] The number of material waiting parking spaces 41 on one of the transport lanes 4 is not limited to three.

[0060] As another optional method of this embodiment, the rotating calibration part 1 includes a rotating motor 12 and an L-shaped calibration plate. The rotating motor 12 is installed on the transport path 4 through a fixed frame. One end of the L-shaped calibration plate is connected to the output end of the rotating motor 12, and the other end extends to the interior of the transport path 4.

[0061] When a transport vehicle 3 needs to pass, the rotating motor 12 drives the other end of the L-shaped marking plate to rotate until it is parallel to the lane line.

[0062] Since port areas are usually dusty and a large number of transport vehicles 3 easily raise dust during transportation, the dust adheres to the sensor devices such as the laser radar device 10 and the camera 20, which may affect the detection accuracy and clarity. In frosty and snowy weather, when frost and snow adhere to the sensor devices such as the laser radar device 10 and the camera 20, and ice forms in cold weather, the detection accuracy and clarity may be affected.

[0063] To solve the above problems, please refer to Figure 3 , Figure 4 as well as Figure 8 The positioning system for port autonomous driving technology also includes a cleaning module 5, and the cleaning module 5 is used to clean the environmental perception module.

[0064] By setting up the cleaning module 5, when dust, frost, snow, etc. are attached to the laser radar device 10 or the camera 20, the cleaning module 5 can clean the detection end of the laser radar device 10, the camera 20 and other sensor devices, so as to keep the detection end of the laser radar device 10, the camera 20 and other sensor devices clean and prevent dust and the like from affecting the detection accuracy and clarity.

[0065] See also Figure 4As an optional method of this embodiment, the cleaning module 5 includes a water spraying mechanism 51, a water tank 52, a water pump 53, a drain pipe 54 and a water inlet pipe 55. The water spraying mechanism 51 is installed on the transport vehicle 3, and the output end is toward the detection end of the environment perception module. The water tank 52 and the water pump 53 are both installed on the transport vehicle 3. The input end of the water pump 53 is connected to the water tank 52 through the water inlet pipe 55, and the output end of the water pump 53 is connected to the water spraying mechanism 51 through the drain pipe 54.

[0066] During cleaning, the water pump 53 works, and the clean water inside the water tank 52 enters the interior of the water spray mechanism 51 through the water inlet pipe 55 and the drain pipe 54, and is sprayed by the water spray mechanism 51 onto the mirror surface of the detection end of the sensor equipment such as the laser radar equipment 10 or the camera 20 for cleaning.

[0067] Among them, it can be set to perform cleaning at a fixed time, and the background control end can actively control the cleaning.

[0068] The water tank 52 is provided with a charging port for replenishing clean water, and a sealing cover is provided on the charging port.

[0069] See also Figure 5 and Figure 6 As an optional method of this embodiment, the water spray mechanism 51 includes a mounting frame 511, an adjusting motor 512, a rotating cylinder 513 and a nozzle 514. The mounting frame 511 is installed on the transport vehicle 3, and the rotating cylinder 513 is rotatably installed inside the mounting frame 511. The adjusting motor 512 is installed on the mounting frame 511, and the output end of the adjusting motor 512 passes through the mounting frame 511 and is connected to the rotating cylinder 513. The nozzle 514 is installed on the rotating cylinder 513 and is connected to the rotating cylinder 513. One end of the drain pipe 54 is connected to the rotating cylinder 513 through a rotating connector 541.

[0070] Please refer to Figure 8 During cleaning, under the action of the water pump 53, the cleaning water enters the interior of the rotating cylinder 513 through the drain pipe 54 and the rotating connector 541, and is finally sprayed out by the nozzle 514 to the detection end of the laser radar device 10 or the camera 20 and other sensor devices. The adjusting motor 512 can drive the rotating cylinder 513 to rotate, and the spraying angle of the nozzle 514 can be adjusted to achieve comprehensive cleaning of the detection end of the laser radar device 10 or the camera 20 and other sensor devices.

[0071] The length of the nozzle 514 is adapted to the length of the rotating drum 513, thereby increasing the area of ​​the sprayed water flow and the cleaning area.

[0072] By providing the rotating connector 541 , when the rotating drum 513 rotates, the drain pipe 54 may not rotate along with the rotating drum 513 , thereby preventing the drain pipe 54 from being entangled.

[0073] As another optional method of this embodiment, the water spray mechanism 51 includes a water spray pipe and an electric push cylinder. The water spray pipe is horizontally installed at the output end of the electric push cylinder, and the drain pipe 54 is connected to the water spray pipe. During cleaning, the electric push cylinder water spray pipe is raised and lowered to achieve the water spray pipe to evenly apply water to the parts to be cleaned.

[0074] See also Figures 5 to 7 As a preferred embodiment of this embodiment, the positioning system for port automatic driving technology also includes a wiping assembly 6, which includes a wiping sponge 61, an arc sleeve 62 and a driving member 64. The arc sleeve 62 is rotatably installed inside the mounting frame 511, and the arc sleeve 62 is sleeved on the rotating cylinder 513. The wiping sponge 61 is installed on the arc sleeve 62, and the driving member 64 is used to drive the arc sleeve 62 to rotate.

[0075] By setting up the wiping sponge 61, after the detection end of the laser radar device 10 or the camera 20 or other sensor equipment is cleaned by the cleaning module 5, the driving member 64 drives the arc sleeve 62 to rotate, thereby driving the wiping sponge 61 to rotate and wipe the cleaned laser radar device 10 or the camera 20 or other sensor equipment to keep it dry.

[0076] Annular slide rails are provided at both ends of the mounting frame 511 , and both ends of the arc sleeve 62 are correspondingly sleeved on the annular slide rails to realize rotational connection with the mounting frame 511 .

[0077] Please refer again Figure 6 As an optional method of this embodiment, the driving member 64 is a driving block, one end of the driving member 64 is connected to the rotating cylinder 513, and the other end of the driving member 64 extends to the interior of the arc sleeve 62, and the upper and lower ends of the arc sleeve 62 are both sealed.

[0078] See also Figures 8 to 9 When the cleaning module 5 finishes cleaning the equipment to be cleaned, the adjusting motor 512 drives the rotating cylinder 513 to continue to rotate counterclockwise, and the driving member 64 slides along the inside of the arc sleeve 62. When the driving member 64 abuts against the upper end of the arc sleeve 62, the adjusting motor 512 continues to drive the rotating cylinder 513 to rotate counterclockwise. At this time, the driving member 64 drives the arc sleeve 62 to rotate, and the arc sleeve 62 drives the wiping sponge 61 to act on the cleaned equipment, aligning the cleaning water attached to the surface for wiping and adsorption.

[0079] After wiping is completed, the adjustment motor 512 drives the rotating cylinder 513 to rotate clockwise to the original angle, thereby driving the wiping sponge 61 and the nozzle 514 to move to the position in turn.

[0080] Therefore, the spray angle of the nozzle 514 can be adjusted and the wiping sponge 61 can be driven to wipe the cleaned device by adjusting the motor 512, without setting up multiple driving devices, thus simplifying the entire structure.

[0081] As another optional method of this embodiment, the driving member 64 includes a gear and a driving motor, the gear is installed on the driving motor, the driving motor is installed on the mounting frame 511, and the outside of the arc sleeve 62 is provided with teeth, and the gear is meshed with the teeth; the driving motor drives the gear to rotate, and the arc sleeve 62 is driven to rotate by the teeth, thereby driving the wiping sponge 61 to rotate.

[0082] See also Figure 5 The wiping assembly 6 also includes a deformable cover piece 63, one end of which is connected to the rotating cylinder 513, and the other end of which is covered on the wiping sponge 61. The water spraying mechanism 51 also includes an arc-shaped limit piece 515, which is installed on the mounting frame 511 and is located above one side of the deformable cover piece 63.

[0083] By providing the deformable cover sheet 63 , when not in use, the cover sheet 63 can be placed over the wiping sponge 61 to prevent dust and the like from falling on the wiping sponge 61 .

[0084] Please refer to Fig. 9 By connecting one end of the deformable cover sheet 63 to the rotating cylinder 513, after the cleaning module 5 cleans the equipment, the rotating cylinder 513 is driven to continue to rotate counterclockwise by adjusting the motor 512, and the driving member 64 slides along the inside of the arc sleeve 62. Before the driving member 64 abuts against the upper end of the inner wall of the arc sleeve 62, the driving member 64 will not drive the arc sleeve 62 to rotate. During this process, the rotating cylinder 513 rotates counterclockwise to drive the deformable cover sheet 63 to rotate with it, thereby separating from the wiping sponge 61, thereby realizing the function of automatic opening of the cover.

[0085] When the subsequent adjustment motor 512 drives the rotating cylinder 513 to rotate clockwise to the original position, the deformable cover sheet 63 gradually covers the wiping sponge 61 again to protect the wiping sponge 61 .

[0086] like Fig.10 The arc-shaped limiting piece 515 can limit the deformable cover piece 63 to prevent the deformable cover piece 63 from sagging downward, which may affect the subsequent restoration of the deformable cover piece 63 to the initial state. The contact between the arc-shaped limiting piece 515 and the deformable cover piece 63 is smooth.

[0087] The deformable cover sheet 63 is preferably made of rubber, but may also be made of plastic, leather or other materials.

[0088] As a preferred embodiment of the present invention, the end of the deformable cover sheet 63 away from the rotating cylinder 513 is configured to be rolled up (not shown) or to have a groove on the top, so that when a lot of dust is attached to the surface of the deformable cover sheet 63, it will not be blocked by the rolled-up portion or the groove and will not fall onto the wiping sponge 61 during the process of the rotating cylinder 513 being retracted, and the deformable cover sheet 63 will not be blocked by the rolled-up portion or the groove and will not fall onto the wiping sponge 61. Fig.10 When in the state of being, dust can fall downwards.

[0089] See also Fig. 9 The wiping assembly 6 also includes a support plate 65 , which is installed inside the mounting frame 511 to support the wiping sponge 61 .

[0090] The lengths of the rotating cylinder 513, the nozzle 514 and the wiping sponge 61 can be set according to the specific size of the cleaning device.

[0091] See also Figure 4 A heating device 7 is installed inside the water tank 52.

[0092] By setting up the heating device 7, the temperature of the cleaning water can be maintained. When ice or frost and snow appear on the detection end of the equipment to be cleaned in cold weather, the cleaning water can be kept at room temperature by the heating device 7, thereby having the effect of better melting ice and better clearing frost and snow.

[0093] The heating device 7 can be a PTC heater or a heating tube, and a temperature sensor is installed in the water tank 52 to detect the temperature of the clean water, thereby controlling the start and stop of the heating device 7.

[0094] The working principle of the positioning system for port automatic driving technology provided by the present invention is as follows:

[0095] When the transport vehicle 3 approaches and enters the material waiting parking space 41, the distance measuring sensor 30 on the side of the transport vehicle 3 first acts on the side calibration plate 2 to detect whether the distance between the side of the transport vehicle 3 and the side calibration plate 2 is a preset value. When the detected distance value is different from the preset distance value, the transport vehicle 3 adjusts the distance. After adjustment, the distance measuring sensor 30 detects the spacing value between the calibration plate 2 on the other side to keep the distance between the transport vehicle 3 and the side calibration plate 2 at the preset value before stopping. The distance measuring sensor 30 on the front side of the transport vehicle 3 in the driving direction acts on the rotating calibration part 1. When it is detected that the spacing between the front calibration plate 13 is the preset value, the transport vehicle 3 stops. At this time, the transport vehicle 3 is just parked at the material waiting parking space 41, waiting for loading. The distance measuring sensor 30, the side calibration plate 2 and the rotating calibration part 1 are used to ensure that the vehicle is accurately parked at the material waiting parking space 41.

[0096] The working principle of the cleaning module 5 is as follows: during cleaning, the water pump 53 works, and the clean water in the water tank 52 enters the interior of the rotating cylinder 513 through the water inlet pipe 55, the drain pipe 54, and the rotating connector 541, and finally the nozzle 514 sprays the clean water to the detection end of the laser radar device 10 or the camera 20 or other sensor equipment, wherein the regulating motor 512 can drive the rotating cylinder 513 to rotate, and the spraying angle of the nozzle 514 is adjusted to achieve comprehensive cleaning of the detection end of the laser radar device 10 or the camera 20 or other sensor equipment;

[0097] After the detection end of the laser radar device 10 or the camera 20 or other sensor devices is cleaned by the cleaning module 5, the driving member 64 drives the arc sleeve 62 to rotate, thereby driving the wiping sponge 61 to rotate to wipe the cleaned laser radar device 10 or the camera 20 or other sensor devices to keep them dry.

[0098] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A positioning system for port autonomous driving technology, comprising: A global navigation satellite module, an inertial measurement module, an environment perception module, a carrying map module and a control module, wherein the environment perception module comprises a plurality of ranging sensors, and the plurality of ranging sensors are respectively installed on four sides of the transport vehicle; The positioning system for the port automatic driving technology also includes a rotating calibration member and a plurality of side calibration plates, wherein the rotating calibration member is installed at one end of the material waiting parking space of the transport lane, and when the transport vehicle is parked in the material waiting parking space, the rotating calibration member is located at the front side of the transport vehicle, and the plurality of side calibration plates are installed at intervals on one side of the material waiting parking space; A cleaning module, the cleaning module is used to clean the environment sensing module, the cleaning module comprises a water spraying mechanism, the water spraying mechanism comprises a mounting frame, an adjusting motor, a rotating cylinder and a nozzle; A wiping assembly, the wiping assembly comprising a wiping sponge, an arc-shaped sleeve, a driving member and a deformable cover sheet, the arc-shaped sleeve is rotatably mounted inside the mounting frame, the arc-shaped sleeve is sleeved on the rotating cylinder, the wiping sponge is mounted on the arc-shaped sleeve, and the driving member is used to drive the arc-shaped sleeve to rotate; The driving member is a driving block, one end of which is connected to the rotating cylinder, and the other end of which extends to the interior of the arc sleeve, and the upper and lower ends of the arc sleeve are both sealed; One end of the deformable cover sheet is connected to the rotating cylinder, and the other end of the deformable cover sheet is covered on the wiping sponge; When the cleaning module has finished cleaning the equipment to be cleaned, the adjusting motor drives the rotating cylinder to continue to rotate counterclockwise, and the driving member slides along the inside of the arc sleeve. When the driving member abuts against the upper end of the arc sleeve, the adjusting motor continues to drive the rotating cylinder to rotate counterclockwise. At this time, the driving member drives the arc sleeve to rotate, and the arc sleeve drives the wiping sponge to act on the equipment after cleaning, so as to wipe and absorb the cleaning water attached to the surface of the equipment after cleaning; After wiping is completed, the regulating motor drives the rotating cylinder to rotate clockwise to the original angle, thereby driving the wiping sponge and the nozzle to move to the starting position in turn.

2. The positioning system for port autonomous driving technology according to claim 1, characterized in that: The perception module also includes multiple laser radar devices and multiple cameras. The multiple laser radar devices are respectively installed at both ends of the transport vehicle, and the multiple cameras are installed on the transport vehicle at intervals.

3. The positioning system for port autonomous driving technology according to claim 1, characterized in that: The rotating calibration component includes a bracket, a rotating motor and a front end calibration plate. The bracket is installed on the transport path, the rotating motor is installed on the bracket, and the front end calibration plate is installed on the output shaft of the rotating motor.

4. The positioning system for port autonomous driving technology according to claim 1, characterized in that: The cleaning module also includes a water tank, a water pump, a drain pipe and a water inlet pipe. The water spray mechanism is installed on the transport vehicle, and the output end is toward the detection end of the environmental perception module. The water tank and the water pump are both installed on the transport vehicle. The input end of the water pump is connected to the water tank through the water inlet pipe, and the output end of the water pump is connected to the water spray mechanism through the drain pipe.

5. The positioning system for port automatic driving technology according to claim 4, characterized in that: The mounting frame is installed on the transport vehicle, the rotating drum is rotatably installed inside the mounting frame, the adjusting motor is installed on the mounting frame, and the output end of the adjusting motor passes through the mounting frame and is connected to the rotating drum, the nozzle is installed on the rotating drum and is connected to the rotating drum, and one end of the drain pipe is connected to the rotating drum through a rotating connector.

6. The positioning system for port autonomous driving technology according to claim 1, characterized in that: The water spraying mechanism further comprises an arc-shaped limiting piece, which is mounted on the mounting frame and is located above one side of the deformable cover piece.

7. The positioning system for port automatic driving technology according to claim 4, characterized in that: A heating device is installed inside the water tank.

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