Single-trolley quay crane and guide vehicle automatic operation interaction system and control method thereof

Abstract

The invention provides a single-trolley quay crane and guide vehicle automatic operation interaction system, which comprises a quay crane CPS laser guide unit, an IGV management system and a quay crane management system, and is characterized in that the quay crane CPS laser guide unit comprises four laser radars mounted on a quay crane, a calculation unit and a communication unit; the multiple lanes below the center of the quay crane comprise a plurality of IGV priority driving lanes and a plurality of IGV auxiliary driving lanes, the fourth laser radar is installed on the front side portion of a left connecting beam of the quay crane and is close to the sea side of a wharf, and the third laser radar is installed on the rear side portion of the left connecting beam of the quay crane and is close to the land side of the wharf. The second laser radar is installed on the front side portion of the shore bridge right connection beam and close to the wharf sea side, and the first laser radar is installed on the rear side portion of the shore bridge right connection beam and close to the wharf land side. The embodiment of the invention further provides a control method applying the system. The control method comprises the steps S1 to S6. The multi-lane IGV under the shore bridge can be accurately detected through the four 3D laser scanners, and therefore efficient cooperative operation of the shore bridge and the IGV group is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of detection and control of transport equipment under a port quay crane, and in particular to an automated operation interaction system between a single-trolley quay crane and a guided vehicle and a control method thereof. Background Art

[0002] In traditional artificial port terminals, container trucks (hereinafter referred to as container trucks) in the port area mainly rely on manual guidance and positioning to complete interaction under the quay crane. This mode has great safety hazards, high labor costs and low operating efficiency. The traditional port container truck guidance technology includes: first using absolute encoders and incremental encoders to locate the large vehicle mechanism to complete the quay crane positioning, and then using electromagnetic induction guidance to achieve intelligent guided vehicle positioning. In order to achieve intelligent interaction of container trucks in the quay crane operation area of ​​the port area, a variety of container truck guidance systems such as vision, laser, and RFID have been used. However, the traditional port container truck guidance technology obtains the position of the container truck through lifting equipment, and then guides the container truck driver to complete the position adjustment through display screens and other methods. It is not suitable for the automatic interaction between the quay crane and the intelligent guided vehicle. This traditional port container truck guidance technology (referred to as CPS) can only realize the guidance of manned container trucks. In the automated terminal, the traditional port container truck guidance technology alone cannot meet the operational requirements of efficient interaction between the automated quay crane and the unmanned intelligent guided vehicle (referred to as IGV).

[0003] In addition, the Chinese invention patent application document with application publication number CN 111268566 A discloses a laser-based automatic container placement system and method on a container truck lane, the system includes a controller and a 3D laser scanner, an industrial computer and an LED display screen respectively connected to the controller, the industrial computer is connected to the 3D laser scanner, and the controller is connected to the PLC control system of the large vehicle; the central cross-sectional contour of the container truck is scanned by the 3D laser scanner to obtain the central cross-sectional contour data pair of the container truck, and the positioning guidance information of the container truck is calculated by the controller and sent to the LED display screen, which is convenient for the rapid and accurate positioning of the container truck; the high-precision contour scanning of the 3D laser scanner and the calculation of the industrial computer are used to obtain the high-precision three-dimensional positioning information of the container truck, and sent to the PLC control system of the large vehicle, which is convenient for adjusting the posture and position of the trolley and the spreader, ensuring that the spreader can automatically grab the container safely and accurately. This prior art solution uses only one laser for scanning, and the scanning is a single laser real-time scanning, which is displayed to the driver through the display screen, and cannot control the vehicle alignment, and the scanning of a single laser cannot achieve positioning coordinate verification and deviation correction, and only provides scanning conversion formulas and preliminary control logic. Summary of the invention

[0004] In view of this, it is necessary to propose a single-trolley quay crane and guided vehicle automated operation interaction system and control method thereof to address the above problems, so as to overcome several shortcomings of the above background technology and solve the following problems:

[0005] How to use the two 3D laser scanners on the left connecting beam of the quay crane and the two 3D laser scanners on the right connecting beam of the quay crane to accurately detect the IGV vehicles in multiple lanes under the quay crane, so as to achieve efficient collaborative operation between the quay crane and the IGV vehicle group.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] The present invention proposes an automated operation interaction system for a single-trolley quay crane and a guide vehicle, which is applied to an automated container terminal including multiple IGVs. The automated operation interaction system includes a quay crane CPS laser guidance unit, an IGV management system and a quay crane management system. The quay crane CPS laser guidance unit is used for three-dimensional coverage detection of multiple lanes and provides accurate distance and direction guidance for operating vehicles. The IGV management system is used for positioning, controlling and managing multiple IGVs in the automated container terminal. The quay crane management system is used for controlling and managing several quay cranes in the automated container terminal. The quay crane CPS laser guidance unit includes multiple laser radars, a computing unit and a communication unit. The computing unit is respectively connected to the laser radar and the communication unit for communication. The multiple lanes under the center of the quay crane include several IGV priority lanes and several IGV auxiliary lanes. The laser radar There are four laser radars, the fourth laser radar is installed on the front side of the left connecting beam of the quay crane and close to the sea side of the wharf, the third laser radar is installed on the rear side of the left connecting beam of the quay crane and close to the land side of the wharf, the second laser radar is installed on the front side of the right connecting beam of the quay crane and close to the sea side of the wharf, and the first laser radar is installed on the rear side of the right connecting beam of the quay crane and close to the land side of the wharf; the fourth laser radar and the second laser radar are combined into a first dynamic and static scanning combination for priority scanning, and the first laser radar and the third laser radar are combined into a second dynamic and static scanning combination for auxiliary scanning; the first dynamic and static scanning combination is used to perform dynamic and static scanning on the IGV priority driving lanes in the multiple lanes under the center of the quay crane; the second dynamic and static scanning combination is used to supplement the dynamic and static scanning of each IGV priority driving lane in the multiple lanes under the center of the quay crane, and also performs dynamic and static scanning on each IGV auxiliary driving lane in the multiple lanes under the center of the quay crane.

[0008] Furthermore, there are six lanes in the multi-lane system under the center of the quay crane, namely the first lane, the second lane, the third lane, the fourth lane, the fifth lane, and the sixth lane, starting from the sea side closest to the wharf; the three lanes close to the sea side of the wharf are all IGV priority lanes; the three lanes close to the land side of the wharf are all IGV auxiliary lanes; the first lane is the highest priority lane for IGVs.

[0009] Furthermore, the automated operation interaction system also includes a main controller, the IGV management system includes multiple IGV stand-alone controllers and IGV management units, and the quay crane management system includes multiple quay crane stand-alone controllers and quay crane management units; the main controller is provided with a stand-alone automatic control system ACCS; the IGV management unit is a fleet management system VMS; the quay crane management unit is a quay crane management system QCMS; the IGV stand-alone controller is used to control the operation of a single IGV; and the quay crane stand-alone controller is used to control the operation of a single quay crane.

[0010] The present invention proposes a control method for the automatic operation interaction system between a single-trolley quay crane and a guided vehicle using the above-mentioned control method, and the control method comprises the following steps performed in sequence:

[0011] Step S100, when the quay crane needs to perform a container loading and unloading task, an idle IGV is selected, and the IGV is controlled to go to a locked lane of multiple lanes under the center of the quay crane through a driving mode of the center lower lane of the quay crane, and the trolley mechanism of the quay crane is controlled to automatically drive above the locked lane; the driving mode of the center lower lane of the quay crane is that the IGV preferentially drives in the idle lane closest to the sea side of the wharf, and at least one lane is reserved for the IGV to return to the side of the IGV facing the land side of the wharf;

[0012] Step S200, at least one dynamic and static scanning combination scans the corresponding locked lane under the center of the quay crane;

[0013] Step S300, controlling the designated IGV to travel through the corresponding locked lane, and identifying the position deviation of the corresponding IGV in the moving direction Y of the quay crane trolley and the parallelism between the IGV and the lane through a combination of dynamic and static scanning of the corresponding locked lane;

[0014] Step S400, controlling the trolley mechanism and the spreader of the quay crane to reach the specified target position according to the position deviation and parallelism obtained in step S300, and then controlling the spreader to complete the automatic operation at a specified tilt angle;

[0015] Step S500: When the container loading and unloading on the IGV is completed, the IGV leaves the corresponding locked lane and unlocks the locked lane.

[0016] The present invention further proposes a control method for the above-mentioned single-trolley quay crane and guided vehicle automated operation interactive system, the control method comprising the following steps executed in sequence:

[0017] Step S1, when the quay crane needs to perform the task of loading and unloading containers, an idle IGV is selected, and the IGV is controlled to go to a locked lane of multiple lanes under the center of the quay crane through a driving mode of the center lower lane of the quay crane, and the trolley mechanism of the quay crane is controlled to automatically drive above the locked lane; the driving mode of the center lower lane of the quay crane is that the IGV preferentially drives in the idle lane closest to the sea side of the wharf, and at least one lane is reserved for the IGV to return to the side of the IGV facing the land side of the wharf;

[0018] Step S2, at least one dynamic and static scanning combination scans the corresponding locked lane under the center of the quay crane;

[0019] Step S3, control the designated IGV to travel through the corresponding locked lane, and identify the position deviation of the corresponding IGV in the movement direction Y of the quay crane trolley and the parallelism between the IGV and the lane through the dynamic and static scanning combination of the corresponding locked lane; the first dynamic and static scanning combination and the second dynamic and static scanning combination first scan the first lane with the IGV closest to the sea side of the wharf;

[0020] Step S4, according to the position deviation and parallelism obtained in step S3, the trolley mechanism and the spreader of the quay crane are controlled to reach the specified target position, and then the spreader is controlled to complete the automatic operation at a specified tilt angle;

[0021] Step S5: When the container loading and unloading on the IGV is completed, the IGV leaves the corresponding locked lane and unlocks the locked lane.

[0022] Furthermore, in step S3, when an IGV enters the third lane, the first dynamic and static scanning combination and the second dynamic and static scanning combination scan the third lane where the IGV is traveling, and there is a second lane between the first lane and the third lane for the IGV to return.

[0023] Furthermore, in step S3, under the condition that there are IGVs entering the first lane and the third lane, when there is an IGV entering the fifth lane, the second dynamic and static scanning combination scans the fifth lane where the IGV is driving after completing the scanning of the first lane and the third lane. There is a fourth lane between the third lane and the fifth lane for the IGV to return.

[0024] Furthermore, in step S3, under the condition that there are IGVs entering the first lane and the third lane, when there is an IGV entering the sixth lane, the second dynamic and static scanning combination scans the fifth lane where the IGV is driving after completing the scanning of the first lane and the third lane. The lanes between the third lane and the sixth lane are the fourth lane and the fifth lane for the return trip of the IGV, respectively.

[0025] Further, in step S3, when the fourth lane, the fifth lane, and the sixth lane are not locked lanes for the IGV to enter, the second dynamic and static scanning combination does not scan the fourth lane, the fifth lane, and the sixth lane.

[0026] Further, in step S3, when the IGV walks into the locked lane laterally from left to right, at least one laser radar installed on the left connecting beam of the quay bridge executes a first dynamic scanning mode; in the process of executing the first dynamic scanning mode, when the fourth laser radar executes the dynamic scanning mode, the second laser radar executes a static scanning mode; in the process of executing the first dynamic scanning mode, when the third laser radar executes the dynamic scanning mode, the first laser radar executes a static scanning mode; in the process of executing the first dynamic scanning mode, when the fourth laser radar and the third laser radar execute the dynamic scanning mode, the second laser radar and the first laser radar execute the static scanning mode;

[0027] In step S3, when the IGV moves laterally into the locked lane from right to left, at least one laser radar installed on the right connecting beam of the quay crane executes a second dynamic scanning mode; during the execution of the second dynamic scanning mode, when the second laser radar executes the dynamic scanning mode, the fourth laser radar executes the static scanning mode; during the execution of the second dynamic scanning mode, when the first laser radar executes the dynamic scanning mode, the third laser radar executes the static scanning mode; during the execution of the second dynamic scanning mode, when the second laser radar and the first laser radar execute the dynamic scanning mode, the fourth laser radar and the third laser radar execute the static scanning mode.

[0028] The beneficial effects of the present invention are:

[0029] The present invention can accurately detect IGV vehicles in multiple lanes under the quay crane through two 3D laser scanners on the left connecting beam of the quay crane and two 3D laser scanners on the right connecting beam of the quay crane, thereby realizing efficient collaborative operation of the quay crane and the IGV vehicle group; the present invention improves the positioning accuracy of the IGV vehicle under the quay crane, realizes the positioning efficiency requirements based on multi-lane switching of the automated terminal, and realizes the accurate positioning of the IGV under the quay crane by optimizing the terminal efficiency positioning logic, dynamic and static positioning methods and remote transmission methods, and realizes the accurate positioning of the IGV driving through laser positioning and inertial positioning fusion positioning, and also realizes the IGV transporting boxes to the quay crane operation area, thereby obtaining the interactive function of the quay crane to carry out full-process automated operation of the IGV to grab and release boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] Figure 1 It is a three-dimensional schematic diagram of the installation structure of a single-trolley quay crane and a guided vehicle automated operation interaction system of the present invention;

[0032] Figure 2 It is a schematic diagram of the installation positions of the first laser radar, the second laser radar, the third laser radar and the fourth laser radar according to the present invention, when viewed from above;

[0033] Figure 3 This is a workflow diagram of a control method for an automated operation interaction system using a single-trolley quay crane and a guided vehicle in Embodiment 2 of the present invention;

[0034] Figure 4 This is a specific workflow diagram of a control method for an automated operation interaction system using a single-trolley quay crane and a guided vehicle in Example 4 of the present invention;

[0035] Description of reference numerals:

[0036] The first laser radar - L1; the second laser radar - L2; the third laser radar - L3; the fourth laser radar - L4; the quay crane - 5; the IGV - 6; the communication unit - 7; the first lane - 11; the second lane - 12; the third lane - 13; the fourth lane - 14; the fifth lane - 15; the sixth lane - 16. DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Example 1

[0054] like Figure 1 , Figure 2 As shown:

[0055] The present embodiment proposes an automated operation interaction system of a single-trolley quay crane and a guide vehicle, which is applied to an automated container terminal including multiple IGVs 6. The automated operation interaction system includes a quay crane CPS laser guidance unit, an IGV management system and a quay crane management system. The quay crane CPS laser guidance unit is used for three-dimensional coverage detection of multiple lanes and provides accurate distance and direction guidance for operating vehicles. The IGV management system is used for positioning, controlling and managing multiple IGVs 6 in the automated container terminal. The quay crane management system is used for controlling and managing several quay cranes 5 in the automated container terminal. The quay crane CPS laser guidance unit includes multiple laser radars, a computing unit and a communication unit 7. The laser radars are installed on the quay crane 5, and the computing unit is respectively communicated with the laser radars and the communication unit 7. The multiple lanes under the center of the quay crane 5 include several IGV priority lanes and several IGV auxiliary lanes. The number of the laser radars is four, and the fourth laser radar L4 is installed on the left connecting beam of the quay crane 5 (such as Figure 1 The third laser radar L3 is installed on the front side of the left connecting beam of the quay bridge 5 (as shown in the X direction left beam) and close to the sea side of the pier. Figure 1 The second laser radar L2 is installed on the rear side of the right connecting beam of the quay bridge 5 (as shown in the X direction left beam) and close to the land side of the wharf. Figure 1 The first laser radar L1 is installed on the front side of the right connecting beam of the quay bridge 5 (as shown in the X direction right beam) and close to the sea side of the pier. Figure 1The fourth laser radar L4 is combined with the second laser radar L2 to form a first dynamic and static scanning combination for priority scanning, and the first laser radar L1 and the third laser radar L3 are combined to form a second dynamic and static scanning combination for auxiliary scanning; the first dynamic and static scanning combination is used to perform dynamic and static scanning on the IGV priority driving lanes in the multiple lanes under the center of the quay bridge 5; the second dynamic and static scanning combination is used to perform supplementary dynamic and static scanning on each IGV priority driving lane in the multiple lanes under the center of the quay bridge 5, and also perform dynamic and static scanning on each IGV auxiliary driving lane in the multiple lanes under the center of the quay bridge 5.

[0056] Optimally, the number of lanes in the multi-lane under the center of the quay crane 5 is six, starting from the sea side closest to the wharf, they are the first lane 11, the second lane 12, the third lane 13, the fourth lane 14, the fifth lane 15, and the sixth lane 16; the three lanes close to the sea side of the wharf are all IGV priority lanes (i.e., the first lane 11, the second lane 12 and the third lane 13); the three lanes close to the land side of the wharf are all IGV auxiliary lanes (i.e., the fourth lane 14, the fifth lane 15 and the sixth lane 16); the first lane 11 is the highest priority lane for IGVs.

[0057] Optimally, the automated operation interaction system also includes a main controller, the IGV management system includes multiple IGV stand-alone controllers and IGV management units, and the quay crane management system includes multiple quay crane stand-alone controllers and quay crane management units; the main controller is provided with a stand-alone automatic control system ACCS; the IGV management unit is a fleet management system VMS; the quay crane management unit is a quay crane management system QCMS; the IGV stand-alone controller is used to control the operation of a single IGV6; the quay crane stand-alone controller is used to control the operation of a single quay crane 5.

[0058] Optimally, the communication unit 7 is a UWB transmitting module; each IGV 6 is equipped with a UWB receiving antenna and a UWB receiving module; the UWB transmitting module communicates with each UWB receiving module respectively; and the IGV stand-alone controller communicates with the UWB receiving module.

[0059] Further optimized, the automated operation interaction system also includes a trolley positioning device, an IGV visual detection unit, an IGV laser positioning unit and an IGV inertial navigation positioning unit; the trolley positioning device is used to locate the position of the trolley of the quay crane; the IGV visual detection unit, the IGV laser positioning unit and the IGV inertial navigation positioning unit are installed on the IGV; the IGV management system communicates with the IGV visual detection unit, the IGV laser positioning unit and the IGV inertial navigation positioning unit respectively; the quay crane management system communicates with the trolley positioning device.

[0060] Specifically, IGV6 drives under the quay crane 5 where operation is required, and performs preliminary physical positioning under the quay crane 5 where operation is required, and obtains the position of IGV6 through four laser radars. The use of four laser radars improves the positioning accuracy of the IGV intelligent guided vehicle under the quay crane 5, realizes the positioning efficiency requirements based on multi-lane switching under the quay crane of the automated terminal, and optimizes the terminal efficiency positioning logic; the quay crane CPS laser guidance unit sends the distance value of IGV6 to the target position to IGV6, and IGV6 receives the distance value from the target operation position sent by the quay crane CPS laser guidance unit and According to this value, IGV6 is controlled to continue moving or stop. The CPS laser guidance unit of the quay crane continuously sends the distance value of IGV6 from the destination position to IGV6. IGV6 controls IGV6 to move or stop according to the distance value until IGV6 docks at the destination position under the quay crane 5, thereby realizing the automatic guidance of IGV6 by the CPS laser guidance unit of the quay crane. After IGV6 docks at the working position, the quay crane 5 grasps or places the container on IGV6, the sling (or container) of the quay crane 5 leaves IGV6, and IGV6 drives away from the operating quay crane 5, completing the interaction between the quay crane 5 and IGV6.

[0061] Further optimized, the computing unit is an industrial computer, and the quay crane CPS laser guidance unit also includes a router; each laser radar can obtain the position information of IGV6 entering the interactive area under the quay crane from different directions through 3D scanning; preferably, each laser can cover all lanes.

[0062] Example 2

[0063] like Figure 1 , Figure 3 As shown:

[0064] This embodiment proposes a control method for the single-trolley quay crane and guided vehicle automated operation interaction system using any of the technical solutions in Embodiment 1. The control method includes the following steps performed in sequence:

[0065] Step S100, when the quay crane 5 needs to perform the task of loading and unloading containers, the quay crane management system sends an instruction to the IGV management system, and the IGV management system automatically selects an idle IGV6, and controls the IGV6 to go to the locked lane of the multi-lane under the center of the quay crane 5 through a driving mode of the center lower lane of the quay crane 5, and controls the trolley mechanism of the single quay crane 5 to automatically drive above the locked lane; the driving mode of the center lower lane of the quay crane 5 is that IGV6 preferentially drives in the idle lane closest to the sea side of the wharf, and the IGV6 is facing the side of the wharf road. At least one lane for the return trip of the IGV6 is reserved; then step S200 is executed; specifically, the driving mode of the center lower lane of the quay crane is that IGV preferentially drives in the idle lane closest to the sea side of the wharf, and the IGV is facing the land side of the wharf (that is, Figure 1At least one lane is reserved for the IGV to return on the side of the Y direction (shown as the rear side);

[0066] Step S200, at least one dynamic and static scanning combination scans the locked lane corresponding to the center of the quay crane 5; then execute step S300;

[0067] Step S300, control the designated IGV6 to travel through the corresponding locked lane, identify the position deviation of the corresponding IGV6 in the moving direction Y of the trolley of the quay crane 5 and the parallelism of the IGV6 and the lane through the dynamic and static scanning combination of the corresponding locked lane; then execute step S400; specifically, the locked lane is the lane assigned by the task under the quay crane center when the terminal container collection instruction is generated, and other IGVs cannot reach the lane. The locked lane cannot be passed and can only be unlocked when the task IGV arrives at this lane and completes the task;

[0068] Step S400, according to the position deviation and parallelism obtained in step S300, the trolley mechanism and the spreader of the quay crane 5 are controlled to reach the specified target position, and then the spreader is controlled to complete the automatic operation at a specified tilting angle; then step S500 is executed;

[0069] Step S500: After the container loading and unloading on the IGV6 is completed, the gantry crane 5 hoist will cause the IGV6 to leave the corresponding locked lane and unlock the locked lane.

[0070] Further optimized, in step S400, the deviation of the IGV in the movement direction Y of the quay crane trolley and the parallelism of the IGV and the lane are judged, and the quay crane CPS laser guidance unit transmits the deviation in the movement direction Y of the quay crane trolley and the parallelism information of the IGV and the lane to the quay crane management system; the quay crane management system includes a single-machine automatic control system ACCS, and the single-machine automatic control system ACCS controls the quay crane single-machine trolley.

[0071] Specifically, if the current lane cannot scan an IGV, the guidance task is completed, that is, SN=0, where Sn is the number of IGVs that need to be scanned in the current lane.

[0072] Further optimized, before step S100, the control method also includes: step S1001, the two laser radars of the first dynamic and static scanning combination perform mutual dynamic and static calibration, and the two laser radars of the second dynamic and static scanning combination perform mutual dynamic and static calibration; that is, a laser radar that performs dynamic detection in the first dynamic and static scanning combination is compared and analyzed with another laser radar that performs static detection in the first dynamic and static scanning combination, and then the dynamic and static calibration of the two laser radars of the first dynamic and static scanning combination is achieved by comparing the relevant standard values ​​or standard ranges; a laser radar that performs dynamic detection in the second dynamic and static scanning combination is compared and analyzed with another laser radar that performs static detection in the second dynamic and static scanning combination, and then the dynamic and static calibration of the two laser radars of the second dynamic and static scanning combination is achieved by comparing the relevant standard values ​​or standard ranges; then step S100 is executed; in this way, the IGV positioning and correction function can be realized.

[0073] Example 3

[0074] like Figure 1 , Figure 2 , Figure 3 As shown:

[0075] The present embodiment proposes an automated operation interaction system between a single-trolley quay crane and a guide vehicle, which is applied to an automated container terminal including multiple IGV6s. The automated operation interaction system includes a quay crane CPS laser guidance unit, an IGV management system and a quay crane management system. The quay crane CPS laser guidance unit is used for three-dimensional coverage detection of multiple lanes and provides accurate distance and direction guidance for operating vehicles. The IGV management system is used for positioning, controlling and managing multiple IGV6s in the automated container terminal. The quay crane management system is used for controlling and managing several quay cranes 5 in the automated container terminal. The quay crane CPS laser guidance unit includes multiple laser radars, a computing unit and a communication unit 7. The laser radars are installed on the quay crane 5. The computing unit communicates with the laser radars and the communication unit 7 respectively. The multiple lanes under the center of the quay crane 5 include several IGV6 priority lanes and several IGV auxiliary lanes. The laser radars There are four laser radars, the fourth laser radar L4 is installed on the front side of the left connecting beam of the quay bridge 5 and close to the sea side of the wharf, the third laser radar L3 is installed on the rear side of the left connecting beam of the quay bridge 5 and close to the land side of the wharf, the second laser radar L2 is installed on the front side of the right connecting beam of the quay bridge 5 and close to the sea side of the wharf, and the first laser radar L1 is installed on the rear side of the right connecting beam of the quay bridge 5 and close to the land side of the wharf; the fourth laser radar L4 and the second laser radar L2 are combined into a first dynamic and static scanning combination for priority scanning, and the first laser radar L1 and the third laser radar L3 are combined into a second dynamic and static scanning combination for auxiliary scanning; the first dynamic and static scanning combination is used to perform dynamic and static scanning on the IGV priority driving lanes in the multiple lanes under the center of the quay bridge 5; the second dynamic and static scanning combination is used to supplement the dynamic and static scanning of each IGV priority driving lane in the multiple lanes under the center of the quay bridge 5, and also perform dynamic and static scanning on each IGV auxiliary driving lane in the multiple lanes under the center of the quay bridge 5;

[0076] There are six lanes in the multi-lane system under the center of quay crane 5, which are, from the sea side closest to the wharf, the first lane 11, the second lane 12, the third lane 13, the fourth lane 14, the fifth lane 15, and the sixth lane 16; the three lanes close to the sea side of the wharf are all IGV priority lanes; the three lanes close to the land side of the wharf are all IGV auxiliary lanes; the first lane 11 is the highest priority lane for IGVs.

[0077] Specifically, there is an IGV6 operating in each lane. IGV6 can enter from any six lanes from left to right, or from right to left, and finally automatically park in the corresponding lane for operation.

[0078] This embodiment further proposes a control method for the automatic operation interaction system between the single-trolley quay crane 5 and the guided vehicle applied to this embodiment, and the control method comprises the following steps executed in sequence:

[0079] Step S1, when the quay crane 5 needs to perform a container loading and unloading task, an idle IGV 6 is selected, and the IGV 6 is controlled to go to a locked lane of multiple lanes under the center of the quay crane 5 through a driving mode of the center lower lane of the quay crane 5, and the trolley mechanism of the quay crane 5 is controlled to automatically drive above the locked lane; the driving mode of the center lower lane of the quay crane 5 is that the IGV 6 preferentially drives in the idle lane closest to the sea side of the wharf, and at least one lane for the IGV 6 to return is reserved on the side of the IGV 6 facing the wharf road side;

[0080] Step S2, at least one dynamic and static scanning combination scans the locked lane corresponding to the center of the quay crane 5;

[0081] Step S3, control the designated IGV6 to travel through the corresponding locked lane, and identify the position deviation of the corresponding IGV6 in the movement direction Y of the trolley of the quay crane 5 and the parallelism of the IGV6 and the lane through the dynamic and static scanning combination of the corresponding locked lane; the first dynamic and static scanning combination and the second dynamic and static scanning combination first scan the first lane 11 where the IGV6 travels, which is closest to the sea side of the wharf;

[0082] Step S4, according to the position deviation and parallelism obtained in step S3, the trolley mechanism and the spreader of the quay crane 5 are controlled to reach the specified target position, and then the spreader is controlled to complete the automatic operation at a specified tilting angle;

[0083] Step S5, when the container loading and unloading on the IGV6 is completed, the gantry crane 5 hoisting device leaves the corresponding locked lane and unlocks the locked lane.

[0084] Optimally, in step S3, when IGV6 enters the third lane 13, the first dynamic and static scanning combination and the second dynamic and static scanning combination scan the third lane 13 where IGV6 is traveling, and between the first lane 11 and the third lane 13 is a second lane 12 for the return trip of the IGV6.

[0085] Optimally, in step S3, under the condition that IGV6 enters both the first lane 11 and the third lane 13, when IGV6 enters the fifth lane 15, the second dynamic and static scanning combination scans the fifth lane 15 where IGV6 is driving after completing the scanning of the first lane 11 and the third lane 13. Between the third lane 13 and the fifth lane 15 is a fourth lane 14 for the return trip of the IGV6.

[0086] Optimally, in step S3, under the condition that IGV6 enters both the first lane 11 and the third lane 13, when IGV6 enters the sixth lane 16, the second dynamic and static scanning combination scans the fifth lane 15 where IGV6 is driving after completing the scanning of the first lane 11 and the third lane 13. The lanes between the third lane 13 and the sixth lane 16 are respectively the fourth lane 14 and the fifth lane 15 for the return trip of the IGV6.

[0087] Optimally, in step S3 , when the fourth lane 14 , the fifth lane 15 , and the sixth lane 16 are not locked lanes for the IGV 6 to enter, the second dynamic and static scanning combination does not scan the fourth lane 14 , the fifth lane 15 , and the sixth lane 16 .

[0088] Optimally, in step S3, when the IGV 6 moves laterally into the locked lane from left to right, at least one laser radar installed on the left connecting beam of the quay bridge 5 executes a first dynamic scanning mode; in the process of executing the first dynamic scanning mode, when the fourth laser radar L4 executes the dynamic scanning mode, the second laser radar L2 executes a static scanning mode; in the process of executing the first dynamic scanning mode, when the third laser radar L3 executes the dynamic scanning mode, the first laser radar L1 executes a static scanning mode; in the process of executing the first dynamic scanning mode, when the fourth laser radar L4 and the third laser radar L3 execute the dynamic scanning mode, the second laser radar L2 and the first laser radar L1 execute the static scanning mode;

[0089] In step S3, when IGV6 moves laterally into the locked lane from right to left, at least one laser radar installed on the right connecting beam of the quay bridge 5 executes a second dynamic scanning mode; in the process of executing the second dynamic scanning mode, when the second laser radar L2 executes the dynamic scanning mode, the fourth laser radar L4 executes the static scanning mode; in the process of executing the second dynamic scanning mode, when the first laser radar L1 executes the dynamic scanning mode, the third laser radar L3 executes the static scanning mode; in the process of executing the second dynamic scanning mode, when the second laser radar L2 and the first laser radar L1 execute the dynamic scanning mode, the fourth laser radar L4 and the third laser radar L3 execute the static scanning mode.

[0090] Example 4

[0091] Embodiment 4 is a further optimized design of any technical solution in Embodiment 3;

[0092] like Figure 1-Figure 4 As shown:

[0093] This embodiment further proposes a control method for the automatic operation interaction system between the single trolley quay crane 5 and the guided vehicle applied to this embodiment, executing the following control logic and algorithm:

[0094] In step S1, when the quay crane 5 needs to perform container loading and unloading tasks, the quay crane management system QCMS sends a message to the IGV management system (specifically the fleet management system VMS) to automatically select the idle IGV6, lock one lane under the quay crane 5, and control IGV6 to enter the center of the quay crane 5 from right to left, or from left to right.

[0095] In step S1, the quay crane management system QCMS sends a landside container grabbing instruction to the quay crane management system (specifically, the stand-alone automatic control system ACCS), and the stand-alone automatic control system ACCS controls the stand-alone trolley of the quay crane 5 to automatically drive above the locked lane.

[0096] In step S2, the four lasers above the quay bridge 5 execute the lane scanning optimization process and rules, and the specific rules are as follows:

[0097] like Figure 2 As shown, the four lasers are divided into upper right, upper left, lower right and lower left according to their positions, and are named L2, L4, L1 and L3 lasers respectively. The upper left laser L4 and the upper right laser L2 are located above the second lane 12, and the lower right laser L1 and the lower left laser L3 are located above the fifth lane 15.

[0098] It is known that 6 lanes are located under the center of quay crane 5. The number of vehicles waiting for loading and unloading tasks in lanes 1 to 6 are S1, S2, S3, S4, S5, and S6 respectively. Since the maximum number of waiting vehicles in the lane under quay crane 5 is 1, we define:

[0099]

[0100] It is known that there are 6 lanes under quay crane 5, among which the lanes are divided into passing lanes and working lanes. The working lane is where IGV6 and quay crane 5 are located, and the passing lane is provided for IGV6 to pass. There must be at least one passing lane next to any working lane for operation. Lanes 1-6 can be freely switched to passing / working lanes. The following equation relationship for the number of IGVs in the corresponding lanes can be obtained:

[0101]

[0102] is the number of IGV6 in the first to sixth lanes; is the number of IGV6 in the first to third lanes; is the number of IGV6 in lanes 4 to 6;

[0103] At this time, the first to third lanes and the fourth to sixth lanes are judged respectively. It is known that the L1 and L3 lasers are responsible for scanning one same lane at a time, and the L2 and L4 are responsible for scanning one same lane at a time. Each laser can cover and scan all lanes.

[0104] The scanning time of one laser is T. In order to ensure the operating efficiency of the operating quay crane 5, four lasers are defined to give priority to completing the guidance of IGV6 on the sea side, that is, IGV6 guidance of the lane with a small number of lanes is given priority, and then the lane with a large number of lanes is guided.

[0105] To ensure the positioning accuracy of the laser, the laser will try to select the nearest lane for scanning. When the vehicle enters from the right and exits from the left, the right laser dynamic scanning closest to the current lane will be prioritized. When the vehicle enters from the left and exits from the right, the left laser dynamic scanning closest to the lane will be prioritized.

[0106] Based on the above principles, the laser scanning and lane selection logic is:

[0107] Logic 1.0: When L2 and L4 start scanning at the same time, for the current scanning lane, when entering from the right and exiting from the left, L2 performs dynamic scanning and L4 performs static scanning; when entering from the left and exiting from the right, L4 performs dynamic scanning and L2 performs static scanning;

[0108] Logic 2.0: When L1 and L3 start scanning at the same time, for the current scanning lane, when entering from the right and exiting from the left, L1 performs dynamic scanning and L3 performs static scanning; when entering from the left and exiting from the right, L3 performs dynamic scanning and L1 performs static scanning;

[0109] Logic 3.0: When the number of IGVs in the corresponding lane When the number of IGVs in the corresponding lane is When , L4, L2, L1 and L3 scan the vehicles in the first to third lanes simultaneously. At this time, the total scanning time is T;

[0110] For example, the number of IGVs in the corresponding lane Then L3 and L1 scan the fourth to sixth lanes one more time, and the total scanning time is 2T, otherwise the scanning stops, and the total time is T;

[0111] When the number of IGVs in the corresponding lane When , L4 and L2 scan the vehicles in the first to third lanes, L3 and L1 do not move, and the total scanning time is T;

[0112] For example, the number of IGVs in the corresponding lane Then L3 and L1 scan the first to third lanes one more time, and the total scanning time is 2T, otherwise the scanning stops, and the total time is T;

[0113] When in manual control mode and the number of IGVs in the corresponding lane At this time, L3 and L1 scan the vehicles in the fourth to sixth lanes, and L4 and L2 do not move. The total scanning time is T;

[0114] Logic 4.0: When the number of IGVs in the corresponding lane When L1, L3, L2, and L4 do not move, At this time, L4 and L2 scan the vehicles in the first to third lanes, and L1 and L3 scan the vehicles in the fourth to sixth lanes. At this time, the total scanning time is T.

[0115] The present invention is based on an automated terminal and provides a self-selection function based on the automated terminal lanes on a software system, wherein in the automated terminal, the lane selection logic of IGV6 is as follows: six lanes can be switched at will, and the lanes are divided into passing lanes and working lanes, and lane scanning priority calculation and control logic are also provided to improve the actual operating efficiency of the quay crane and IGV6, save scanning time, and provide dynamic and static scanning of IGV6 entering from the left and exiting from the right or entering from the right and exiting from the left, thereby improving the scanning accuracy.

[0116] 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. An automated operation interaction system for a single-trolley quay crane and a guided vehicle, applied to an automated container terminal including multiple IGVs, the automated operation interaction system includes a quay crane CPS laser guidance unit, an IGV management system and a quay crane management system, the quay crane CPS laser guidance unit is used for three-dimensional coverage detection of multiple lanes and provides accurate distance and direction guidance for operating vehicles, the IGV management system is used for positioning, controlling and managing multiple IGVs in the automated container terminal, and the quay crane management system is used for controlling and managing several quay cranes in the automated container terminal; the quay crane CPS laser guidance unit includes multiple laser radars, a computing unit and a communication unit, the computing unit is respectively connected to the laser radar and the communication unit for communication; the multiple lanes under the center of the quay crane include several IGV priority lanes and several IGV auxiliary lanes, characterized in that, There are four laser radars, the fourth laser radar is installed on the front side of the left connecting beam of the quay bridge and close to the sea side of the wharf, the third laser radar is installed on the rear side of the left connecting beam of the quay bridge and close to the land side of the wharf, the second laser radar is installed on the front side of the right connecting beam of the quay bridge and close to the sea side of the wharf, and the first laser radar is installed on the rear side of the right connecting beam of the quay bridge and close to the land side of the wharf; the fourth laser radar and the second laser radar are combined into a first dynamic and static scanning combination for priority scanning, and the first laser radar and the third laser radar are combined into a second dynamic and static scanning combination for auxiliary scanning; the first dynamic and static scanning combination is used to perform dynamic and static scanning on the IGV priority driving lanes in the multiple lanes under the center of the quay bridge; the second dynamic and static scanning combination is used to supplement the dynamic and static scanning of each IGV priority driving lane in the multiple lanes under the center of the quay bridge, and also performs dynamic and static scanning on each IGV auxiliary driving lane in the multiple lanes under the center of the quay bridge.

2. The single-trolley quay crane and guided vehicle automated operation interactive system according to claim 1 is characterized in that: There are six lanes in the multi-lane system under the center of the quay crane, namely the first lane, the second lane, the third lane, the fourth lane, the fifth lane, and the sixth lane, starting from the sea side closest to the wharf; the three lanes close to the sea side of the wharf are all IGV priority lanes; the three lanes close to the land side of the wharf are all IGV auxiliary lanes; the first lane is the highest priority lane for IGVs.

3. The single-trolley quay crane and guided vehicle automated operation interaction system according to claim 2 is characterized in that: The automated operation interactive system also includes a main controller. The IGV management system includes multiple IGV stand-alone controllers and IGV management units. The quay crane management system includes multiple quay crane stand-alone controllers and quay crane management units. The main controller is equipped with a stand-alone automatic control system ACCS. The IGV management unit is a fleet management system VMS. The quay crane management unit is a quay crane management system QCMS. The IGV stand-alone controller is used to control the operation of a single IGV. The quay crane stand-alone controller is used to control the operation of a single quay crane.

4. A control method for the automatic operation interaction system between a single-trolley quay crane and a guided vehicle according to any one of claims 1 to 3, characterized in that: The control method comprises the following steps performed in sequence: Step S100, when the quay crane needs to perform a container loading and unloading task, an idle IGV is selected, and the IGV is controlled to go to a locked lane of multiple lanes under the center of the quay crane through a driving mode of the center lower lane of the quay crane, and the trolley mechanism of the quay crane is controlled to automatically drive above the locked lane; the driving mode of the center lower lane of the quay crane is that the IGV preferentially drives in the idle lane closest to the sea side of the wharf, and at least one lane is reserved for the IGV to return to the side of the IGV facing the land side of the wharf; Step S200, at least one dynamic and static scanning combination scans the corresponding locked lane under the center of the quay crane; Step S300, controlling the designated IGV to travel through the corresponding locked lane, and identifying the position deviation of the corresponding IGV in the moving direction Y of the quay crane trolley and the parallelism between the IGV and the lane through a combination of dynamic and static scanning of the corresponding locked lane; Step S400, controlling the trolley mechanism and the spreader of the quay crane to reach the specified target position according to the position deviation and parallelism obtained in step S300, and then controlling the spreader to complete the automatic operation at a specified tilt angle; Step S500: When the container loading and unloading on the IGV is completed, the IGV leaves the corresponding locked lane and unlocks the locked lane.

5. A control method for the single-trolley quay crane and guided vehicle automated operation interaction system as claimed in claim 2, characterized in that: The control method comprises the following steps performed in sequence: Step s1, when the quay crane needs to perform the task of loading and unloading containers, an idle IGV is selected, and the IGV is controlled to go to the locked lane of the multi-lane under the center of the quay crane through a driving mode of the center lower lane of the quay crane, and the trolley mechanism of the quay crane is controlled to automatically drive above the locked lane; the driving mode of the center lower lane of the quay crane is that the IGV preferentially drives in the idle lane closest to the sea side of the wharf, and at least one lane is reserved for the IGV to return to the side of the IGV facing the land side of the wharf; Step S2, at least one dynamic and static scanning combination scans the corresponding locked lane under the center of the quay crane; Step S3, control the designated IGV to travel through the corresponding locked lane, and identify the position deviation of the corresponding IGV in the movement direction Y of the quay crane trolley and the parallelism between the IGV and the lane through the dynamic and static scanning combination of the corresponding locked lane; the first dynamic and static scanning combination and the second dynamic and static scanning combination first scan the first lane with the IGV closest to the sea side of the wharf; Step S4, according to the position deviation and parallelism obtained in step S3, the trolley mechanism and the spreader of the quay crane are controlled to reach the specified target position, and then the spreader is controlled to complete the automatic operation at a specified tilt angle; Step S5: When the container loading and unloading on the IGV is completed, the IGV leaves the corresponding locked lane and unlocks the locked lane.

6. The control method for the single-trolley quay crane and guided vehicle automated operation interaction system according to claim 5 is characterized in that: In step S3, when an IGV enters the third lane, the first dynamic and static scanning combination and the second dynamic and static scanning combination scan the third lane where the IGV is traveling. There is a second lane between the first lane and the third lane for the IGV to return.

7. The control method for the single-trolley quay crane and guided vehicle automated operation interaction system according to claim 6 is characterized in that: In step S3, under the condition that there are IGVs entering the first lane and the third lane, when there is an IGV entering the fifth lane, the second dynamic and static scanning combination scans the fifth lane where the IGV is driving after completing the scanning of the first lane and the third lane. There is a fourth lane between the third lane and the fifth lane for the IGV to return.

8. The control method for the single-trolley quay crane and guided vehicle automated operation interaction system according to claim 6 is characterized in that: In step S3, under the condition that there are IGVs entering the first lane and the third lane, when there is an IGV entering the sixth lane, the second dynamic and static scanning combination scans the fifth lane where the IGV is driving after completing the scanning of the first lane and the third lane. The lanes between the third lane and the sixth lane are respectively the fourth lane and the fifth lane for the return trip of the IGV.

9. The control method for the single-trolley quay crane and guided vehicle automated operation interaction system according to claim 5, characterized in that: In step S3, when the fourth lane, the fifth lane, and the sixth lane are not locked lanes for the IGV to enter, the second dynamic and static scanning combination does not scan the fourth lane, the fifth lane, and the sixth lane.

10. The control method for the single-trolley quay crane and guided vehicle automated operation interaction system according to any one of claims 5 to 9, characterized in that: In step S3, when the IGV walks into the locked lane laterally from left to right, at least one laser radar installed on the left connecting beam of the quay bridge executes a first dynamic scanning mode; in the process of executing the first dynamic scanning mode, when the fourth laser radar executes the dynamic scanning mode, the second laser radar executes a static scanning mode; in the process of executing the first dynamic scanning mode, when the third laser radar executes the dynamic scanning mode, the first laser radar executes a static scanning mode; in the process of executing the first dynamic scanning mode, when the fourth laser radar and the third laser radar execute the dynamic scanning mode, the second laser radar and the first laser radar execute the static scanning mode; In step S3, when the IGV moves laterally into the locked lane from right to left, at least one laser radar installed on the right connecting beam of the quay crane executes a second dynamic scanning mode; during the execution of the second dynamic scanning mode, when the second laser radar executes the dynamic scanning mode, the fourth laser radar executes the static scanning mode; during the execution of the second dynamic scanning mode, when the first laser radar executes the dynamic scanning mode, the third laser radar executes the static scanning mode; during the execution of the second dynamic scanning mode, when the second laser radar and the first laser radar execute the dynamic scanning mode, the fourth laser radar and the third laser radar execute the static scanning mode.

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