Positioning method of vertical operation equipment for port automatic driving and automatic driving vehicle

Abstract

The invention provides a positioning method of a vertical operation device for port automatic driving and an automatic driving vehicle, and the method comprises the steps: obtaining the initial positioning data of the vertical operation device, the initial positioning data comprising the three-dimensional coordinates and attitude information of the vertical operation device, the three-dimensional coordinates and attitude information of the vertical operation equipment are acquired by adopting a real-time dynamic carrier phase difference technology; according to the initial positioning data, the automatic driving vehicle is controlled to run to a first area, the first area is an area away from the vertical operation equipment by a first preset distance, and the first preset distance is the distance which can be detected by the laser radar sensor; a laser radar sensor is adopted to scan the vertical operation equipment, and accurate positioning data of the vertical operation equipment is determined. According to the method, two high-precision positioning technologies of RTK and point cloud matching positioning are fused, centimeter-level position information of the vertical operation equipment can be stably acquired in real time, and an automatic driving vehicle can be accurately parked at a designated position.

Description

Technical Field

[0001] The present application relates to the field of unmanned driving automatic alignment technology, and more specifically, to a positioning method for vertical operation equipment of autonomous driving in a port, an autonomous driving vehicle, a positioning system and a computer-readable storage medium. Background Art

[0002] The realization of the port's autonomous driving operation process mainly relies on autonomous driving vehicles and vertical operating equipment. The autonomous driving vehicle drives to the target location according to the operation task instructions, and then interacts with the vertical operating equipment to complete the movement of containers from the vehicle to the yard or ship, and from the yard or ship to the vehicle (the yard refers to the area where containers are stored on land in the port. The vertical operating equipment that moves containers between the vehicle and the yard usually refers to a tire crane or a rail crane; the vertical operating equipment that moves containers between the vehicle and the ship docked at the berth waiting to load and unload containers is usually called a quay crane).

[0003] The existing solutions generally use the GPS information provided by the GPS device installed on the vertical working equipment, the geometric information of the vertical working equipment, and the contour information of the vertical working equipment sensed by the laser of the autonomous driving vehicle to automatically align the position of the autonomous driving vehicle with the vertical working equipment. However, since GPS only has meter-level positioning accuracy, when the two vertical working equipment are close to each other, it may cause conflict or confusion in positioning information. In addition, the existing solutions do not take into account the elevation information of the vertical working equipment. When there is occlusion on the ground near the vertical working equipment, positioning failure may occur due to insufficient matching features, and the robustness is poor. Summary of the invention

[0004] The main purpose of this application is to provide a positioning method, an autonomous driving vehicle, a positioning system and a computer-readable storage medium for vertical operating equipment of port autonomous driving, so as to at least solve the problem that the elevation information of the vertical operating equipment is not taken into account in the prior art, resulting in inaccurate positioning and poor robustness.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a positioning method for vertical operating equipment of port automatic driving is provided, and the positioning method is applied to an automatic driving vehicle in a positioning system, and the positioning system also includes vertical operating equipment, and the automatic driving vehicle is communicatively connected with the vertical operating equipment. The positioning method includes: obtaining the initial positioning data of the above-mentioned vertical operating equipment, and the above-mentioned initial positioning data includes the three-dimensional coordinates and posture information of the above-mentioned vertical operating equipment, and the three-dimensional coordinates and posture information of the above-mentioned vertical operating equipment are collected by using real-time dynamic carrier phase difference technology; according to the above-mentioned initial positioning data, the above-mentioned automatic driving vehicle is controlled to travel to a first area, and the above-mentioned first area is an area with a first preset distance from the above-mentioned vertical operating equipment, and the above-mentioned first preset distance is the distance that can be detected by a laser radar sensor; the above-mentioned laser radar sensor is used to scan the above-mentioned vertical operating equipment to determine the precise positioning data of the above-mentioned vertical operating equipment.

[0006] Optionally, the positioning system also includes a server, which is respectively connected to the vertical working equipment and the autonomous driving vehicle through a cellular mobile network communication to obtain initial positioning data of the vertical working equipment, including: receiving first positioning data sent by the server through the cellular mobile network, the first positioning data is sent by the vertical working equipment to the server through the cellular mobile network, the first positioning data includes first three-dimensional coordinates and first posture information of the vertical working equipment; receiving second positioning data sent by the vertical working equipment through V2X communication technology, the second positioning data includes second three-dimensional coordinates and second posture information of the vertical working equipment; fusing the first positioning data and the second positioning data to obtain the initial positioning data of the vertical working equipment.

[0007] Optionally, there are multiple vertical working equipment, and the vertical working equipment is equipped with a positioning device for realizing the real-time dynamic carrier phase difference technology, and the first positioning data and the second positioning data are merged to obtain the initial positioning data of the vertical working equipment, including: obtaining the collection device and collection time of the first positioning data to obtain the first collection device and the first collection time, the first collection device is a positioning device installed on the vertical working equipment for collecting the first positioning data; obtaining the collection device and collection time of the second positioning data to obtain the second collection device and the second collection time, the second collection device is a positioning device installed on the vertical working equipment for collecting the second positioning data; when the first collection device and the second collection device are both positioning devices on the target working equipment, and the first collection time is the same as the second collection time, the first positioning data and the second positioning data are merged to obtain the initial positioning data of the target working equipment, and the target working equipment is one of the multiple vertical working equipment.

[0008] Optionally, a laser radar sensor is used to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment, including: obtaining a three-dimensional point cloud model of the vertical working equipment; using the laser radar sensor to scan environmental point cloud data within a preset range, the preset range being a range centered on the autonomous driving vehicle and with the longest detection distance of the laser radar sensor as a radius; determining the real-time point cloud data of the vertical working equipment based on the environmental point cloud data and the three-dimensional point cloud model, and determining the real-time point cloud data of the vertical working equipment as the precise positioning data of the vertical working equipment.

[0009] Optionally, the real-time point cloud data of the vertical working equipment is determined based on the environmental point cloud data and the three-dimensional point cloud model, including: matching the three-dimensional point cloud model with the environmental point cloud data; when there is a real-time point cloud model in the environmental point cloud data that successfully matches the three-dimensional point cloud model, determining the point cloud position data of the real-time point cloud model as the real-time point cloud data of the vertical working equipment.

[0010] Optionally, before using the laser radar sensor to scan the vertical working equipment and determine the precise positioning data of the vertical working equipment, the method also includes: using the laser radar sensor to pre-scan the vertical working equipment to obtain a three-dimensional point cloud model of the vertical working equipment; and storing the three-dimensional point cloud model of the vertical working equipment in the storage medium of the autonomous driving vehicle.

[0011] Optionally, after using the laser radar sensor to scan the vertical working equipment and determine the precise positioning data of the vertical working equipment, the method also includes: controlling the autonomous driving vehicle to travel to a second area based on the precise positioning data of the vertical working equipment, the second area being an area at a second preset distance from the vertical working equipment, the second preset distance being the maximum preset distance at which the vertical working equipment can complete the work, and the second preset distance being smaller than the first preset distance.

[0012] According to another aspect of the present application, an autonomous driving vehicle is provided, wherein a positioning system comprises an autonomous driving vehicle and vertical working equipment, wherein the autonomous driving vehicle is communicatively connected with the vertical working equipment, and the autonomous driving vehicle comprises: an acquisition unit, for acquiring initial positioning data of the vertical working equipment, wherein the initial positioning data comprises three-dimensional coordinates and posture information of the vertical working equipment, wherein the three-dimensional coordinates and posture information of the vertical working equipment are acquired by adopting real-time dynamic carrier phase differential technology; a control unit, for controlling the autonomous driving vehicle to travel to a first area according to the initial positioning data, wherein the first area is an area at a first preset distance from the vertical working equipment, wherein the first preset distance is a distance that can be detected by a laser radar sensor; a determination unit, for scanning the vertical working equipment using the laser radar sensor to determine precise positioning data of the vertical working equipment.

[0013] According to another aspect of the present application, a positioning system is provided, including: an autonomous driving vehicle for executing any one of the positioning methods for vertical operating equipment of port autonomous driving; vertical operating equipment, which is communicatively connected to the autonomous driving vehicle via V2X communication technology; and a server, which is communicatively connected to the autonomous driving vehicle and the vertical operating equipment respectively via a cellular mobile network.

[0014] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the positioning methods for vertical operating equipment for automatic driving in a port.

[0015] Applying the technical solution of the present application, the positioning method of the vertical operating equipment of the above-mentioned port automatic driving first obtains the initial positioning data of the vertical operating equipment, the initial positioning data includes the three-dimensional coordinates and attitude information of the vertical operating equipment, and the three-dimensional coordinates and attitude information of the vertical operating equipment are collected by using real-time dynamic carrier phase difference technology; according to the initial positioning data, the automatic driving vehicle is controlled to drive to the first area, the first area is an area with a first preset distance from the vertical operating equipment, and the first preset distance is the distance that can be detected by the laser radar sensor; the vertical operating equipment is scanned by the laser radar sensor to determine the precise positioning data of the vertical operating equipment. This method integrates two high-precision positioning technologies, RTK positioning and point cloud matching positioning, to locate the vertical operating equipment of the port. The automatic driving vehicle can obtain the centimeter-level position information of the vertical operating equipment in real time and stably. The information is used to guide the automatic driving vehicle to drive to the vicinity of the designated vertical operating equipment and complete precise parking at the designated location, solving the problem that the elevation information of the vertical operating equipment is not considered in the prior art, resulting in inaccurate positioning and poor robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for performing a positioning method for vertical operating equipment for port automatic driving provided in an embodiment of the present application is shown;

[0018] Figure 2 A schematic flow chart of a method for positioning vertical operation equipment for automatic driving in a port provided according to an embodiment of the present application is shown;

[0019] Figure 3 A schematic flow chart of another method for positioning vertical operation equipment for autonomous driving in a port provided according to an embodiment of the present application is shown;

[0020] Figure 4 A schematic diagram of the structure of a positioning system provided according to an embodiment of the present application is shown;

[0021] Figure 5 A structural block diagram of an autonomous driving vehicle provided according to an embodiment of the present application is shown.

[0022] The above drawings include the following reference numerals:

[0023] 01. Autonomous driving vehicle; 011. On-board communication unit; 012. LiDAR sensor; 013. On-board computing unit; 014. Storage medium; 02. Vertical working equipment; 021. RTK positioning device; 03. Server; 102. Processor; 104. Memory; 106. Transmission equipment; 108. Input and output equipment. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] For the convenience of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0028] Real-time kinematic carrier phase differential: Real time kinematic, referred to as RTK;

[0029] Vehicle-to-everything wireless communication technology: Vehicle to Everything, or V2X for short.

[0030] As introduced in the background technology, GPS in the prior art only has meter-level positioning accuracy, so when two vertical working equipment are close to each other, it may cause conflict or confusion in positioning information. In addition, the existing solution does not consider the elevation information of the vertical working equipment. When there is an obstruction on the ground near the vertical working equipment, positioning failure may occur due to insufficient matching features, and the robustness is poor. In order to solve the problem that the elevation information of the vertical working equipment is not considered in the prior art, resulting in inaccurate positioning and poor robustness, the embodiments of the present application provide a positioning method, an autonomous driving vehicle, a positioning system and a computer-readable storage medium for vertical working equipment of a port automatic driving.

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal for positioning a vertical operation device for autonomous driving in a port according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0033] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the positioning method of the vertical operation equipment of the port automatic driving in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks and combinations thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] In this embodiment, a positioning method for vertical operating equipment of port automatic driving is provided, which runs on a mobile terminal, a computer terminal or a similar computing device. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and, although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0035] Figure 2 1 is a flow chart of a method for positioning a vertical operation device of an autonomous port according to an embodiment of the present application. The positioning method is applied to an autonomous vehicle in a positioning system, the positioning system further comprising a vertical operation device, the autonomous vehicle being in communication connection with the vertical operation device, such as Figure 2 As shown, the method comprises the following steps:

[0036] Step S201, obtaining initial positioning data of the vertical working equipment, wherein the initial positioning data includes three-dimensional coordinates and posture information of the vertical working equipment, and the three-dimensional coordinates and posture information of the vertical working equipment are collected by using real-time dynamic carrier phase difference technology;

[0037] Specifically, the real-time dynamic carrier phase differential technology (RTK) positioning device and its antenna are installed on the non-moving structure of the vertical working equipment. After installation, the three-dimensional position and attitude information of the RTK positioning device relative to the coordinate origin of the vertical working equipment should be recorded, and the information should be recorded in the software system of the autonomous driving vehicle.

[0038] The positioning system further includes a server, which is respectively connected to the vertical operation equipment and the autonomous driving vehicle through a cellular mobile network to obtain initial positioning data of the vertical operation equipment, including:

[0039] Step S301, receiving first positioning data sent by the server through the cellular mobile network, the first positioning data being sent by the vertical working device to the server through the cellular mobile network, the first positioning data including first three-dimensional coordinates and first posture information of the vertical working device;

[0040] Step S302, receiving second positioning data sent by the vertical working device through V2X communication technology, wherein the second positioning data includes second three-dimensional coordinates and second posture information of the vertical working device;

[0041] Step S303: merge the first positioning data and the second positioning data to obtain the initial positioning data of the vertical working equipment.

[0042] Specifically, the location information of vertical working equipment is sent to the autonomous vehicle through two communication methods: cellular mobile network and V2X, which is more robust. When the cellular mobile network signal is delayed or interrupted, the autonomous vehicle can still rely on V2X to obtain the location information of the vertical working equipment.

[0043] There are a plurality of the vertical working equipment, and the vertical working equipment is equipped with a positioning device for realizing the real-time dynamic carrier phase difference technology, and the first positioning data and the second positioning data are merged to obtain the initial positioning data of the vertical working equipment, including:

[0044] Step S3031, acquiring a collection device and a collection time of the first positioning data, and obtaining a first collection device and a first collection time, wherein the first collection device is a positioning device installed on the vertical working equipment for collecting the first positioning data;

[0045] Step S3032, acquiring a collection device and a collection time of the second positioning data, and obtaining a second collection device and a second collection time, wherein the second collection device is a positioning device installed on the vertical working equipment that collects the second positioning data;

[0046] Step S3033, when the first acquisition device and the second acquisition device are both positioning devices on the target working equipment, and the first acquisition time is the same as the second acquisition time, the first positioning data and the second positioning data are merged to obtain the initial positioning data of the target working equipment, and the target working equipment is one of the multiple vertical working equipment.

[0047] Specifically, the RTK positioning device is used to obtain the location information of the vertical working equipment. Compared with the GPS positioning device of the existing solution, the positioning accuracy is enhanced from meter level to centimeter level, which can solve the conflict or confusion of the positioning information of multiple vertical working equipment. In addition, when there are multiple vertical working equipment, the autonomous driving vehicle will receive the positioning data sent by the RTK positioning devices of different vertical working equipment, and fuse the positioning data sent by the same RTK positioning device at the same time, so as to accurately locate one of the vertical working equipment.

[0048] Among them, the RTK positioning device establishes connections with the server and the autonomous driving vehicle through the cellular mobile network and V2X communication respectively, and broadcasts positioning data at a fixed frequency. The positioning data content includes but is not limited to device ID, timestamp, three-dimensional position information, etc. After receiving the positioning data from the RTK positioning device, the server sends the data to the autonomous driving vehicle again through the cellular mobile network; the autonomous driving vehicle obtains the vertical operation equipment positioning data sent via the cellular mobile network and V2X communication through the on-board communication unit, and merges the positioning data from the two channels according to the device ID, timestamp and other information.

[0049] Step S202, controlling the autonomous driving vehicle to travel to a first area according to the initial positioning data, where the first area is an area at a first preset distance from the vertical working equipment, and the first preset distance is a distance that can be detected by a laser radar sensor;

[0050] Specifically, first, according to the initial positioning data of the vertical working equipment obtained by the RTK positioning device, the autonomous driving vehicle is controlled to drive to a position close to the vertical working equipment so that the LiDAR sensor can detect the vertical working equipment, that is, the vertical working equipment can be accurately positioned by the LiDAR sensor later. The first preset distance is generally 200 meters.

[0051] Step S203: Use the laser radar sensor to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment.

[0052] Specifically, since the three-dimensional matching takes high-position features into account, the problem of quay crane positioning failure caused by ground obstruction can be avoided.

[0053] Before using the laser radar sensor to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment, the method further includes the following steps:

[0054] Step S401, using the laser radar sensor to pre-scan the vertical working equipment to obtain a three-dimensional point cloud model of the vertical working equipment;

[0055] Step S402: storing the three-dimensional point cloud model of the vertical working equipment in the storage medium of the autonomous driving vehicle.

[0056] Specifically, a 3D point cloud model is first built for the vertical operating equipment, and its 3D features are used for point cloud matching. Compared with the top-down contour map matching of the existing solution, the 3D matching takes into account the high-level features, thus avoiding the problem of quay crane positioning failure caused by ground obstruction.

[0057] The method of using a laser radar sensor to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment includes the following steps:

[0058] Step S501, obtaining a three-dimensional point cloud model of the vertical working equipment;

[0059] Step S502, using the laser radar sensor to scan environmental point cloud data within a preset range, where the preset range is a range centered on the autonomous driving vehicle and with the longest detection distance of the laser radar sensor as a radius;

[0060] Step S503, determining the real-time point cloud data of the vertical working equipment according to the environmental point cloud data and the three-dimensional point cloud model, and determining the real-time point cloud data of the vertical working equipment as the precise positioning data of the vertical working equipment.

[0061] Specifically, this can avoid the problem of quay crane positioning failure caused by ground obstruction.

[0062] Wherein, determining the real-time point cloud data of the vertical working equipment according to the environmental point cloud data and the three-dimensional point cloud model comprises the following steps:

[0063] Step S5031, matching the above three-dimensional point cloud model with the above environmental point cloud data;

[0064] Step S5032: When there is a real-time point cloud model in the environmental point cloud data that successfully matches the three-dimensional point cloud model, the point cloud position data of the real-time point cloud model is determined as the real-time point cloud data of the vertical working equipment.

[0065] Specifically, the three-dimensional features of vertical working equipment are used for point cloud matching. Compared with the top-view contour map matching of the existing solution, the three-dimensional matching takes high-level features into account, thus avoiding the problem of quay crane positioning failure caused by ground obstruction.

[0066] Among them, when the autonomous vehicle gradually approaches the vertical working equipment, until the vertical working equipment enters the laser radar line of sight of the autonomous vehicle (about 200 meters), the autonomous vehicle continues to match the environmental point cloud data with the three-dimensional point cloud model; when the environmental point cloud data and the three-dimensional point cloud model match, the autonomous vehicle confirms the precise position of the vertical working equipment and continues to track its position changes. According to the real-time and precise position of the vertical working equipment, the autonomous vehicle completes precise parking at the specified relative position.

[0067] Among them, after using the above-mentioned laser radar sensor to scan the above-mentioned vertical working equipment and determine the precise positioning data of the above-mentioned vertical working equipment, the above-mentioned method also includes: according to the above-mentioned precise positioning data of the above-mentioned vertical working equipment, controlling the above-mentioned autonomous driving vehicle to travel to a second area, the above-mentioned second area is an area at a second preset distance from the above-mentioned vertical working equipment, the above-mentioned second preset distance is the maximum preset distance that the above-mentioned vertical working equipment can complete the operation, and the above-mentioned second preset distance is smaller than the above-mentioned first preset distance.

[0068] Specifically, this can accurately position the vertical working equipment, so that the autonomous driving vehicle can accurately drive to the target position, and the second preset distance can be within 5 centimeters from the vertical working equipment.

[0069] The positioning method of the vertical working equipment of the above-mentioned port automatic driving of the present application first obtains the initial positioning data of the vertical working equipment, the initial positioning data includes the three-dimensional coordinates and attitude information of the vertical working equipment, and the three-dimensional coordinates and attitude information of the vertical working equipment are collected by using the real-time dynamic carrier phase difference technology; according to the initial positioning data, the automatic driving vehicle is controlled to drive to the first area, the first area is an area with a first preset distance from the vertical working equipment, and the first preset distance is the distance that can be detected by the laser radar sensor; the vertical working equipment is scanned by the laser radar sensor to determine the precise positioning data of the vertical working equipment. This method integrates two high-precision positioning technologies, RTK positioning and point cloud matching positioning, to locate the vertical working equipment of the port. The automatic driving vehicle can obtain the centimeter-level position information of the vertical working equipment in real time and stably. The information is used to guide the automatic driving vehicle to drive to the vicinity of the designated vertical working equipment and complete precise parking at the designated location, solving the problem that the elevation information of the vertical working equipment is not considered in the prior art, resulting in inaccurate positioning and poor robustness.

[0070] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the positioning method of the vertical operating equipment for automatic driving in the port of the present application will be described in detail below in combination with specific embodiments.

[0071] This embodiment relates to a specific method for positioning a vertical operation device for autonomous driving in a port, such as Figure 3 As shown, the following steps are included:

[0072] First, prepare data for initial positioning and precise positioning, install the RTK positioning device and its antenna on the non-moving structure of the vertical working equipment, and record the installation position and posture in the software system of the autonomous driving vehicle; use the lidar sensor to pre-scan the vertical working equipment and establish a three-dimensional point cloud model for it. The three-dimensional point cloud model should be deployed in the storage medium of the autonomous driving vehicle, and then implement the real operation process steps:

[0073] 1. In the initial positioning stage, the following steps are included:

[0074] Step S1.1: The RTK positioning device sends positioning data to the server and the autonomous driving vehicle respectively through the cellular mobile network and V2X communication, and the server sends the positioning data to the autonomous driving vehicle again through the cellular mobile network;

[0075] Step S1.2: The autonomous driving vehicle obtains the vertical operation equipment positioning data sent via the cellular mobile network and V2X communication through the vehicle communication unit, and fuses the positioning data from the two channels;

[0076] Step S1.3: The vehicle-mounted communication unit sends the fused vertical working equipment positioning data to the vehicle-mounted computing unit, and the vehicle-mounted computing unit controls the vehicle to travel to the vicinity of the designated vertical working equipment based on the information.

[0077] 2. In the precise positioning stage, the following steps are included:

[0078] Step S2.1: When the vertical working equipment enters the laser radar line of sight of the autonomous driving vehicle, the autonomous driving vehicle continuously matches the environmental point cloud data with the three-dimensional point cloud model;

[0079] Step S2.2: When the environmental point cloud data and the 3D point cloud model match, the autonomous driving vehicle confirms the precise position of the vertical working equipment and continues to track its position changes. Based on the real-time precise position of the vertical working equipment, the autonomous driving vehicle completes precise parking at the specified relative position.

[0080] The present application also provides a structural diagram of a positioning system, such as Figure 4As shown, the positioning system includes: an autonomous driving vehicle 01, used to execute any one of the above-mentioned positioning methods for vertical operating equipment of the port autonomous driving; a vertical operating equipment 02, which is communicatively connected with the above-mentioned autonomous driving vehicle 01 through V2X communication technology; and a server 03, which is communicatively connected with the above-mentioned autonomous driving vehicle 01 and the above-mentioned vertical operating equipment 02 respectively through a cellular mobile network.

[0081] Among them, Figure 4 As shown, in the above system, the autonomous driving vehicle 01 also includes an on-board communication unit 011, a laser radar sensor 012, an on-board computing unit 013, and a storage medium 014, and the vertical working equipment 02 also includes an RTK positioning device 021. Among them, the RTK positioning device is used to perform initial positioning of the vertical working equipment and obtain the three-dimensional coordinates and posture information of the vertical working equipment. The on-board communication unit is used to obtain the vertical working equipment positioning data sent via the cellular mobile network and V2X communication, and fuse the positioning data from the two channels according to the equipment ID, timestamp and other information. The laser radar sensor is used to detect the point cloud data of the vertical working equipment and the surrounding environment. The on-board communication unit sends the fused initial positioning data of the vertical working equipment to the on-board computing unit. The on-board computing unit controls the vehicle to travel to the vicinity of the designated vertical working equipment according to the initial positioning data and precise positioning data of the vertical working equipment. The storage medium is used to store the pre-established three-dimensional point cloud model of the vertical working equipment.

[0082] The above positioning system of the present application includes an autonomous driving vehicle for executing any of the above positioning methods for the vertical operating equipment of the port autonomous driving; the vertical operating equipment is connected to the above autonomous driving vehicle through V2X communication technology; and the server is connected to the above autonomous driving vehicle and the above vertical operating equipment through a cellular mobile network. The system integrates two high-precision positioning technologies, RTK positioning and point cloud matching positioning, to locate the vertical operating equipment of the port. The autonomous driving vehicle can obtain the centimeter-level position information of the vertical operating equipment in real time and stably. The information is used to guide the autonomous driving vehicle to drive to the vicinity of the designated vertical operating equipment and complete precise parking at the designated location, solving the problem that the elevation information of the vertical operating equipment is not considered in the prior art, resulting in inaccurate positioning and poor robustness.

[0083] The embodiment of the present application also provides an autonomous driving vehicle. It should be noted that the autonomous driving vehicle of the embodiment of the present application can be used to execute the positioning method of vertical operating equipment for port autonomous driving provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the autonomous driving vehicle described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0084] The following is an introduction to the autonomous driving vehicle provided in the embodiments of the present application.

[0085] Figure 5 is a schematic diagram of an autonomous driving vehicle according to an embodiment of the present application. The positioning system includes an autonomous driving vehicle and a vertical operation device, wherein the autonomous driving vehicle is in communication connection with the vertical operation device, such as Figure 5 As shown, the autonomous driving vehicle includes an acquisition unit 10, a control unit 20 and a determination unit 30. The acquisition unit 10 is used to acquire the initial positioning data of the above-mentioned vertical working equipment. The above-mentioned initial positioning data includes the three-dimensional coordinates and posture information of the above-mentioned vertical working equipment. The three-dimensional coordinates and posture information of the above-mentioned vertical working equipment are collected by adopting real-time dynamic carrier phase difference technology; the control unit 20 is used to control the above-mentioned autonomous driving vehicle to travel to a first area according to the above-mentioned initial positioning data. The above-mentioned first area is an area with a first preset distance from the above-mentioned vertical working equipment. The above-mentioned first preset distance is the distance that can be detected by the laser radar sensor; the determination unit 30 is used to scan the above-mentioned vertical working equipment with the above-mentioned laser radar sensor to determine the precise positioning data of the above-mentioned vertical working equipment.

[0086] The above-mentioned autonomous driving vehicle of the present application includes an acquisition unit, a control unit and a determination unit. The acquisition unit is used to acquire the initial positioning data of the vertical working equipment. The initial positioning data includes the three-dimensional coordinates and posture information of the vertical working equipment. The three-dimensional coordinates and posture information of the vertical working equipment are collected by using real-time dynamic carrier phase difference technology; the control unit is used to control the autonomous driving vehicle to drive to the first area according to the initial positioning data. The first area is an area with a first preset distance from the vertical working equipment. The first preset distance is the distance that can be detected by the laser radar sensor; the determination unit is used to scan the vertical working equipment with a laser radar sensor to determine the precise positioning data of the vertical working equipment. The autonomous driving vehicle integrates two high-precision positioning technologies, RTK positioning and point cloud matching positioning, to locate the port vertical working equipment. The autonomous driving vehicle can obtain the centimeter-level position information of the vertical working equipment in real time and stably. The information is used to guide the autonomous driving vehicle to drive to the vicinity of the designated vertical working equipment and complete precise parking at the designated location, solving the problem that the elevation information of the vertical working equipment is not considered in the prior art, resulting in inaccurate positioning and poor robustness.

[0087] In some examples, the positioning system further includes a server, which is respectively connected to the vertical working equipment and the autonomous driving vehicle through a cellular mobile network. The acquisition unit includes a first receiving module, a second receiving module and a first fusion module. The first receiving module is used to receive the first positioning data sent by the server through the cellular mobile network. The first positioning data is sent by the vertical working equipment to the server through the cellular mobile network. The first positioning data includes the first three-dimensional coordinates and the first posture information of the vertical working equipment. The second receiving module is used to receive the second positioning data sent by the vertical working equipment through the V2X communication technology. The second positioning data includes the second three-dimensional coordinates and the second posture information of the vertical working equipment. The first fusion module is used to fuse the first positioning data and the second positioning data to obtain the initial positioning data of the vertical working equipment. When the cellular mobile network signal delay is large or interrupted, the autonomous driving vehicle can still rely on V2X to obtain the location information of the vertical working equipment.

[0088] In some examples, there are multiple vertical working equipments, and the vertical working equipments are equipped with positioning devices for realizing the real-time dynamic carrier phase difference technology. The first fusion module includes a first acquisition module, a second acquisition module and a second fusion module. The first acquisition module is used to acquire the acquisition device and acquisition time of the first positioning data, and obtain the first acquisition device and the first acquisition time. The first acquisition device is a positioning device installed on the vertical working equipment for collecting the first positioning data; the second acquisition module is used to acquire the acquisition device and acquisition time of the second positioning data, and obtain the second acquisition device and the second acquisition time. The second acquisition device is a positioning device installed on the vertical working equipment for collecting the second positioning data; the second fusion module is used to fuse the first positioning data and the second positioning data when both the first acquisition device and the second acquisition device are positioning devices on the target working equipment, and the first acquisition time is the same as the second acquisition time, and obtain the initial positioning data of the target working equipment. The target working equipment is one of the multiple vertical working equipments. Compared with the GPS positioning device of the existing solution, the positioning accuracy is enhanced from meter level to centimeter level, which can solve the conflict or confusion of positioning information of multiple vertical working equipments.

[0089] In some examples, the determination unit includes a third acquisition module, a first scanning module and a first determination module, the third acquisition module is used to obtain the three-dimensional point cloud model of the vertical working equipment; the first scanning module is used to use the laser radar sensor to scan the environmental point cloud data within a preset range, the preset range is centered on the autonomous driving vehicle and the longest detection distance of the laser radar sensor is the radius; the first determination module is used to determine the real-time point cloud data of the vertical working equipment based on the environmental point cloud data and the three-dimensional point cloud model, and determine the real-time point cloud data of the vertical working equipment as the precise positioning data of the vertical working equipment. This can avoid the problem of quay crane positioning failure caused by ground obstruction.

[0090] In some instances, the first determination module includes a matching module and a second determination module, the matching module is used to match the above-mentioned three-dimensional point cloud model with the above-mentioned environmental point cloud data; the second determination module is used to determine the point cloud position data of the above-mentioned real-time point cloud model as the real-time point cloud data of the above-mentioned vertical working equipment when there is a real-time point cloud model in the above-mentioned environmental point cloud data that successfully matches the above-mentioned three-dimensional point cloud model. Point cloud matching is performed using the three-dimensional features of the vertical working equipment. Compared with the overhead contour map matching of the existing solution, the three-dimensional matching takes into account the high-level features, so the problem of quay crane positioning failure caused by ground obstruction can be avoided.

[0091] As an optional solution, the device further includes a second scanning module and a storage module. The second scanning module is used to scan the vertical working equipment with the laser radar sensor in advance to obtain a three-dimensional point cloud model of the vertical working equipment before using the laser radar sensor to scan the vertical working equipment and determine the precise positioning data of the vertical working equipment; the storage module is used to store the three-dimensional point cloud model of the vertical working equipment in the storage medium of the autonomous driving vehicle. Compared with the top view contour matching of the existing solution, the three-dimensional matching takes into account the high-level features, so it can avoid the problem of quay crane positioning failure caused by ground obstruction.

[0092] In an optional solution, the device further includes a control module, which is used to control the autonomous driving vehicle to travel to a second area according to the precise positioning data of the vertical working equipment after scanning the vertical working equipment with the laser radar sensor and determining the precise positioning data of the vertical working equipment. The second area is an area at a second preset distance from the vertical working equipment. The second preset distance is the maximum preset distance that the vertical working equipment can complete the operation, and the second preset distance is less than the first preset distance. In this way, the vertical working equipment can be accurately positioned, so that the autonomous driving vehicle can accurately travel to the target position.

[0093] The positioning device of the vertical operation equipment of the above-mentioned port automatic driving includes a processor and a memory, and the above-mentioned acquisition unit and the like are stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in the form of any combination.

[0094] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that the elevation information of the vertical working equipment is not considered in the prior art, resulting in inaccurate positioning and poor robustness.

[0095] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0096] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the positioning method of the vertical operating equipment of the port automatic driving.

[0097] Specifically, the positioning method of the vertical operation equipment of the port automatic driving includes:

[0098] Step S201, obtaining initial positioning data of the vertical working equipment, wherein the initial positioning data includes three-dimensional coordinates and posture information of the vertical working equipment, and the three-dimensional coordinates and posture information of the vertical working equipment are collected by using real-time dynamic carrier phase difference technology;

[0099] Specifically, the real-time dynamic carrier phase differential technology (RTK) positioning device and its antenna are installed on the non-moving structure of the vertical working equipment. After installation, the three-dimensional position and attitude information of the RTK positioning device relative to the coordinate origin of the vertical working equipment should be recorded, and the information should be recorded in the software system of the autonomous driving vehicle.

[0100] Step S202, controlling the autonomous driving vehicle to travel to a first area according to the initial positioning data, where the first area is an area at a first preset distance from the vertical working equipment, and the first preset distance is a distance that can be detected by a laser radar sensor;

[0101] Specifically, first, according to the initial positioning data of the vertical working equipment obtained by the RTK positioning device, the autonomous driving vehicle is controlled to drive to a position close to the vertical working equipment so that the LiDAR sensor can detect the vertical working equipment, that is, the vertical working equipment can be accurately positioned by the LiDAR sensor later. The first preset distance is generally 200 meters.

[0102] Step S203: Use the laser radar sensor to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment.

[0103] Specifically, since the three-dimensional matching takes high-position features into account, the problem of quay crane positioning failure caused by ground obstruction can be avoided.

[0104] Optionally, the positioning system also includes a server, which is respectively connected to the vertical working equipment and the autonomous driving vehicle through a cellular mobile network communication to obtain the initial positioning data of the vertical working equipment, including: receiving the first positioning data sent by the server through the cellular mobile network, the first positioning data is sent by the vertical working equipment to the server through the cellular mobile network, and the first positioning data includes the first three-dimensional coordinates and first posture information of the vertical working equipment; receiving the second positioning data sent by the vertical working equipment through V2X communication technology, the second positioning data includes the second three-dimensional coordinates and second posture information of the vertical working equipment; fusing the first positioning data and the second positioning data to obtain the initial positioning data of the vertical working equipment.

[0105] Optionally, there are multiple vertical working devices, and the vertical working devices are equipped with positioning devices for realizing the real-time dynamic carrier phase difference technology. The first positioning data and the second positioning data are merged to obtain the initial positioning data of the vertical working device, including: obtaining the collection device and collection time of the first positioning data to obtain the first collection device and the first collection time, and the first collection device is a positioning device installed on the vertical working device for collecting the first positioning data; obtaining the collection device and collection time of the second positioning data to obtain the second collection device and the second collection time, and the second collection device is a positioning device installed on the vertical working device for collecting the second positioning data; when the first collection device and the second collection device are both positioning devices on the target working device, and the first collection time is the same as the second collection time, the first positioning data and the second positioning data are merged to obtain the initial positioning data of the target working device, and the target working device is one of the multiple vertical working devices.

[0106] Optionally, a laser radar sensor is used to scan the above-mentioned vertical working equipment to determine the precise positioning data of the above-mentioned vertical working equipment, including: obtaining a three-dimensional point cloud model of the above-mentioned vertical working equipment; using the above-mentioned laser radar sensor to scan environmental point cloud data within a preset range, the above-mentioned preset range is a range centered on the above-mentioned autonomous driving vehicle and with the longest detection distance of the above-mentioned laser radar sensor as a radius; based on the above-mentioned environmental point cloud data and the above-mentioned three-dimensional point cloud model, the real-time point cloud data of the above-mentioned vertical working equipment is determined, and the real-time point cloud data of the above-mentioned vertical working equipment is determined as the precise positioning data of the above-mentioned vertical working equipment.

[0107] Optionally, the real-time point cloud data of the above-mentioned vertical working equipment is determined based on the above-mentioned environmental point cloud data and the above-mentioned three-dimensional point cloud model, including: matching the above-mentioned three-dimensional point cloud model with the above-mentioned environmental point cloud data; when there is a real-time point cloud model in the above-mentioned environmental point cloud data that successfully matches the above-mentioned three-dimensional point cloud model, determining the point cloud position data of the above-mentioned real-time point cloud model as the real-time point cloud data of the above-mentioned vertical working equipment.

[0108] Optionally, before using the above-mentioned laser radar sensor to scan the above-mentioned vertical working equipment and determine the precise positioning data of the above-mentioned vertical working equipment, the above-mentioned method also includes: using the above-mentioned laser radar sensor to pre-scan the above-mentioned vertical working equipment to obtain a three-dimensional point cloud model of the above-mentioned vertical working equipment; storing the three-dimensional point cloud model of the above-mentioned vertical working equipment in the storage medium of the above-mentioned autonomous driving vehicle.

[0109] Optionally, after using the above-mentioned laser radar sensor to scan the above-mentioned vertical working equipment and determine the precise positioning data of the above-mentioned vertical working equipment, the above-mentioned method also includes: according to the above-mentioned precise positioning data of the above-mentioned vertical working equipment, controlling the above-mentioned autonomous driving vehicle to travel to a second area, the above-mentioned second area is an area at a second preset distance from the above-mentioned vertical working equipment, the above-mentioned second preset distance is the maximum preset distance that the above-mentioned vertical working equipment can complete the operation, and the above-mentioned second preset distance is smaller than the above-mentioned first preset distance.

[0110] An embodiment of the present invention provides a processor, which is used to run a program, wherein the positioning method of the vertical operating equipment of the port automatic driving is executed when the program is run.

[0111] Specifically, the positioning method of the vertical operation equipment of the port automatic driving includes:

[0112] Step S201, obtaining initial positioning data of the vertical working equipment, wherein the initial positioning data includes three-dimensional coordinates and posture information of the vertical working equipment, and the three-dimensional coordinates and posture information of the vertical working equipment are collected by using real-time dynamic carrier phase difference technology;

[0113] Specifically, the real-time dynamic carrier phase differential technology (RTK) positioning device and its antenna are installed on the non-moving structure of the vertical working equipment. After installation, the three-dimensional position and attitude information of the RTK positioning device relative to the coordinate origin of the vertical working equipment should be recorded, and the information should be recorded in the software system of the autonomous driving vehicle.

[0114] Step S202, controlling the autonomous driving vehicle to travel to a first area according to the initial positioning data, where the first area is an area at a first preset distance from the vertical working equipment, and the first preset distance is a distance that can be detected by a laser radar sensor;

[0115] Specifically, first, according to the initial positioning data of the vertical working equipment obtained by the RTK positioning device, the autonomous driving vehicle is controlled to drive to a position close to the vertical working equipment so that the LiDAR sensor can detect the vertical working equipment, that is, the vertical working equipment can be accurately positioned by the LiDAR sensor later. The first preset distance is generally 200 meters.

[0116] Step S203: Use the laser radar sensor to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment.

[0117] Specifically, since the three-dimensional matching takes high-position features into account, the problem of quay crane positioning failure caused by ground obstruction can be avoided.

[0118] Optionally, the positioning system also includes a server, which is respectively connected to the vertical working equipment and the autonomous driving vehicle through a cellular mobile network communication to obtain the initial positioning data of the vertical working equipment, including: receiving the first positioning data sent by the server through the cellular mobile network, the first positioning data is sent by the vertical working equipment to the server through the cellular mobile network, and the first positioning data includes the first three-dimensional coordinates and first posture information of the vertical working equipment; receiving the second positioning data sent by the vertical working equipment through V2X communication technology, the second positioning data includes the second three-dimensional coordinates and second posture information of the vertical working equipment; fusing the first positioning data and the second positioning data to obtain the initial positioning data of the vertical working equipment.

[0119] Optionally, there are multiple vertical working devices, and the vertical working devices are equipped with positioning devices for realizing the real-time dynamic carrier phase difference technology. The first positioning data and the second positioning data are merged to obtain the initial positioning data of the vertical working device, including: obtaining the collection device and collection time of the first positioning data to obtain the first collection device and the first collection time, and the first collection device is a positioning device installed on the vertical working device for collecting the first positioning data; obtaining the collection device and collection time of the second positioning data to obtain the second collection device and the second collection time, and the second collection device is a positioning device installed on the vertical working device for collecting the second positioning data; when the first collection device and the second collection device are both positioning devices on the target working device, and the first collection time is the same as the second collection time, the first positioning data and the second positioning data are merged to obtain the initial positioning data of the target working device, and the target working device is one of the multiple vertical working devices.

[0120] Optionally, a laser radar sensor is used to scan the above-mentioned vertical working equipment to determine the precise positioning data of the above-mentioned vertical working equipment, including: obtaining a three-dimensional point cloud model of the above-mentioned vertical working equipment; using the above-mentioned laser radar sensor to scan environmental point cloud data within a preset range, the above-mentioned preset range is a range centered on the above-mentioned autonomous driving vehicle and with the longest detection distance of the above-mentioned laser radar sensor as a radius; based on the above-mentioned environmental point cloud data and the above-mentioned three-dimensional point cloud model, the real-time point cloud data of the above-mentioned vertical working equipment is determined, and the real-time point cloud data of the above-mentioned vertical working equipment is determined as the precise positioning data of the above-mentioned vertical working equipment.

[0121] Optionally, the real-time point cloud data of the above-mentioned vertical working equipment is determined based on the above-mentioned environmental point cloud data and the above-mentioned three-dimensional point cloud model, including: matching the above-mentioned three-dimensional point cloud model with the above-mentioned environmental point cloud data; when there is a real-time point cloud model in the above-mentioned environmental point cloud data that successfully matches the above-mentioned three-dimensional point cloud model, determining the point cloud position data of the above-mentioned real-time point cloud model as the real-time point cloud data of the above-mentioned vertical working equipment.

[0122] Optionally, before using the above-mentioned laser radar sensor to scan the above-mentioned vertical working equipment and determine the precise positioning data of the above-mentioned vertical working equipment, the above-mentioned method also includes: using the above-mentioned laser radar sensor to pre-scan the above-mentioned vertical working equipment to obtain a three-dimensional point cloud model of the above-mentioned vertical working equipment; storing the three-dimensional point cloud model of the above-mentioned vertical working equipment in the storage medium of the above-mentioned autonomous driving vehicle.

[0123] Optionally, after using the above-mentioned laser radar sensor to scan the above-mentioned vertical working equipment and determine the precise positioning data of the above-mentioned vertical working equipment, the above-mentioned method also includes: according to the above-mentioned precise positioning data of the above-mentioned vertical working equipment, controlling the above-mentioned autonomous driving vehicle to travel to a second area, the above-mentioned second area is an area at a second preset distance from the above-mentioned vertical working equipment, the above-mentioned second preset distance is the maximum preset distance that the above-mentioned vertical working equipment can complete the operation, and the above-mentioned second preset distance is smaller than the above-mentioned first preset distance.

[0124] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0125] Step S201, obtaining initial positioning data of the vertical working equipment, wherein the initial positioning data includes three-dimensional coordinates and posture information of the vertical working equipment, and the three-dimensional coordinates and posture information of the vertical working equipment are collected by using real-time dynamic carrier phase difference technology;

[0126] Step S202, controlling the autonomous driving vehicle to travel to a first area according to the initial positioning data, where the first area is an area at a first preset distance from the vertical working equipment, and the first preset distance is a distance that can be detected by a laser radar sensor;

[0127] Step S203: Use the laser radar sensor to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment.

[0128] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0129] Optionally, the positioning system also includes a server, which is respectively connected to the vertical working equipment and the autonomous driving vehicle through a cellular mobile network communication to obtain the initial positioning data of the vertical working equipment, including: receiving the first positioning data sent by the server through the cellular mobile network, the first positioning data is sent by the vertical working equipment to the server through the cellular mobile network, and the first positioning data includes the first three-dimensional coordinates and first posture information of the vertical working equipment; receiving the second positioning data sent by the vertical working equipment through V2X communication technology, the second positioning data includes the second three-dimensional coordinates and second posture information of the vertical working equipment; fusing the first positioning data and the second positioning data to obtain the initial positioning data of the vertical working equipment.

[0130] Optionally, there are multiple vertical working devices, and the vertical working devices are equipped with positioning devices for realizing the real-time dynamic carrier phase difference technology. The first positioning data and the second positioning data are merged to obtain the initial positioning data of the vertical working device, including: obtaining the collection device and collection time of the first positioning data to obtain the first collection device and the first collection time, and the first collection device is a positioning device installed on the vertical working device for collecting the first positioning data; obtaining the collection device and collection time of the second positioning data to obtain the second collection device and the second collection time, and the second collection device is a positioning device installed on the vertical working device for collecting the second positioning data; when the first collection device and the second collection device are both positioning devices on the target working device, and the first collection time is the same as the second collection time, the first positioning data and the second positioning data are merged to obtain the initial positioning data of the target working device, and the target working device is one of the multiple vertical working devices.

[0131] Optionally, a laser radar sensor is used to scan the above-mentioned vertical working equipment to determine the precise positioning data of the above-mentioned vertical working equipment, including: obtaining a three-dimensional point cloud model of the above-mentioned vertical working equipment; using the above-mentioned laser radar sensor to scan environmental point cloud data within a preset range, the above-mentioned preset range is a range centered on the above-mentioned autonomous driving vehicle and with the longest detection distance of the above-mentioned laser radar sensor as a radius; based on the above-mentioned environmental point cloud data and the above-mentioned three-dimensional point cloud model, the real-time point cloud data of the above-mentioned vertical working equipment is determined, and the real-time point cloud data of the above-mentioned vertical working equipment is determined as the precise positioning data of the above-mentioned vertical working equipment.

[0132] Optionally, the real-time point cloud data of the above-mentioned vertical working equipment is determined based on the above-mentioned environmental point cloud data and the above-mentioned three-dimensional point cloud model, including: matching the above-mentioned three-dimensional point cloud model with the above-mentioned environmental point cloud data; when there is a real-time point cloud model in the above-mentioned environmental point cloud data that successfully matches the above-mentioned three-dimensional point cloud model, determining the point cloud position data of the above-mentioned real-time point cloud model as the real-time point cloud data of the above-mentioned vertical working equipment.

[0133] Optionally, before using the above-mentioned laser radar sensor to scan the above-mentioned vertical working equipment and determine the precise positioning data of the above-mentioned vertical working equipment, the above-mentioned method also includes: using the above-mentioned laser radar sensor to pre-scan the above-mentioned vertical working equipment to obtain a three-dimensional point cloud model of the above-mentioned vertical working equipment; storing the three-dimensional point cloud model of the above-mentioned vertical working equipment in the storage medium of the above-mentioned autonomous driving vehicle.

[0134] Optionally, after using the above-mentioned laser radar sensor to scan the above-mentioned vertical working equipment and determine the precise positioning data of the above-mentioned vertical working equipment, the above-mentioned method also includes: according to the above-mentioned precise positioning data of the above-mentioned vertical working equipment, controlling the above-mentioned autonomous driving vehicle to travel to a second area, the above-mentioned second area is an area at a second preset distance from the above-mentioned vertical working equipment, the above-mentioned second preset distance is the maximum preset distance that the above-mentioned vertical working equipment can complete the operation, and the above-mentioned second preset distance is smaller than the above-mentioned first preset distance.

[0135] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0136] Step S201, obtaining initial positioning data of the vertical working equipment, wherein the initial positioning data includes three-dimensional coordinates and posture information of the vertical working equipment, and the three-dimensional coordinates and posture information of the vertical working equipment are collected by using real-time dynamic carrier phase difference technology;

[0137] Step S202, controlling the autonomous driving vehicle to travel to a first area according to the initial positioning data, where the first area is an area at a first preset distance from the vertical working equipment, and the first preset distance is a distance that can be detected by a laser radar sensor;

[0138] Step S203: Use the laser radar sensor to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment.

[0139] Optionally, the positioning system also includes a server, which is respectively connected to the vertical working equipment and the autonomous driving vehicle through a cellular mobile network communication to obtain the initial positioning data of the vertical working equipment, including: receiving the first positioning data sent by the server through the cellular mobile network, the first positioning data is sent by the vertical working equipment to the server through the cellular mobile network, and the first positioning data includes the first three-dimensional coordinates and first posture information of the vertical working equipment; receiving the second positioning data sent by the vertical working equipment through V2X communication technology, the second positioning data includes the second three-dimensional coordinates and second posture information of the vertical working equipment; fusing the first positioning data and the second positioning data to obtain the initial positioning data of the vertical working equipment.

[0140] Optionally, there are multiple vertical working devices, and the vertical working devices are equipped with positioning devices for realizing the real-time dynamic carrier phase difference technology. The first positioning data and the second positioning data are merged to obtain the initial positioning data of the vertical working device, including: obtaining the collection device and collection time of the first positioning data to obtain the first collection device and the first collection time, and the first collection device is a positioning device installed on the vertical working device for collecting the first positioning data; obtaining the collection device and collection time of the second positioning data to obtain the second collection device and the second collection time, and the second collection device is a positioning device installed on the vertical working device for collecting the second positioning data; when the first collection device and the second collection device are both positioning devices on the target working device, and the first collection time is the same as the second collection time, the first positioning data and the second positioning data are merged to obtain the initial positioning data of the target working device, and the target working device is one of the multiple vertical working devices.

[0141] Optionally, a laser radar sensor is used to scan the above-mentioned vertical working equipment to determine the precise positioning data of the above-mentioned vertical working equipment, including: obtaining a three-dimensional point cloud model of the above-mentioned vertical working equipment; using the above-mentioned laser radar sensor to scan environmental point cloud data within a preset range, the above-mentioned preset range is a range centered on the above-mentioned autonomous driving vehicle and with the longest detection distance of the above-mentioned laser radar sensor as a radius; based on the above-mentioned environmental point cloud data and the above-mentioned three-dimensional point cloud model, the real-time point cloud data of the above-mentioned vertical working equipment is determined, and the real-time point cloud data of the above-mentioned vertical working equipment is determined as the precise positioning data of the above-mentioned vertical working equipment.

[0142] Optionally, the real-time point cloud data of the above-mentioned vertical working equipment is determined based on the above-mentioned environmental point cloud data and the above-mentioned three-dimensional point cloud model, including: matching the above-mentioned three-dimensional point cloud model with the above-mentioned environmental point cloud data; when there is a real-time point cloud model in the above-mentioned environmental point cloud data that successfully matches the above-mentioned three-dimensional point cloud model, determining the point cloud position data of the above-mentioned real-time point cloud model as the real-time point cloud data of the above-mentioned vertical working equipment.

[0143] Optionally, before using the above-mentioned laser radar sensor to scan the above-mentioned vertical working equipment and determine the precise positioning data of the above-mentioned vertical working equipment, the above-mentioned method also includes: using the above-mentioned laser radar sensor to pre-scan the above-mentioned vertical working equipment to obtain a three-dimensional point cloud model of the above-mentioned vertical working equipment; storing the three-dimensional point cloud model of the above-mentioned vertical working equipment in the storage medium of the above-mentioned autonomous driving vehicle.

[0144] Optionally, after using the above-mentioned laser radar sensor to scan the above-mentioned vertical working equipment and determine the precise positioning data of the above-mentioned vertical working equipment, the above-mentioned method also includes: according to the above-mentioned precise positioning data of the above-mentioned vertical working equipment, controlling the above-mentioned autonomous driving vehicle to travel to a second area, the above-mentioned second area is an area at a second preset distance from the above-mentioned vertical working equipment, the above-mentioned second preset distance is the maximum preset distance that the above-mentioned vertical working equipment can complete the operation, and the above-mentioned second preset distance is smaller than the above-mentioned first preset distance.

[0145] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0146] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0147] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0148] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0149] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0150] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0151] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0152] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0153] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0154] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0155] 1) The positioning method of the vertical operating equipment of the above-mentioned port automatic driving of the present application first obtains the initial positioning data of the vertical operating equipment, the initial positioning data includes the three-dimensional coordinates and attitude information of the vertical operating equipment, and the three-dimensional coordinates and attitude information of the vertical operating equipment are collected by using real-time dynamic carrier phase difference technology; according to the initial positioning data, the automatic driving vehicle is controlled to drive to the first area, the first area is the area with a first preset distance from the vertical operating equipment, and the first preset distance is the distance that can be detected by the laser radar sensor; the laser radar sensor is used to scan the vertical operating equipment to determine the precise positioning data of the vertical operating equipment. This method integrates two high-precision positioning technologies, RTK positioning and point cloud matching positioning, to locate the vertical operating equipment of the port. The automatic driving vehicle can obtain the centimeter-level position information of the vertical operating equipment in real time and stably. The information is used to guide the automatic driving vehicle to drive to the vicinity of the designated vertical operating equipment and complete precise parking at the designated location, solving the problem that the elevation information of the vertical operating equipment is not considered in the prior art, resulting in inaccurate positioning and poor robustness.

[0156] 2) The above positioning system of the present application includes an autonomous driving vehicle for executing any of the above positioning methods for the vertical operating equipment of the port autonomous driving; the vertical operating equipment is connected to the above autonomous driving vehicle through V2X communication technology; and the server is connected to the above autonomous driving vehicle and the above vertical operating equipment through a cellular mobile network. The system integrates two high-precision positioning technologies, RTK positioning and point cloud matching positioning, to locate the vertical operating equipment of the port. The autonomous driving vehicle can obtain the centimeter-level position information of the vertical operating equipment in real time and stably. The information is used to guide the autonomous driving vehicle to drive to the vicinity of the designated vertical operating equipment and complete precise parking at the designated location, solving the problem that the elevation information of the vertical operating equipment is not considered in the prior art, resulting in inaccurate positioning and poor robustness.

[0157] 3) The above-mentioned autonomous driving vehicle of the present application includes an acquisition unit, a control unit and a determination unit. The acquisition unit is used to acquire the initial positioning data of the vertical working equipment. The initial positioning data includes the three-dimensional coordinates and posture information of the vertical working equipment. The three-dimensional coordinates and posture information of the vertical working equipment are collected by using real-time dynamic carrier phase difference technology; the control unit is used to control the autonomous driving vehicle to drive to the first area according to the initial positioning data. The first area is an area with a first preset distance from the vertical working equipment. The first preset distance is the distance that can be detected by the laser radar sensor; the determination unit is used to scan the vertical working equipment with a laser radar sensor to determine the precise positioning data of the vertical working equipment. The autonomous driving vehicle integrates two high-precision positioning technologies, RTK positioning and point cloud matching positioning, to locate the port vertical working equipment. The autonomous driving vehicle can obtain the centimeter-level position information of the vertical working equipment in real time and stably. The information is used to guide the autonomous driving vehicle to drive to the vicinity of the designated vertical working equipment and complete precise parking at the designated location, solving the problem that the elevation information of the vertical working equipment is not considered in the prior art, resulting in inaccurate positioning and poor robustness.

[0158] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for positioning vertical operation equipment for automatic driving in a port, characterized in that: The positioning method is applied to an autonomous driving vehicle in a positioning system, the positioning system further comprising a vertical operation device, the autonomous driving vehicle being communicatively connected to the vertical operation device, and the positioning method comprising: Acquire initial positioning data of the vertical working equipment, wherein the initial positioning data includes three-dimensional coordinates and posture information of the vertical working equipment, and the three-dimensional coordinates and posture information of the vertical working equipment are collected by using real-time dynamic carrier phase difference technology; Controlling the autonomous driving vehicle to travel to a first area according to the initial positioning data, where the first area is an area at a first preset distance from the vertical working equipment, and the first preset distance is a distance that can be detected by a laser radar sensor; The laser radar sensor is used to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment.

2. The method according to claim 1, characterized in that The positioning system further includes a server, which is respectively connected to the vertical working equipment and the autonomous driving vehicle through a cellular mobile network communication to obtain initial positioning data of the vertical working equipment, including: receiving first positioning data sent by the server through the cellular mobile network, where the first positioning data is sent by the vertical working equipment to the server through the cellular mobile network, and the first positioning data includes first three-dimensional coordinates and first posture information of the vertical working equipment; receiving second positioning data sent by the vertical working device through V2X communication technology, where the second positioning data includes second three-dimensional coordinates and second posture information of the vertical working device; The first positioning data and the second positioning data are fused to obtain initial positioning data of the vertical working equipment.

3. The method according to claim 2, characterized in that There are a plurality of vertical working devices, each of which is equipped with a positioning device for implementing the real-time dynamic carrier phase difference technology, and the first positioning data and the second positioning data are merged to obtain the initial positioning data of the vertical working device, including: Acquire a collection device and a collection time of the first positioning data, and obtain a first collection device and a first collection time, wherein the first collection device is a positioning device installed on the vertical working equipment that collects the first positioning data; Acquire a collection device and a collection time of the second positioning data to obtain a second collection device and a second collection time, wherein the second collection device is a positioning device installed on the vertical working equipment that collects the second positioning data; When the first acquisition device and the second acquisition device are both positioning devices on the target working equipment, and the first acquisition time is the same as the second acquisition time, the first positioning data and the second positioning data are fused to obtain the initial positioning data of the target working equipment, and the target working equipment is one of the multiple vertical working equipment.

4. The method according to claim 1, characterized in that Scanning the vertical working equipment with a laser radar sensor to determine precise positioning data of the vertical working equipment includes: Acquire a three-dimensional point cloud model of the vertical working equipment; The laser radar sensor is used to scan environmental point cloud data within a preset range, where the preset range is a range centered on the autonomous driving vehicle and with the longest detection distance of the laser radar sensor as a radius; The real-time point cloud data of the vertical working equipment is determined according to the environmental point cloud data and the three-dimensional point cloud model, and the real-time point cloud data of the vertical working equipment is determined as the precise positioning data of the vertical working equipment.

5. The method according to claim 4, characterized in that Determining the real-time point cloud data of the vertical working equipment according to the environmental point cloud data and the three-dimensional point cloud model includes: Matching the three-dimensional point cloud model with the environmental point cloud data; When there is a real-time point cloud model that successfully matches the three-dimensional point cloud model in the environmental point cloud data, the point cloud position data of the real-time point cloud model is determined as the real-time point cloud data of the vertical working equipment.

6. The method according to any one of claims 1 to 5, characterized in that Before using the laser radar sensor to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment, the method further includes: Pre-scanning the vertical working equipment using the laser radar sensor to obtain a three-dimensional point cloud model of the vertical working equipment; The three-dimensional point cloud model of the vertical working equipment is stored in the storage medium of the autonomous driving vehicle.

7. The method according to any one of claims 1 to 5, characterized in that After scanning the vertical working equipment with the laser radar sensor to determine the precise positioning data of the vertical working equipment, the method further includes: According to the precise positioning data of the vertical working equipment, the autonomous driving vehicle is controlled to travel to a second area, where the second area is an area at a second preset distance from the vertical working equipment. The second preset distance is the maximum preset distance at which the vertical working equipment can complete the work, and the second preset distance is smaller than the first preset distance.

8. An autonomous driving vehicle, characterized in that: Positioning systems include autonomous vehicles and vertical working equipment, The autonomous driving vehicle is in communication with the vertical working equipment, and the autonomous driving vehicle comprises: An acquisition unit, used to acquire initial positioning data of the vertical working equipment, wherein the initial positioning data includes three-dimensional coordinates and posture information of the vertical working equipment, and the three-dimensional coordinates and posture information of the vertical working equipment are collected by using real-time dynamic carrier phase difference technology; a control unit, configured to control the autonomous driving vehicle to travel to a first area according to the initial positioning data, wherein the first area is an area at a first preset distance from the vertical working equipment, and the first preset distance is a distance that can be detected by a laser radar sensor; A determination unit is used to use the laser radar sensor to scan the vertical working equipment to determine the precise positioning data of the vertical working equipment.

9. A positioning system, characterized in that: include: An autonomous driving vehicle for executing the method for positioning vertical operating equipment for autonomous driving in a port as claimed in any one of claims 1 to 7; The vertical operation equipment is connected to the autonomous driving vehicle through V2X communication technology; The server is respectively connected to the autonomous driving vehicle and the vertical operating equipment through a cellular mobile network.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the positioning method for vertical operating equipment of port automatic driving as described in any one of claims 1 to 7.

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