Automatic wharf unmanned vehicle laser positioning method based on non-fixed reference object

Abstract

The invention provides an automatic wharf unmanned vehicle laser positioning method based on a non-fixed reference object, a plurality of quay cranes are arranged along a coastline, each quay crane is provided with a plurality of windproof pull rods, a plurality of unmanned vehicles run in a wharf, and each unmanned vehicle is provided with a visual identification device and a laser radar identification device. The method comprises the following steps: numbering different windproof pull rods of different quay cranes, and allocating two-dimensional code identifiers to the windproof pull rods in a one-to-one correspondence manner; when the unmanned vehicle runs under the quay crane, the unmanned vehicle is controlled to scan and identify the two-dimensional code identifier of the nearby windproof pull rod through the visual identification device so as to obtain the coordinate information of the windproof pull rod at the wharf; and then the coordinate information of the windproof pull rod on the wharf is matched with the windproof pull rod identified by the laser radar identification device. According to the invention, the unmanned vehicle can accurately, safely and conveniently pass through the quay crane and can be aligned, navigated and positioned during operation of the quay crane.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned driving and positioning of automated terminals, and in particular to a laser positioning method for an unmanned vehicle of an automated terminal based on a non-fixed reference object. Background Art

[0002] With the increasing economic globalization, the importance of ports in global trade has become increasingly prominent, and the safe operation and efficiency of ports have received more and more attention. In this context, port driverless vehicles have emerged. Compared with the manually driven port vehicles at traditional terminals, port driverless vehicles can reduce unnecessary driving distances and improve logistics speed through precise navigation and route planning. At the same time, they reduce the demand for drivers and the probability of various accidents caused by human errors. Therefore, the use of port driverless vehicles in terminals has become more and more widespread.

[0003] At present, many automated terminals have been built at home and abroad. The positioning technologies of unmanned vehicles in ports mainly include global satellite navigation technology, differential positioning technology, laser radar, visual sensors, beacons and landmarks, etc. Among them, there are many unmanned vehicles in ports that use laser radar positioning technology. This positioning method mainly relies on fixed reference objects placed at specific positions in space. The unmanned vehicle continuously emits laser pulses through the laser radar and uses objects in space as reflectors to measure the time for the laser pulses to reflect back, and calculates the distance between the laser radar and the object in space. Because the laser radar will form a series of such distance measurement values ​​during the scanning process, these data constitute a point cloud (PointCloud) in three-dimensional space. These original point cloud data are filtered and noise removed, and the processed point cloud data are grouped according to the principle of proximity to form clusters corresponding to different objects. Useful features are extracted from the clusters, and the effective features of different objects are trained and classified using the random forest algorithm. The effective reference objects can be identified from different objects, and the distance value between the laser and the effective reference object can be screened out. Through further calculation, the accurate position and direction of the unmanned vehicle in the terminal can be obtained, thereby realizing the precise positioning and navigation of the vehicle. This technology can be well applied in relatively open areas, but under the already busy port quay crane, a working lane will be occupied to place fixed reference objects, which greatly affects the operating efficiency of the quay crane and IGV. The existing laser navigation and positioning technology for unmanned vehicles in ports requires the placement of fixed reference objects under the quay crane, and the laser radar identifies the position of the fixed reference objects, calculates the position of the unmanned vehicle, and realizes laser positioning. The main defects of this existing technology are:

[0004] 1). Sufficient fixed reference objects need to be installed at appropriate locations, which results in high installation and maintenance costs;

[0005] 2) The installation position of the reference object is fixed, which limits the flexibility of the navigation system;

[0006] 3) In complex areas such as under the quay crane at the front of the wharf, it is necessary to occupy the working space to install fixed reference objects, which reduces the operating area of ​​the quay crane and unmanned vehicles and reduces the operation and traffic efficiency of the wharf;

[0007] 4). Because the berthing position and operation mode of each ship at the dock are different, the placement of fixed reference objects needs to be adjusted according to different berthing positions and operation modes before operation. The placement and adjustment of fixed reference objects requires a lot of manpower costs and time;

[0008] 5). Fixed reference objects are placed in the working area under the quay crane, which poses a risk of cross-operation. The placed reference objects may also overturn, posing certain safety hazards. Summary of the invention

[0009] In view of this, it is necessary to propose a laser positioning method for automated terminal unmanned vehicles based on non-fixed reference objects to address the above-mentioned problems, so as to overcome several shortcomings in the above-mentioned background technologies and solve the technical problem of how to accurately, safely and conveniently obtain the current accurate positioning of the port unmanned vehicle through the coordinates of the quay crane windproof pull rod.

[0010] To achieve the above object, the present invention adopts the following technical solutions:

[0011] The present invention proposes a laser positioning method for an unmanned vehicle in an automated terminal based on a non-fixed reference object. A plurality of quay cranes are arranged along a coastline in the automated terminal, each quay crane is provided with a plurality of windproof pull rods, a plurality of unmanned vehicles are driven in the automated terminal, and the unmanned vehicles are equipped with a visual recognition device and a laser radar recognition device. The laser positioning method for an unmanned vehicle in an automated terminal comprises the following steps executed in sequence:

[0012] Step S1: numbering different windproof tie rods of different quay cranes, and assigning a QR code identification to each windproof tie rod one by one;

[0013] Step S2: When the unmanned vehicle is traveling under the quay crane, the unmanned vehicle is controlled to scan and identify the QR code of the nearby windproof rod through the visual recognition device to obtain the coordinate information of the windproof rod at the dock, and then the coordinate information of the windproof rod at the dock is matched with the windproof rod identified by the laser radar recognition device.

[0014] Further, step S2 includes the following steps:

[0015] Step S21, visually scanning the windproof tie rod and the QR code at the position corresponding to the windproof tie rod, thereby determining the number of the windproof tie rod and the coordinates of the quay crane corresponding to the windproof tie rod, and then calculating the coordinates of the windproof tie rod in the dock coordinate system; then executing step S22;

[0016] Step S22, visually identifying that the windproof tie rod is the windproof tie rod of the designated quay crane, substituting the coordinate value of the designated quay crane into a calculation formula (1), the formula (1) is:

[0017] (X 杆1, ,Y 杆1 )=(X 岸桥 -x,Y 岸桥 ), (X 杆2, ,Y 杆2 )=(X 岸桥 +x,Y 岸桥 ), thereby obtaining the coordinate position of each windproof tie rod in the dock map; X in formula (1) 杆1, is the X direction value of the first windproof tie rod in the dock coordinate map, Y 杆1 is the Y direction value of the first windproof tie rod in the dock coordinate map, X 岸桥 is the X direction value of the quay crane where the windproof tie rod is located in the dock coordinate map, 岸桥 is the Y direction value of the quay crane where the windproof tie rod is located in the dock coordinate map, 杆2, is the X direction value of the second windproof tie rod in the dock coordinate map, and Y 杆2 It is the Y direction value of the second windproof rod in the dock coordinate map.

[0018] Furthermore, the laser positioning method for the automated terminal unmanned vehicle further includes the following steps before step S1:

[0019] Step S101, establish a coordinate system map of the dock plane: take the direction parallel to the coastline as the X-axis, and the direction perpendicular to the coastline as the Y-axis. The two windproof tie rods on one side of the quay crane move along with the quay crane on a track parallel to the coastline, that is, the Y value of the windproof tie rods in the dock environment map is unchanged; then execute step S102;

[0020] Step S102, by measuring the distance between the center of the windproof rod and the center of the quay crane, the accurate position of the windproof rod in the map can be obtained; then execute step S1.

[0021] Furthermore, in step S102, the exact position of the windproof rod in the map is obtained by using a formula (2) and a formula (3);

[0022] The formula (2) is: 杆1, ,Y 杆1 )=(X 岸桥-x,Y 岸桥 );

[0023] The formula (3) is: 杆2, ,Y 杆2 )=(X 岸桥 +x,Y 岸桥 );

[0024] In formula (2) and formula (3), x is the distance between the center of the windproof tie rod and the center of the quay crane, X 杆1, is the X direction value of the first windproof tie rod in the dock coordinate map, Y 杆1 is the Y direction value of the first windproof tie rod in the dock coordinate map, X 岸桥 is the X direction value of the quay crane where the windproof tie rod is located in the dock coordinate map, 岸桥 is the Y direction value of the quay crane where the windproof tie rod is located in the dock coordinate map, 杆2, is the X direction value of the second windproof tie rod in the dock coordinate map, and Y 杆2 It is the Y direction value of the second windproof rod in the dock coordinate map.

[0025] Furthermore, the laser positioning method for the automated terminal unmanned vehicle further includes the following steps between step S21 and step S22:

[0026] After completing step S21, when the speed of the quay crane is less than a percentage threshold of the maximum movement speed of the quay crane itself and the positioning accuracy meets the centimeter-level requirement, there is no need to compensate for the communication delay of the quay crane; when the speed of the quay crane is greater than the percentage threshold of the maximum movement speed of the quay crane itself, the average speed of the quay crane is taken to compensate for the communication delay of the quay crane, thereby obtaining the current precise coordinates of the quay crane; then execute step S22.

[0027] Furthermore, in step S102, the unmanned vehicle calculates the distance S between the laser radar recognition device and each windproof tie rod by the time of flight method:

[0028]

[0029] In formula (4), c is the speed of light, and Δt is the round trip time of the laser pulse.

[0030] Furthermore, in step S102, the distance between the laser radar recognition device and each windproof rod is calculated according to a triangulation method, and then the formula of the distance of each windproof rod is combined to determine the accurate position of the laser radar recognition device in the map; the distance of each windproof rod is obtained by the following formula (5), formula (6) or even formula (7);

[0031] (XX 补1 ) 2 +(YY补1 ) 2 =S1 2 (5)

[0032] (XX 补2 ) 2 +(YY 补2 ) 2 =S2 2 (6)

[0033] …

[0034] (XX 补n ) 2 +(YY 补n ) 2 =S n 2 (7)

[0035] In formula (5), formula (6) and formula (7): S1 is the distance from the laser radar identification device to the first windproof rod, S2 is the distance from the laser radar identification device to the second windproof rod, S n is the distance from the laser radar identification device to the nth windproof rod; X 补1 To compensate for the X coordinate of the first windbreak tie rod after the trolley speed, Y 补1 To compensate for the Y coordinate of the first windbreak tie rod after the quay crane trolley speed, X 补2 To compensate for the X coordinate of the second windbreak tie rod after the trolley speed, Y 补2 To compensate for the Y coordinate of the second windbreak tie rod after the quay crane trolley speed, X 补n To compensate for the speed of the trolley, the X coordinate of the nth windproof tie rod, Y 补n It is the Y coordinate of the nth windproof tie rod after compensating the speed of the quay crane trolley; X is the X-direction coordinate of the laser radar recognition device in the map, and Y is the Y-direction coordinate of the laser radar recognition device in the map.

[0036] Furthermore, the number of laser radar recognition devices installed on the unmanned vehicle is two; the laser radar recognition devices are installed symmetrically with the center of the unmanned vehicle as the symmetrical point, and the position P of the unmanned vehicle itself in the map is:

[0037]

[0038] In formula (8), (X1, Y1) is the coordinate of the first laser radar recognition device in the dock map, and (X2, Y2) is the coordinate of the second laser radar recognition device in the dock map.

[0039] The present invention further proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the laser positioning method for an automated terminal unmanned vehicle based on a non-fixed reference object as described in any of the above items are implemented.

[0040] The present invention further proposes an electronic device, comprising a storage device, a processor, and a computer program stored in the storage device and executable by the processor. When the processor executes the computer program, the steps of the laser positioning method for an automated terminal unmanned vehicle based on non-fixed reference objects as described in any of the above items are implemented.

[0041] The beneficial effects of the present invention are:

[0042] The present invention combines the coordinates of the windproof rod in the real environment of the port to obtain the precise position of the unmanned vehicle, and can accurately, safely and conveniently realize the navigation and positioning functions of the unmanned vehicle passing under the quay crane and operating in alignment with the quay crane; the present invention obtains the coordinates of the windproof rod of the quay crane in the real world by obtaining the location and current speed of the quay crane, and can obtain the current accurate position of the unmanned vehicle by scanning the static windproof rod or the moving windproof rod through the laser radar, thereby realizing the navigation and positioning functions of the unmanned vehicle passing under the quay crane and operating in alignment with the quay crane; compared with the existing laser positioning technology, the present application no longer relies on fixed reference objects, making the application scenarios of laser positioning technology in ports more extensive;

[0043] The present invention also has the following advantages:

[0044] (1) By replacing the fixed reference objects with the windproof tie rods of the quay crane, the use and maintenance costs are reduced, and the workable space under the bridge is released, thereby improving the operation and traffic efficiency of the terminal and reducing the probability of safety accidents;

[0045] (2) The unmanned vehicle's existing horizontally installed laser positioning radar is used for positioning. There is no need to install reflectors on the quay crane or upward scanning lasers on the unmanned vehicle. Accurate positioning under the quay crane can be completed through algorithms, saving hardware investment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description, are used to explain the principles of the present invention. These drawings are for illustration only and are not intended to limit the present invention.

[0047] Figure 1 The flowchart of the laser positioning method for an automated terminal driverless vehicle based on a non-fixed reference object of the present invention;

[0048] Figure 2 It is a schematic diagram of the operation of the unmanned vehicle involved in the present invention from the left side under the port quay bridge;

[0049] Figure 3 It is a partial schematic diagram of the operation of the unmanned vehicle involved in the present invention under the port quay bridge from a top view;

[0050] Description of reference numerals:

[0051] Quay crane 101; windproof rod 102; unmanned vehicle 103; first windproof rod 1021; second windproof rod 1022; laser radar recognition device 104. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further clearly and completely described in combination with the embodiments of the present invention. It should be noted that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0053] The terms "first", "second", "third", "fourth", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the definition of "first", "second", "third", "fourth" features may explicitly or implicitly include one or more of the features.

[0054] The following is a detailed description of an embodiment of the invention depicted in the accompanying drawings. The embodiments are detailed in order to clearly convey the invention. However, the number of details provided is not intended to limit the intended variations of the embodiments; on the contrary, the intention is to cover all modifications, equivalents, and substitutes that fall within the spirit and scope of the invention as defined by the appended claims.

[0055] In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details.

[0056] Embodiments of the present invention include various steps, which are described below. These steps can be performed by hardware components, or can be contained in machine executable instructions, which can be used for general or special purpose processors programmed with instructions to perform these steps. Alternatively, the steps can be performed by a combination of hardware, software and firmware and / or a human operator.

[0057] The various methods described herein can be practiced by combining one or more machine-readable storage media containing codes according to the present invention with appropriate standard computer hardware to execute the codes contained therein. Apparatus for implementing various embodiments of the present invention may include one or more computers (or one or more processors within a single computer) and a storage system containing or having network access to computer programs encoded according to the various methods described herein, and the method steps of the present invention may be completed by modules, routines, subroutines or sub-parts of a computer program product.

[0058] If the specification states that a component or feature "may," "could," "might," or "might" include or have a feature, that particular component or feature is not required to be included or have that feature.

[0059] As used in the specification herein and the claims that follow, the meanings of “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.

[0060] Exemplary embodiments will now be described more fully below with reference to the accompanying drawings, in which exemplary embodiments are shown. These exemplary embodiments are provided for illustrative purposes only, and so that the present invention is thorough and complete, and the scope of the present invention is fully conveyed to those of ordinary skill in the art. However, the disclosed invention can be implemented in many different forms and should not be interpreted as being limited to the embodiments set forth herein. Various modifications are apparent to those skilled in the art. Without departing from the spirit and scope of the present invention, the general principles defined herein can be applied to other embodiments and applications. In addition, all statements of the embodiments of the present invention and their specific examples described herein are intended to cover their structural and functional equivalents. In addition, these equivalents are intended to include currently known equivalents and equivalents developed in the future (i.e., any element developed to perform the same function, regardless of the structure). Moreover, the terms and wording used are for the purpose of describing exemplary embodiments and should not be considered restrictive. Therefore, the present invention will be given the widest scope, including multiple replacements, modifications and equivalents consistent with the disclosed principles and features. For the sake of clarity, the details of the technical materials known in the technical field related to the present invention are not described in detail, so as not to unnecessarily obscure the present invention.

[0061] Therefore, for example, it will be understood by those of ordinary skill in the art that schematic diagrams, schematic diagrams, diagrams, etc. represent conceptual views or processes that embody the systems and methods of the present invention. The functions of the various elements shown in the figures can be provided by using dedicated hardware and hardware capable of executing related software. Similarly, any switches shown in the figures are only conceptual. Their functions can be performed by the operation of program logic, by dedicated logic, by the interaction of program control and dedicated logic, or even manually, and specific techniques can be selected by the entity that implements the present invention. It will be further understood by those of ordinary skill in the art that the exemplary hardware, software, processes, methods and / or operating systems described herein are for illustrative purposes and are therefore not intended to be limited to any specific named elements.

[0062] Embodiments of the present invention may be provided as a computer program product, which may include a machine-readable storage medium on which instructions are tangibly implemented, which may be used to program a computer (or other electronic device) to perform a process. The term "machine-readable storage medium" or "computer-readable storage medium" includes, but is not limited to, fixed (hardware) drives, tapes, floppy disks, optical disks, optical disk read-only memories (CD-ROMs)) and magneto-optical disks, semiconductor memories such as ROMs, PROMs, random access memories (RAMs), programmable read-only memories (PROMs), erasable PROMs (EPROMs), electrically erasable PROMs (EEPROMs), flash memory, magnetic or optical cards, or other types of media / machine-readable media suitable for storing electronic instructions (e.g., computer programming code, such as software or firmware). Machine-readable media may include non-transitory media in which data may be stored and does not include carrier waves and / or transient electronic signals propagated by wireless or wired connections. Examples of non-transitory media may include, but are not limited to, disks or tapes, optical storage media such as compact disks (CDs) or digital versatile disks (DVDs), flash memory, memory or memory devices. A computer program product may include code and / or machine executable instructions, which may represent any combination of a process, function, subprogram, program, routine, subroutine, module, software package, class, or instruction, data structure, or program statement. A code segment may be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, variables, parameters, or memory contents. Information, variables, parameters, data, etc. may be passed, forwarded, or transmitted by any suitable means, including memory sharing, message passing, token passing, network transmission, etc.

[0063] In addition, the embodiments may be implemented by hardware, software, firmware, middleware, microcode, hardware description language, or any combination thereof. When implemented in software, firmware, middleware, or microcode, the program code or code segments (e.g., computer program products) that perform the necessary tasks may be stored in a machine-readable medium. A processor may perform the necessary tasks.

[0064] The systems depicted in some of the figures may be provided in various configurations. In some embodiments, the system may be configured as a distributed system, where one or more components of the system are distributed over one or more networks in a cloud computing system.

[0065] Each of the appended claims defines a separate invention, which for infringement purposes is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, all references below to the "invention" may in some cases refer only to certain specific embodiments. In other cases, it should be recognized that references to the "invention" will refer to the subject matter recited in one or more, but not necessarily all, of the claims.

[0066] Unless otherwise specified herein or the context is clearly contradictory, all methods described herein can be performed in any suitable order. The use of any and all examples or exemplary language (e.g., "such as") provided with respect to certain embodiments herein is intended only to better illustrate the present invention, rather than to limit the scope of the claimed invention. Any language in the specification should not be interpreted as indicating any unclaimed element essential to the implementation of the present invention.

[0067] Various terms used herein are listed below. To the extent a term used in a claim is not defined below, it should be given the broadest definition persons in the relevant art have given that term as reflected in printed publications and issued patents at the time of filing the application.

[0068] Example 1

[0069] like Figure 1-Figure 3 As shown:

[0070] This embodiment proposes a laser positioning method for an automated terminal unmanned vehicle based on a non-fixed reference object. A plurality of quay cranes 101 are arranged along a coastline in the automated terminal. Each quay crane 101 is provided with a plurality of windproof pull rods 102. A plurality of unmanned vehicles 103 are driven in the automated terminal. The unmanned vehicles 103 are equipped with a visual recognition device and a laser radar recognition device 104. The laser positioning method for an automated terminal unmanned vehicle includes the following steps performed in sequence:

[0071] Step S1: numbering different windproof tie rods 102 of different quay cranes 101, and assigning a QR code identification to each windproof tie rod 102 one by one;

[0072] Step S2: When the unmanned vehicle 103 is traveling under the quay crane 101, the unmanned vehicle 103 is controlled to scan and identify the QR code of the nearby windproof rod 102 through a visual recognition device to obtain the coordinate information of the windproof rod at the dock, and then the coordinate information of the windproof rod at the dock is matched with the windproof rod 102 identified by the laser radar recognition device 104.

[0073] Specifically, the unmanned vehicle 103 is preferably an IGV.

[0074] Specifically, the laser radar recognition device 104 obtains the distance between the unmanned vehicle 103 and different windproof rods 102 by scanning the windproof rods 102, which is used to perform positioning calculations on the unmanned vehicle 103; the laser radar recognition device 104 identifies which quay crane 101 the windproof rod 102 belongs to, which is used to calculate the coordinates of the windproof rod 102 in the dock coordinate diagram; the visual recognition device is used to identify the windproof rod 102 to determine which quay crane the corresponding windproof rod 102 belongs to.

[0075] Specifically, in step S1, each windproof rod 102 of the first quay crane 101 is numbered 1-1, 1-2...; each windproof rod 102 of the second quay crane 101 is numbered 2-1, 2-2...), and a unique QR code is assigned to each windproof rod 102 one by one.

[0076] Specifically, in step S2, the visual recognition device scans the approximate position and QR code of the windproof rod 102, determines the number of the windproof rod 102 and the coordinates of the corresponding quay crane 101, and calculates the coordinates of the windproof rod 102 in the dock coordinate system; the laser radar recognition device 104 calculates the relative position of the unmanned vehicle 103 and the windproof rod 102 based on the coordinate data of the windproof rod 102 visually recognized, and obtains the final accurate laser positioning result.

[0077] Optimally, step S2 comprises the following steps:

[0078] Step S21, visually scanning the windproof rod 102 and the QR code at the position corresponding to the windproof rod 102, thereby determining the number of the windproof rod 102 and the coordinates of the quay crane 101 corresponding to the windproof rod 102, and then calculating the coordinates of the windproof rod 102 in the dock coordinate system; then executing step S22;

[0079] Step S22, visually identifying the windproof tie rod 102 as the windproof tie rod 102 of the designated quay crane 101, substituting the coordinate value of the designated quay crane 101 into a calculation formula (1), the formula (1) is: 杆1, ,Y 杆1 )=(X 岸桥 -x,Y 岸桥 ), (X杆2, ,Y 杆2 )=(X 岸桥 +x,Y 岸桥 ), thereby obtaining the coordinate position of each windproof tie rod 102 in the dock map; X in the formula (1) 杆1, is the X direction value of the first windproof tie rod 1021 in the dock coordinate map, and Y 杆1 is the Y direction value of the first windproof tie rod 1021 in the dock coordinate map, and X 岸桥 is the X direction value of the quay crane 101 where the windproof tie rod 102 is located in the wharf coordinate map, and Y 岸桥 is the Y direction value of the quay crane 101 where the windproof tie rod 102 is located in the wharf coordinate map, 杆2, is the X direction value of the second windproof tie rod 1022 in the dock coordinate map, and Y 杆2 It is the Y direction value of the second windproof tie rod 1022 in the dock coordinate map.

[0080] Optimally, the automated terminal driverless vehicle laser positioning method further includes the following steps before step S1:

[0081] Step S101, establish a coordinate system map of the dock plane: take the direction parallel to the coastline as the X-axis, and the direction perpendicular to the coastline as the Y-axis. The two windproof rods 102 on one side of the quay crane 101 move along with the quay crane 101 on a track parallel to the coastline, that is, the Y value of the windproof rods 102 in the dock environment map is unchanged; then execute step S102;

[0082] Step S102, by measuring the distance between the center of the windproof rod 102 and the center of the quay crane 101, the accurate position of the windproof rod 102 in the map can be obtained; then execute step S1.

[0083] Specifically, the purpose of establishing the coordinate system map of the wharf plane is to obtain the accurate positions of the quay crane 101 and the unmanned vehicle 103 on the wharf coordinate map.

[0084] Optimally, in step S102, the exact position of the windproof rod 102 in the map is obtained by using a formula (2) and a formula (3);

[0085] The formula (2) is: 杆1, ,Y 杆1 )=(X 岸桥 -x,Y 岸桥 );

[0086] The formula (3) is: 杆2, ,Y 杆2 )=(X 岸桥 +x,Y 岸桥 );

[0087] In formula (2) and formula (3), x is the distance between the center of the windproof tie rod 102 and the center of the quay crane 101, and X 杆1, is the X direction value of the first windproof tie rod 1021 in the dock coordinate map, and Y 杆1 is the Y direction value of the first windproof tie rod 1021 in the dock coordinate map, and X 岸桥 is the X direction value of the quay crane 101 where the windproof tie rod 102 is located in the wharf coordinate map, and Y 岸桥 is the Y direction value of the quay crane 101 where the windproof tie rod 102 is located in the wharf coordinate map, 杆2, is the X direction value of the second windproof tie rod 1022 in the dock coordinate map, and Y 杆2 It is the Y direction value of the second windproof rod 1022 in the dock coordinate map.

[0088] Optimally, the automated terminal driverless vehicle laser positioning method further includes the following steps between step S21 and step S22:

[0089] After completing step S21, when the speed of the quay crane 101 is less than a percentage threshold of the maximum movement speed of the quay crane 101 itself and the positioning accuracy meets the centimeter-level requirement, there is no need to compensate for the communication delay of the quay crane 101; when the speed of the quay crane 101 is greater than the percentage threshold of the maximum movement speed of the quay crane 101 itself, the average speed of the quay crane 101 is taken to compensate for the communication delay of the quay crane 101 (since there is a time delay in the instant communication of the quay crane 101, communication delay compensation is required for the quay crane 101), so as to obtain the current precise coordinates of the quay crane; then execute step S22.

[0090] Specifically, the percentage threshold number is 20%; since the windproof rod 102 is fixed on the quay crane 101, this embodiment takes into account that the quay crane 101 will drive the windproof rod 102 to move during the movement. Therefore, after the communication delay compensation of the quay crane 101, the coordinates of the windproof rod 102 can be determined more accurately, so that the positioning accuracy of the IGV is higher, and the current accurate positioning of the port unmanned vehicle is obtained through the quay crane positioning, quay crane speed and the coordinates of the quay crane windproof rod.

[0091] Specifically, due to the time required for the movement of the quay crane itself and data transmission, the coordinates of the windproof rod received by the driverless car need to have appropriate data compensation. The maximum movement speed of the quay crane itself is v. When the speed of the quay crane is less than 20% v, the positioning accuracy meets the centimeter-level requirements and there is no need to compensate for the communication delay of the quay crane. When the speed of the quay crane is greater than 20%, the average speed of the quay crane is used to compensate for the communication delay of the quay crane. The specific compensation algorithm is as follows:

[0092] (X 补1 ,Y 补1)=(X 杆1 +vt1,Y 杆1 ) (9)

[0093] (X 补2 ,Y 补2 )=(X 杆2 +vt1,Y 杆2 ) (10)

[0094] In formula (9) and formula (10), v is the speed of the quay crane, t1 is the communication delay from the quay crane coordinates to the unmanned vehicle, and X 杆1 is the X direction value of the first windproof tie rod 1021 in the dock coordinate map, and Y 杆1 is the Y direction value of the first windproof tie rod 1021 in the dock coordinate map, and X 杆2 is the X direction value of the second windproof tie rod 1022 in the dock coordinate map, and Y 杆2 is the Y direction value of the second windproof tie rod 1022 in the dock coordinate map; 补1 is the value of the first windproof tie rod in the X direction in the dock coordinate system map after the quay crane communication delay compensation; 补2 It is the value of the second windproof tie rod in the X direction in the dock coordinate system map after the quay crane communication delay compensation.

[0095] Optimally, the number of laser radar recognition devices 104 installed on the unmanned vehicle 103 is two; the laser radar recognition device 104 is installed symmetrically with the center of the unmanned vehicle 103 as the point, and the position P of the unmanned vehicle 103 itself in the map is:

[0096]

[0097] In formula (8), (X1, Y1) is the coordinate of the first laser radar recognition device 104 in the dock map, and (X2, Y2) is the coordinate of the second laser radar recognition device 104 in the dock map.

[0098] This embodiment further proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the laser positioning method for an automated terminal unmanned vehicle based on a non-fixed reference object as described in any of the above items are implemented.

[0099] This embodiment further proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the steps of the laser positioning method for an automated terminal unmanned vehicle based on non-fixed reference objects as described in any of the above items are implemented.

[0100] Example 2

[0101] Embodiment 2 is a further optimization scheme of Embodiment 1;

[0102] like Figure 1-Figure 3 As shown:

[0103] In step S102, the distance between the laser radar recognition device 104 and each windproof rod 102 is calculated according to a triangulation method, and then the distance formula of each windproof rod 102 is combined to determine the exact position of the laser radar recognition device 104 in the map; the distance of each windproof rod 102 is obtained by the following formula (5), formula (6) or even formula (7);

[0104] (XX 补1 ) 2 +(YY 补1 ) 2 =S1 2 (5)

[0105] (XX 补2 ) 2 +(YY 补2 ) 2 =S2 2 (6)

[0106] …

[0107] (XX 补n ) 2 +(YY 补n ) 2 =S n 2 (7)

[0108] In formula (5), formula (6) and formula (7): S1 is the distance from the laser radar identification device 104 to the first windproof rod 1021, S2 is the distance from the laser radar identification device 104 to the second windproof rod 1022, S n is the distance from the laser radar identification device 104 to the nth windproof rod 102; 补1 To compensate for the X coordinate of the first windproof tie rod 1021 after the trolley speed of the quay crane 101, Y 补1 To compensate for the Y coordinate of the first windproof tie rod 1021 after the trolley speed of the quay crane 101, X 补2 To compensate for the X coordinate of the second windproof tie rod 1022 after the trolley speed of the quay crane 101, Y 补2 To compensate for the Y coordinate of the second windproof tie rod 1022 after the trolley speed of the quay crane 101, X 补n To compensate for the X coordinate of the nth windproof tie rod 102 after the trolley speed of the quay crane 101, Y 补nThe Y coordinate of the nth windproof tie rod 102 after compensating the trolley speed of the quay crane 101; X is the X-direction coordinate of the laser radar recognition device 104 in the map, and Y is the Y-direction coordinate of the laser radar recognition device 104 in the map.

[0109] Specifically, since the laser radar recognition device 104 can scan multiple windproof rods 102 at the same time, multiple sets of data can be selected to use the above-mentioned triangulation method to calculate the distance between the laser radar recognition device 104 and the windproof rod 102, so that the calculated positioning data is more accurate and reliable.

[0110] Example 3

[0111] Embodiment 3 is a further optimization scheme of Embodiment 1;

[0112] like Figure 1-Figure 3 As shown:

[0113] In step S102, the unmanned vehicle 103 calculates the distance S between the laser radar recognition device 104 and each windproof tie rod 102 by using the time of flight method ToF:

[0114]

[0115] In formula (4): c is the speed of light (approximately equal to 3×10 8 m / s), Δt is the round trip time of the laser pulse.

[0116] Specifically, the time-of-flight method ToF can very accurately measure the distance between the laser radar identification device 104 and the windproof rod 102, and is very suitable for applications that require high-precision distance measurement.

[0117] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A laser positioning method for an unmanned vehicle in an automated terminal based on a non-fixed reference object, wherein a plurality of quay cranes are arranged along a coastline in the automated terminal, each quay crane is provided with a plurality of windproof pull rods, a plurality of unmanned vehicles are driven in the automated terminal, and the unmanned vehicles are equipped with a visual recognition device and a laser radar recognition device, characterized in that: The laser positioning method for the driverless vehicle of the automated terminal comprises the following steps executed in sequence: Step S1: numbering different windproof tie rods of different quay cranes, and assigning a QR code identification to each windproof tie rod one by one; Step S2: When the unmanned vehicle is traveling under the quay crane, the unmanned vehicle is controlled to scan and identify the QR code of the nearby windproof rod through the visual recognition device to obtain the coordinate information of the windproof rod at the dock, and then the coordinate information of the windproof rod at the dock is matched with the windproof rod identified by the laser radar recognition device.

2. The laser positioning method for an automated terminal driverless vehicle based on a non-fixed reference object according to claim 1 is characterized in that: Step S2 includes the following steps: Step S21, visually scanning the windproof tie rod and the QR code at the position corresponding to the windproof tie rod, thereby determining the number of the windproof tie rod and the coordinates of the quay crane corresponding to the windproof tie rod, and then calculating the coordinates of the windproof tie rod in the dock coordinate system; then executing step S22; Step S22, visually identifying that the windproof tie rod is the windproof tie rod of the designated quay crane, substituting the coordinate value of the designated quay crane into a calculation formula (1), the formula (1) is: (X 杆1, ,Y 杆1 )=(X 岸桥 -x,Y 岸桥 ), (X 杆2, ,Y 杆2 )=(X 岸桥 +x,Y 岸桥 ), thereby obtaining the coordinate position of each windproof tie rod in the dock map; X in formula (1) 杆1, is the X direction value of the first windproof tie rod in the dock coordinate map, Y 杆1 is the Y direction value of the first windproof tie rod in the dock coordinate map, X 岸桥 is the X direction value of the quay crane where the windproof tie rod is located in the dock coordinate map, 岸桥 is the Y direction value of the quay crane where the windproof tie rod is located in the dock coordinate map, 杆2, is the X direction value of the second windproof tie rod in the dock coordinate map, and Y 杆2 It is the Y direction value of the second windproof rod in the dock coordinate map.

3. The laser positioning method for an automated terminal driverless vehicle based on a non-fixed reference object according to claim 2 is characterized in that: The laser positioning method for the driverless vehicle of the automated terminal further includes the following steps before step S1: Step S101, establish a coordinate system map of the dock plane: take the direction parallel to the coastline as the X-axis, and the direction perpendicular to the coastline as the Y-axis. The two windproof tie rods on one side of the quay crane move along with the quay crane on a track parallel to the coastline, that is, the Y value of the windproof tie rods in the dock environment map is unchanged; then execute step S102; Step S102, by measuring the distance between the center of the windproof rod and the center of the quay crane, the accurate position of the windproof rod in the map can be obtained; then execute step S1.

4. The laser positioning method for an automated terminal driverless vehicle based on a non-fixed reference object according to claim 3 is characterized in that: In step S102, the accurate position of the windproof rod in the map is obtained by using a formula (2) and a formula (3); The formula (2) is: 杆1, ,Y 杆1 )=(X 岸桥 -x,Y 岸桥 ); The formula (3) is: 杆2, ,Y 杆2 )=(X 岸桥 +x,Y 岸桥 ); In formula (2) and formula (3), x is the distance between the center of the windproof tie rod and the center of the quay crane, X 杆1, is the X direction value of the first windproof tie rod in the dock coordinate map, Y 杆1 is the Y direction value of the first windproof tie rod in the dock coordinate map, X 岸桥 is the X direction value of the quay crane where the windproof tie rod is located in the dock coordinate map, 岸桥 is the Y direction value of the quay crane where the windproof tie rod is located in the dock coordinate map, 杆2, is the X direction value of the second windproof tie rod in the dock coordinate map, and Y 杆2 It is the Y direction value of the second windproof rod in the dock coordinate map.

5. The laser positioning method for an automated terminal driverless vehicle based on a non-fixed reference object according to claim 2 is characterized in that: The laser positioning method for the driverless vehicle of the automated terminal further includes the following steps between step S21 and step S22: After completing step S21, when the speed of the quay crane is less than a percentage threshold of the maximum movement speed of the quay crane itself and the positioning accuracy meets the centimeter-level requirement, there is no need to compensate for the communication delay of the quay crane; when the speed of the quay crane is greater than the percentage threshold of the maximum movement speed of the quay crane itself, the average speed of the quay crane is taken to compensate for the communication delay of the quay crane, thereby obtaining the current precise coordinates of the quay crane; then execute step S22.

6. The laser positioning method for an automated terminal driverless vehicle based on a non-fixed reference object according to claim 4 is characterized in that: In step S102, the unmanned vehicle calculates the distance S between the laser radar recognition device and each windproof rod by using the time of flight method (ToF): In formula (4), c is the speed of light, and Δt is the round trip time of the laser pulse.

7. The laser positioning method for an automated terminal driverless vehicle based on a non-fixed reference object according to claim 4 is characterized in that: In step S102, the distance between the laser radar recognition device and each windproof rod is calculated according to a triangulation method, and then the formula of the distance of each windproof rod is combined to determine the accurate position of the laser radar recognition device in the map; the distance of each windproof rod is obtained by the following formula (5), formula (6) or even formula (7); (X-X 补1 ) 2 +(Y-Y 补1 ) 2 =S1 2 (5) (XX 补2 ) 2 +(YY 补2 ) 2 =S2 2 (6) …… (XX 补n ) 2 +(YY 补n ) 2 =S n 2 (7) In formula (5), formula (6) and formula (7): S1 is the distance from the laser radar identification device to the first windproof rod, S2 is the distance from the laser radar identification device to the second windproof rod, S n is the distance from the laser radar identification device to the nth windproof rod; X 补1 To compensate for the X coordinate of the first windbreak tie rod after the trolley speed, Y 补1 To compensate for the Y coordinate of the first windbreak tie rod after the quay crane trolley speed, X 补2 To compensate for the X coordinate of the second windbreak tie rod after the trolley speed, Y 补2 To compensate for the Y coordinate of the second windbreak tie rod after the quay crane trolley speed, X 补n To compensate for the speed of the trolley, the X coordinate of the nth windproof tie rod, Y 补n It is the Y coordinate of the nth windproof tie rod after compensating the speed of the quay crane trolley; X is the X-direction coordinate of the laser radar recognition device in the map, and Y is the Y-direction coordinate of the laser radar recognition device in the map.

8. The laser positioning method for an automated terminal driverless vehicle based on a non-fixed reference object according to any one of claims 1 to 7, characterized in that: The number of laser radar recognition devices installed on the unmanned vehicle is two; the laser radar recognition devices are installed symmetrically with the center of the unmanned vehicle as the symmetrical point, and the position P of the unmanned vehicle itself in the map is: In formula (8), (X1, Y1) is the coordinate of the first laser radar recognition device in the dock map, and (X2, Y2) is the coordinate of the second laser radar recognition device in the dock map.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the laser positioning method for an automated terminal unmanned vehicle based on a non-fixed reference object as described in any one of claims 1 to 8 are implemented.

10. An electronic device, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and executable by the processor, wherein when the processor executes the computer program, the steps of the laser positioning method for an automated terminal unmanned vehicle based on a non-fixed reference object as described in any one of claims 1 to 8 are implemented.

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