IGV positioning deviation correction method based on single-trolley quay crane and guide vehicle interaction system

Abstract

The invention provides an IGV positioning correction method based on a single-vehicle quay crane and guide vehicle interaction system, and the method comprises the steps: carrying out the positioning control management, and enabling an IGV to enter a starting position of a designated lane below a quay crane; detecting the scanning state of each laser radar; when the IGV starts to run from the starting position to the center position below the shore bridge, whether the guiding and positioning detection process of the IGV is normal or not is detected and judged, and a lane mark below the shore bridge is recognized; in the process of driving the IGV towards the center position below the shore bridge, detecting and judging whether the process of checking the directions of the large vehicle and the small vehicle of the IGV by a dynamic and static scanning combination is normal or not; performing proofreading analysis on the data of positioning detection on the IGV by the dynamic and static scanning combination and the data of positioning detection on the IGV by the IGV fleet management system; and carrying out fusion analysis on the deviation coordinate data obtained by visual identification and the corrected deviation coordinate data, and carrying out deviation correction. According to the invention, the detection accuracy of the IGV vehicles on multiple lanes under the shore bridge and the cooperative operation efficiency of the shore bridge and the IGV vehicle group are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning and deviation correction of unmanned guided vehicles under port quay cranes, and particularly to an IGV positioning and deviation correction method based on an interactive system between a single trolley quay crane and a guided vehicle. Background Art

[0002] In traditional manual port terminals, container trucks (hereinafter referred to as container trucks) in the port area mainly rely on manual command guidance and positioning to complete interactions under the quay crane. This mode has great potential safety hazards, high labor costs, and low operation efficiency. Traditional port container truck guidance technologies include: first, using absolute encoders and incremental encoders to position the trolley mechanism to complete the quay crane positioning, and then using electromagnetic induction guidance to achieve the positioning of intelligent guided vehicles. In order to realize the intelligent interaction of container trucks in the quay crane operation area of the port area, various 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 a display screen or other means, which is not suitable for the automatic interaction mode between the quay crane and the intelligent guided vehicle. This traditional port container truck guidance technology (hereinafter referred to as CPS) can only realize the guidance of manned container trucks. In an automated terminal, relying solely on this traditional port container truck guidance technology simply cannot meet the operation requirements of efficient interaction between an automated quay crane and an unmanned intelligent guided vehicle (hereinafter referred to as IGV).

[0003] In addition, the Chinese patent application document with the application publication number CN 111268566A discloses an automatic container landing system and method on a container truck lane based on laser. The system includes a controller, a 3D laser scanner, an industrial computer, and an LED display screen that are respectively connected to the controller. The industrial computer is connected to the 3D laser scanner, and the controller is connected to the trolley PLC control system; the 3D laser scanner scans the central cross-section contour of the container truck to obtain the central cross-section contour data pair of the container truck, and the controller calculates the container truck alignment guidance information and sends it to the LED display screen to facilitate the quick and accurate alignment of the container truck; through the high-precision contour scanning of the 3D laser scanner and the calculation of the industrial computer, the high-precision three-dimensional positioning information of the container truck is obtained and sent to the trolley PLC control system to facilitate the adjustment of the attitude and position of the trolley and the spreader, ensuring that the spreader can safely and accurately automatically grab the container. This prior art solution only uses one laser scanner for scanning, and the scanning is single-laser real-time scanning, which is displayed to the driver through a display screen. It cannot control the vehicle alignment, and the single-laser scanning cannot perform positioning coordinate verification and deviation correction, only providing a scanning conversion formula and preliminary control logic. To overcome the above problems of the prior art, it is necessary to propose an interactive system based on a single trolley quay crane and a guided vehicle, and further perform positioning and deviation correction for the IGV based on this interactive system between a single trolley quay crane and a guided vehicle. Summary of the Invention

[0004] In view of this, it is necessary to propose an IGV positioning and deviation correction method based on the interaction system of a single trolley quay crane and a guide vehicle to overcome several deficiencies in the above-mentioned background technology, so as to solve the technical problems of how to improve the detection accuracy of IGVs in multiple lanes under the quay crane and the collaborative operation efficiency between the quay crane and the IGV fleet.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] The present invention proposes an IGV positioning and deviation correction method based on the interaction system of a single trolley quay crane and a guide vehicle. This IGV positioning and deviation correction method is applied to an interaction system of a single trolley quay crane and a guide vehicle, which includes multiple IGVs applied to an automated container terminal, a quay crane laser guiding unit, an IGV fleet management system, and a quay crane management system. The quay crane laser guiding unit is used for three-dimensional coverage detection of multiple lanes and providing precise distance and direction guidance for operating vehicles. The IGV fleet management system is used for positioning control management of multiple IGVs in the automated container terminal. The quay crane management system is used for control management of several quay cranes in the automated container terminal. The quay crane laser guiding unit includes multiple lidars, a calculation unit, and a communication unit. The lidars are installed on the quay crane. The calculation unit is communicatively connected to the lidars and the communication unit respectively. The multiple lanes under the quay crane center include several IGV priority lanes and several IGV auxiliary lanes. The number of the lidars is four. The fourth lidar is installed on the front side of the left connecting beam of the quay crane and close to the sea side of the terminal. The third lidar is installed on the rear side of the left connecting beam of the quay crane and close to the land side of the terminal. The second lidar is installed on the front side of the right connecting beam of the quay crane and close to the sea side of the terminal. The first lidar is installed on the rear side of the right connecting beam of the quay crane and close to the land side of the terminal. The fourth lidar and the second lidar are combined into a first dynamic and static scanning combination for priority scanning. The first lidar and the third lidar are combined into a second dynamic and static scanning combination for auxiliary scanning. The first dynamic and static scanning combination is used for dynamic and static scanning of the IGV priority lanes in the multiple lanes under the quay crane center. The second dynamic and static scanning combination is used for supplementary dynamic and static scanning of each IGV priority lane in the multiple lanes under the quay crane center, and also for dynamic and static scanning of each IGV auxiliary lane in the multiple lanes under the quay crane center. Each IGV is equipped with a binocular camera for identifying lane markings under the quay crane and an IGV vehicle-mounted controller.

[0007] This IGV positioning and deviation correction method includes the following execution steps:

[0008] Step S1, through the IGV fleet management system for positioning control management, make the IGV enter the starting position of the designated lane under the quay crane;

[0009] Step S2, detect the scanning status of each lidar. When the scanning status of the lidar is normal, execute Step S3; the normal scanning status of the lidar means that the first dynamic-static scanning combination and the second dynamic-static scanning combination are operating normally;

[0010] Step S3, when the IGV starts to drive from the starting position towards the center position under the quay crane, detect and judge whether the guiding and positioning detection process of the IGV is normal. If the judgment is negative, pause guiding the IGV. If the judgment is positive, execute Step S4; the guiding and positioning detection process of the IGV is used to guide the IGV to drive from the starting position towards the center position under the quay crane according to the positioning target and the specified normal driving route;

[0011] And identify the lane markings under the quay crane through a binocular camera. The binocular camera maps the image coordinate system to the world coordinate system through parallax calculation, so as to obtain the deviation coordinate data obtained by visual recognition in the trolley direction and the gantry direction of the IGV;

[0012] Step S4, during the driving process of an IGV towards the center position under the quay crane, detect and judge whether the process of calibrating the trolley direction and the gantry direction of the IGV by a dynamic-static scanning combination is normal. If the judgment is negative, stop execution. If the judgment is positive, execute Step S5; the process of calibrating the trolley direction and the gantry direction of the IGV by the dynamic-static scanning combination is to calibrate each other through the dynamic lidar and the static lidar to confirm whether the dynamic lidar and the static lidar output normally;

[0013] Step S5, execute the driving positioning and adjustment process of an IGV to the center position under the quay crane, and proofread and analyze the data of positioning detection of the IGV by the dynamic-static scanning combination and the data of positioning detection of the IGV by the IGV fleet management system, so as to obtain the deviation coordinate data after calibration in the trolley direction and the gantry direction of the IGV; the driving positioning and adjustment process of the IGV to the center position under the quay crane is used to control the IGV to reach the target position through at least two guidances;

[0014] Step S6, fuse and analyze the deviation coordinate data obtained by visual recognition and the deviation coordinate data after calibration and perform deviation correction.

[0015] Further, in Step S3, the guiding and positioning detection process of the IGV includes Step S31 and Step S32 executed in sequence:

[0016] Step S31, when the IGV is controlled by the fleet management system to reach the gantry target position coordinate S IGV目标 of the IGV, the judgment and analysis of the gantry direction positioning deviation threshold S1 are as follows:

[0017] When |S IGV定位 -|(SIGV目标 -S 动 )||>S1, it is determined as an IGV guidance positioning deviation fault, and at this time, the IGV guidance is paused; S IGV定位 is the current positioning position coordinate of the IGV single machine; S IGV目标 is the target position coordinate of the IGV large vehicle; S 动 is the coordinate of the corresponding lidar dynamic scanning in the direction of the IGV large vehicle;

[0018] When |S IGV定位 -|(S IGV目标 -S 动 )||<S1, it is determined that the IGV guidance positioning is normal, and at this time, the normal guidance is carried out;

[0019] Step S32, when the IGV is controlled by the fleet management system to reach the target position Y IGV目标 at this time, the following judgment is executed:

[0020] When |Y IGV定位 -|(Y IGV目标 -Y 动 )||>Y1, it is determined as an IGV guidance positioning deviation fault, and at this time, the IGV guidance is paused; Y 动 is the coordinate of the corresponding lidar dynamic scanning in the direction of the IGV car, Y IGV目标 is the target position of the IGV car, Y IGV定位 is the current positioning position of the IGV single machine; Y1 is the threshold value of the deviation of the positioning correction function in the direction of the car;

[0021] When |Y IGV定位 -|(Y IGV目标 -Y 动 )||<Y1, it is determined that the IGV guidance positioning is normal, and at this time, the normal guidance is carried out;

[0022] When the IGV completes the IGV guidance positioning detection process, it is used to judge whether the current IGV is in a state where it can be guided, so as to ensure the positioning stability of the laser guidance system;

[0023] When the IGV has entered under the quay crane, the working states of the dynamic and static lidars in the directions of the IGV large vehicle and small vehicle are judged through the combination of dynamic and static scanning.

[0024] Furthermore, in step S4, the process of calibrating the IGV in the directions of the large vehicle and small vehicle by the dynamic and static scanning combination is to detect whether the quay crane dynamic lidar and static lidar are working properly through the mutual calibration function of the dynamic lidar and the static lidar;

[0025] In step S4, when the IGV reaches the target position, when |S 静 -S 动When |S| > S2, output a dynamic and static lidar calibration fault signal. At this time, the quay crane laser guidance unit stops. When the IGV does not reach the target position, take S 静 and S 动 as the normal positioning position; S2 is the deviation threshold of the IGV dynamic and static laser calibration function in the trolley direction; S 静 is the static scanning coordinate of the laser on the IGV trolley direction; S 动 is the corresponding lidar dynamic scanning coordinate of the IGV trolley direction;

[0026] In step S4, when the IGV reaches the target position, when |Y 静 - Y 动 | > Y2, output a dynamic and static lidar calibration fault signal. At this time, the quay crane laser guidance unit stops. When the IGV does not reach the target position, take Y 静 and Y 动 as the normal positioning position; Y2 is the threshold of the lidar calibration function in the trolley direction; Y 静 is the corresponding static scanning coordinate of the laser on the IGV trolley direction; Y 动 is the corresponding lidar dynamic scanning coordinate of the IGV trolley direction.

[0027] Further, in step S5, the driving positioning and adjustment process of the IGV going to the center position under the quay crane includes the following execution steps S51 and S52:

[0028] Step S51, execute the IGV trolley direction primary guidance positioning process; Step S51 includes steps S511 - S514 executed sequentially:

[0029] Step S511, when |Y 动 - Y 岸 | > Y3, the IGV fleet management system resends the Y 岸桥 position to the IGV vehicle-mounted controller. The IGV regenerates the command to the target value position, and the IGV executes the direction action until |Y 动 - Y 岸 | < Y3. If the condition is still not met, the IGV vehicle-mounted controller reports a fault; Y 动 is the corresponding lidar dynamic scanning coordinate of the IGV trolley direction; Y 岸 is the known total travel of the trolley direction under the quay crane; Y3 is the threshold of the IGV trolley direction primary guidance positioning function;

[0030] Step S512, when Y2 < |Y 动 - Y 岸 | < Y3, the IGV vehicle-mounted controller sends Y 动偏差 to the IGV, and the IGV goes to Y 动偏差Perform a guiding action based on the position distance and according to Y 动偏差 Act in different directions; where Y 动偏差 = Y 动 - Y 岸 When Y 动偏差 is positive, then Y 动偏差 is the deviation distance to the left from the center under the IGV offshore bridge; when Y 动偏差 is negative, then Y 动偏差 is the deviation distance to the right from the center under the IGV offshore bridge; Y 偏差 is the position deviation between the current IGV and the trolley direction of the quay crane center; Y 岸 is the total travel distance of the trolley direction under the known quay bridge; Y2 is the deviation threshold of the IGV trolley direction positioning correction function; Y 动 is the coordinate of the IGV trolley direction corresponding to the dynamic scanning of the lidar; Y3 is the threshold of the IGV trolley direction primary guiding and positioning function;

[0031] Step S513, when the IGV reaches the operation target position under the quay bridge after acting according to the coordinate Y of the dynamic scanning of the corresponding lidar for the IGV trolley direction 动 then the static lidar performs scanning; the operation target position under the quay bridge is the target position where the IGV fleet management system sends instructions to the IGV;

[0032] Step S514, determine whether |Y 静 - Y 岸 | is less than Y4. When the judgment is yes, the IGV positioning is completed. When the judgment is no, re-judge the value of Y 动 and repeat steps S511 - S513; Y4 is the minimum value of the threshold of the IGV trolley direction primary guiding and positioning function; Y 静 is the coordinate of the IGV trolley direction corresponding to the static scanning of the corresponding laser; Y 岸 is the total travel distance of the trolley direction under the known quay bridge;

[0033] Step S52, execute the secondary guiding and positioning process for the IGV in the trolley and gantry directions; Step S52 includes steps S521, S522, and S523 that are executed sequentially:

[0034] Step S521, after the IGV reaches the center position under the quay bridge, the corresponding lidar performs a static attitude scan of the IGV, and take the current scan value as S 静 Define the deviation threshold of the secondary guiding function in the gantry direction as the value S5;

[0035] Step S522, execute the following judgment process:

[0036] When |S 静 - S 岸When |S < S5, it is determined that the current IGV has reached the position, then the guidance is stopped, and the automated loading and unloading process of the quay crane laser guidance unit cooperating with the IGV is completed; S 岸 is the total travel distance in the trolley direction under the known quay crane; S 静 is the coordinate of the IGV in the trolley direction scanned statically by the lidar; the automated loading and unloading process of the quay crane laser guidance unit cooperating with the IGV is that after the IGV arrives under the quay crane and the guidance is completed, the quay crane spreader automatically loads and unloads the container on the IGV;

[0037] When |S 静 -S 岸 | > S5, it is determined that the IGV needs to perform a secondary guidance action, and calculate the static deviation of the current IGV and the deviation from the center position under the quay crane S 静偏差 , S 静偏差 = S 静 -S 岸 , when S 静偏差 is a positive value, then S 静偏差 is the deviation distance of the IGV from the center under the quay crane to the left. When S 静偏差 is a negative value, then S 静偏差 is the deviation distance of the IGV from the center under the quay crane to the right;

[0038] Step S523, the quay crane sends S 静偏差 to the IGV through the communication unit, and performs the secondary guidance action of the IGV in the trolley direction, and moves in different directions according to S 静偏差 ;

[0039] Step S524, perform the following judgment:

[0040] Judge |S 动 -S 岸 | whether it is less than S5. When the judgment is yes, the IGV positioning is completed. When the judgment is no, re-judge the S 静 value, and repeat steps S521 - S523.

[0041] In step S523, the process of performing the secondary guidance of the IGV in the hoist direction is as follows:

[0042] After the IGV reaches the center command position under the quay crane, the corresponding lidar performs a static attitude scan of the IGV, and takes the current scan value as Y 静 , and then perform the following judgment process:

[0043] Judgment step one, when |Y 静 -Y 岸When |Y| < Y5, it is determined that the current IGV has reached the position, and then the guidance is stopped, and the automated loading and unloading process of the quay crane laser guidance unit cooperating with the IGV is completed; Y5 is the minimum threshold value of the secondary guidance function in the IGV trolley direction; the automated loading and unloading process of the quay crane laser guidance unit cooperating with the IGV is that after the IGV arrives under the quay crane and the guidance is completed, the quay crane spreader automatically loads and unloads the container on the IGV; then the judgment step two is executed.

[0044] Judgment step two, when |Y 静 - Y 岸 | > Y5, it is determined that the IGV needs secondary guidance. At this time, calculate the deviation between the current IGV static deviation and the center position under the quay crane as Y 静偏差 , Y 静偏差 = Y 静 - Y 岸 , when Y 静偏差 is a positive value, then Y 静偏差 is the deviation distance of the IGV from the center under the quay crane upwards, and when Y 静偏差 is a negative value, then Y 静偏差 is the deviation distance of the IGV from the center under the quay crane downwards; at this time, the quay crane laser guidance unit sends Y 静偏差 to the IGV, and at this time the IGV performs a secondary guidance action towards the Y 静偏差 position distance and moves in different directions according to Y 静偏差 ; then the judgment step three is executed.

[0045] Judgment step three, |Y 动 - Y 岸 | < Y5, then the IGV positioning is completed, otherwise re-judge the Y 静 value and repeat the judgment step one.

[0046] Furthermore, step S6 includes the following steps:

[0047] Step S61, when the IGV enters under the quay crane, the IGV's own positioning coordinates obtain the trolley direction coordinates and the hoist direction coordinates (x 视车 , y 视车 ) by recognizing the road markings on the quay crane lane through a binocular camera. Among them, when the IGV is in the first guidance and the second guidance, each time it receives the deviation coordinates of the trolley direction and the hoist direction as (X 偏差 , Y 偏差 );

[0048] Step S62, set the IGV target moving position coordinates as (x T , y T ), where the weight factor is defined as w f , and calculate the following formula:

[0049] XT = x 视车 + w f X 偏差 ;

[0050] Y T = y 视车 + w f Y 偏差 ;

[0051] where (0 < w f ≤ 1)

[0052] where X 动 , Y 动 are both real - time positioning values of the dynamic scanning of the laser; (Y 动 is the coordinate in the direction of the IGV trolley corresponding to the dynamic scanning of the lidar, and X 动 is the coordinate in the direction of the IGV vehicle corresponding to the dynamic scanning of the lidar); is the outlier processing parameter.

[0053] Furthermore, the interactive system between the single - trolley quay crane and the AGV also includes a total controller. The AGV management system includes multiple AGV single - machine controllers and an AGV management unit. The quay - crane management system includes multiple quay - crane single - machine controllers and a quay - crane management unit. The total controller is provided with a single - machine automatic control system ACCS. The quay - crane management unit is the quay - crane management system QCMS. The AGV vehicle - mounted controller is used to control the operation of a single AGV. The quay - crane single - machine controller is used to control the operation of a single quay crane.

[0054] The present invention further provides a computer - readable storage medium storing a computer program, and when the computer program is executed by a processor, it implements the steps of the IGV positioning and deviation correction method of the interactive system between the single - trolley quay crane and the AGV as described in any one of the above.

[0055] The present invention further provides 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, it implements the steps of the IGV positioning and deviation correction method of the interactive system between the single - trolley quay crane and the AGV as described in any one of the above.

[0056] The beneficial effects of the present invention are:

[0057] The present invention improves the detection accuracy of IGVs traveling on multiple lanes under the quay crane and the collaborative operation efficiency between the quay crane and the IGV fleet; the present invention can improve the data accuracy and precision of the IGV positioning and deviation correction method, provides the redundancy verification ability of the interactive system based on the single trolley quay crane and the guiding vehicle, can detect in time when the lidar and the IGV fail, and improves the positioning accuracy through the visual recognition of the IGV, thereby improving the accuracy of the IGV's arrival; when the automated quay crane (i.e., the quay crane) at the forefront of the automated terminal aligns with the intelligent guiding vehicle (i.e., the IGV), and when the quay crane performs the automated operation of loading / unloading the IGV boxes, during the alignment of the IGV and the quay crane, based on the interactive system of the single trolley quay crane and the guiding vehicle for positioning and deviation correction, when the quay crane automatically loads / unloads the IGV boxes, the IGV stops at the center position of the quay crane in the quay crane's trolley direction (i.e., horizontally along the coastline), and the IGV stops at the center of the lane under the quay crane in the quay crane's trolley direction (i.e., vertically perpendicular to the lane), then the quay crane can accurately scan the current parking position of the IGV, compare the position with the center position of the quay crane and the position of the task lane to obtain the deviation of the IGV in the trolley and crane directions, and send guiding information to the IGV, thereby accurately performing the IGV positioning and deviation correction. Brief Description of the Drawings

[0058] The accompanying drawings are included to provide a further understanding of the present invention, and the drawings are incorporated into and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present invention and, together with the description, are used to explain the principles of the present invention. These figures are for illustrative purposes only and thus do not limit the present invention.

[0059] Figure 1 Schematic three-dimensional installation structure diagram of the interactive system based on the single trolley quay crane and the guiding vehicle related to the present invention;

[0060] Figure 2 Schematic top-view installation position diagram of the first lidar, the second lidar, the third lidar and the fourth lidar related to the present invention;

[0061] Description of the reference numerals:

[0062] The first lidar - L1; the second lidar - L2; the third lidar - L3; the fourth lidar - 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 Embodiments

[0063] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will, in conjunction with the embodiments of the present invention, further clearly and completely describe the technical solutions of the present invention. It should be noted that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0064] Terms such as "first", "second", "third", "fourth", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", "third", "fourth" may explicitly or implicitly include one or more of such features.

[0065] The following is a detailed description of the embodiments of the present invention depicted in the accompanying drawings. The embodiments are detailed in order to clearly convey the present invention. However, the quantity of details provided is not intended to limit the expected variations of the embodiments; on the contrary, the purpose is to cover all modifications, equivalents, and alternatives that fall within the spirit and scope of the present invention as defined by the appended claims.

[0066] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without some of these specific details.

[0067] The embodiments of the present invention include various steps, which will be described below. These steps may be executed by hardware components or may be included in machine-executable instructions that may be used to program a general or special-purpose processor to execute these steps. Alternatively, the steps may be executed by a combination of hardware, software, and firmware and / or an artificial operator.

[0068] The various methods described herein may be practiced by combining one or more machine-readable storage media containing code according to the present invention with appropriate standard computer hardware to execute the code contained therein. The apparatus for implementing the 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 having network access to or containing a computer program encoded according to the various methods described herein, and the method steps of the present invention may be accomplished by modules, routines, subroutines, or sub-parts of a computer program product.

[0069] If the specification states that a component or feature "may", "is capable of", "can", or "might" include or have a feature, it is not necessary for the specific component or feature to include or have the feature.

[0070] As used in the specification of this application and the appended claims, the meanings of "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. Additionally, as used in the description herein, unless the context clearly provides otherwise, the meaning of "in" includes "in" and "on".

[0071] Exemplary embodiments will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments are shown. These exemplary embodiments are provided for illustrative purposes only and to make the present invention thorough and complete, and to fully convey the scope of the present invention to those of ordinary skill in the art. However, the disclosed invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Various modifications will be 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. Additionally, all statements herein regarding the embodiments of the present invention and their specific examples are intended to cover their structural and functional equivalents. Further, these equivalents are intended to include both currently known equivalents and equivalents developed in the future (i.e., any elements developed to perform the same function regardless of structure). Moreover, the terminology and phrasing used are for the purpose of describing exemplary embodiments and should not be considered limiting. Accordingly, the present invention is to be accorded the broadest scope, including various substitutions, modifications, and equivalents consistent with the disclosed principles and features. For the sake of clarity, details of technical materials known in the technical fields related to the present invention have not been described in detail so as not to unnecessarily obscure the present invention.

[0072] Thus, for example, those of ordinary skill in the art will understand that diagrams, schematics, illustrations, etc. represent conceptual views or processes of systems and methods embodying the present invention. The functions of the various elements shown in the figures can be provided by using dedicated hardware as well as hardware capable of executing associated software. Similarly, any switches shown in the figures are merely 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 the particular technique can be selected by the entity implementing the present invention. Those of ordinary skill in the art should further understand that the exemplary hardware, software, processes, methods, and / or operating systems described herein are for illustrative purposes and are not intended to be limited to any particular named elements.

[0073] Embodiments of the present invention may provide a computer program product, which may include a machine-readable storage medium having instructions tangibly implemented thereon, which may be used to program a computer (or other electronic device) to perform processing. The term "machine-readable storage medium" or "computer-readable storage medium" includes, but is not limited to, fixed (hardware) drives, magnetic tapes, floppy disks, optical disks, compact 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 memories, 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). The machine-readable medium may include non-transitory media, where 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, magnetic or tape disks, optical storage media such as compact disks (CDs) or digital versatile disks (DVDs), flash memories, memories or memory devices. The computer program product may include code and / or machine-executable instructions, which may represent any combination of processes, functions, subroutines, programs, routines, subroutines, modules, software packages, classes, or instructions, data structures, or program statements. By passing and / or receiving information, data, variables, parameters, or memory contents, code segments may be coupled to another code segment or hardware circuit. The 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.

[0074] In addition, 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 product) for performing the necessary tasks may be stored in a machine-readable medium. The processor may execute the necessary tasks.

[0075] 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 across one or more networks in a cloud computing system.

[0076] Each of the appended claims defines a separate invention, which for purposes of infringement is considered to include equivalents of the various elements or limitations specified in the claim. Depending on the context, all references to "the invention" in the following 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.

[0077] Unless otherwise specified herein or clearly contradicted by the context, 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 of this document is merely intended to better illustrate the invention and does not constitute a limitation on the scope of the claimed invention. No language in the specification should be construed as indicating any non-claimed element as essential to the practice of the invention.

[0078] The various terms used herein are as follows. In the case where the terms used in the claims are not defined below, the broadest definition should be given, which has been reflected in printed publications and issued patents at the time of filing the application by those skilled in the relevant art.

[0079] Embodiment 1

[0080] As Figure 1 、 Figure 2 shown:

[0081] This embodiment proposes an IGV positioning and deviation correction method based on the interaction system of a single trolley quay crane and a guide vehicle. This IGV positioning and deviation correction method is applied to an interaction system of a single trolley quay crane and a guide vehicle, which includes multiple IGVs 6, a quay crane laser guidance unit CPS, an IGV fleet management system VMS, and a quay crane management system applied to an automated container terminal. The quay crane laser guidance unit CPS is used for detecting the three-dimensional coverage of multiple lanes and providing accurate distance and direction guidance for operating vehicles. The IGV fleet management system VMS is used for positioning control management of multiple IGVs 6 in the automated container terminal. The quay crane management system is used for control management of several quay cranes 5 in the automated container terminal. The quay crane laser guidance unit CPS includes multiple lidars, a calculation unit, and a communication unit 7. The lidars are installed on the quay crane 5. The calculation unit is communicatively connected to the lidars and the communication unit 7 respectively. 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 lidars is four. The fourth lidar L4 is installed on the front side of the left connecting beam of the quay crane 5 (the X - left beam as Figure 1 shown) and is close to the sea side of the terminal. The third lidar L3 is installed on the rear side of the left connecting beam of the quay crane 5 (the X - left beam as Figure 1 shown) and is close to the land side of the terminal. The second lidar L2 is installed on the front side of the right connecting beam of the quay crane 5 (the X - right beam as Figure 1 shown) and is close to the sea side of the terminal. The first lidar L1 is installed on the right connecting beam of the quay crane 5 (the X - right beam as Figure 1The rear side of the shown X-shaped right beam) is close to the land side of the wharf; the fourth lidar L4 and the second lidar L2 form the first dynamic and static scanning combination for priority scanning, and the first lidar L1 and the third lidar L3 form the second dynamic and static scanning combination for auxiliary scanning; the first dynamic and static scanning combination is used for dynamically and statically scanning the IGV priority driving lanes in the multi-lanes under the center of the quay crane 5; the second dynamic and static scanning combination is used for supplementing the dynamic and static scanning of the IGV priority driving lanes in the multi-lanes under the center of the quay crane 5, and also for dynamically and statically scanning the IGV auxiliary driving lanes in the multi-lanes under the center of the quay crane 5; each IGV6 is equipped with a binocular camera for identifying the lane markings under the quay crane 5 and an IGV vehicle-mounted controller;

[0082] The IGV positioning and deviation correction method includes the following steps S1 - step S6 executed sequentially:

[0083] Step S1, perform positioning control and management through the IGV fleet management system VMS to make the IGV6 enter the starting position of the specified lane under the quay crane 5;

[0084] Step S2, detect the scanning status of each lidar. When the lidar scanning status is normal, execute step S3; the lidar scanning status being normal means that the first dynamic and static scanning combination and the second dynamic and static scanning combination are operating normally;

[0085] Step S3, when the IGV6 starts to drive from the starting position towards the center position under the quay crane 5, detect and judge whether the guiding and positioning detection process of the IGV6 is normal. If the judgment is no, pause guiding the IGV6. If the judgment is yes, execute step S4; the guiding and positioning detection process of the IGV6 is used to guide the IGV6 to drive from the starting position towards the center position under the quay crane 5 according to the positioning target and the specified normal driving route;

[0086] And identify the lane markings under the quay crane 5 through the binocular camera. The binocular camera maps the image coordinate system to the world coordinate system through parallax calculation, so as to obtain the deviation coordinate data of the IGV6 in the large vehicle direction and the small vehicle direction obtained by visual recognition;

[0087] Step S4, during the driving process of an IGV6 towards the center position under the quay crane 5, detect and judge whether the dynamic and static scanning combination's verification process for the large vehicle and small vehicle directions of the IGV6 is normal. If the judgment is no, stop execution. If the judgment is yes, execute step S5; the dynamic and static scanning combination's verification process for the large vehicle and small vehicle directions of the IGV6 is to mutually verify through the dynamic lidar and the static lidar to confirm whether the dynamic lidar and the static lidar output normally;

[0088] Step S5, perform a driving positioning and adjustment process for IGV6 to move to the central position under the quay crane 5, and proofread and analyze the data of the dynamic and static scanning combination for positioning detection of IGV6 and the data of the IGV fleet management system VMS for positioning detection of IGV6, so as to obtain the deviation coordinate data after proofreading in the trolley direction and the gantry direction of IGV6; the driving positioning and adjustment process for IGV6 to move to the central position under the quay crane 5 is used to control IGV6 to reach the target position through at least two times of guidance;

[0089] Step S6, fuse and analyze the deviation coordinate data obtained by visual recognition and the deviation coordinate data after proofreading, and perform deviation correction.

[0090] Optimally, in step S3, the guiding and positioning detection process of IGV6 includes steps S31 and S32 executed sequentially:

[0091] Step S31, when IGV6 is controlled by the fleet management system VMS to move to the IGV gantry target position coordinate S IGV目标 At this time, the judgment and analysis of the IGV gantry direction positioning deviation threshold S1 are as follows:

[0092] When |S IGV定位 -|(S IGV目标 -S 动 )|| > S1, it is determined that there is a deviation fault in the IGV guiding and positioning, and at this time, the guidance of IGV6 is paused; S IGV定位 is the current positioning position coordinate of the IGV single machine; S IGV目标 is the IGV gantry target position coordinate; S 动 is the coordinate corresponding to the dynamic scanning of the IGV gantry direction by the lidar;

[0093] When |S IGV定位 -|(S IGV目标 -S 动 )|| < S1, it is determined that the IGV6 guiding and positioning is normal, and at this time, the normal guidance is carried out;

[0094] Step S32, when IGV6 is controlled by the fleet management system VMS to move to the target position Y IGV目标 At this time, the following judgment is executed:

[0095] When |Y IGV定位 -|(Y IGV目标 -Y 动 )|| > Y1, it is determined that there is a deviation fault in the IGV6 guiding and positioning, and at this time, the guidance of IGV6 is paused; Y 动 is the coordinate corresponding to the dynamic scanning of the IGV trolley direction by the lidar, Y IGV目标 is the IGV trolley target position, Y IGV定位is the current positioning location of the single IGV; Y1 is the threshold value of the deviation of the positioning and deviation correction function in the trolley direction;

[0096] When |Y IGV定位 -|(Y IGV目标 -Y 动 )|| < Y1, it is determined that the IGV6 guiding and positioning is normal, and at this time, normal guiding is performed;

[0097] After the IGV6 completes the guiding and positioning detection process of the IGV6, it is used to determine whether the current IGV6 is in a state where it can be guided, so as to ensure the positioning stability of the laser guiding system;

[0098] When the IGV6 has entered under the quay crane 5, the working states of the dynamic and static lidars in the trolley and gantry directions of the IGV6 are judged through a combination of dynamic and static scans.

[0099] Optimally, in step S4, the dynamic and static scan combination for calibrating the trolley and gantry directions of the IGV6 is to detect whether the dynamic and static lidars of the quay crane 5 are working properly through the mutual calibration function of the dynamic lidar and the static lidar in the state of mutual calibration;

[0100] In step S4, when the IGV6 reaches the target position, when |S 静 -S 动 | > S2, a calibration fault signal of the dynamic and static lidars is output. At this time, the quay crane laser guiding unit CPS stops. When the IGV6 does not reach the target position, then take S 静 、S 动 as the normal positioning position; S2 is the threshold value of the deviation of the calibration function of the IGV dynamic and static lasers in the gantry direction; S 静 is the coordinate of the static scan of the IGV gantry direction by the laser; S 动 is the coordinate of the dynamic scan of the IGV gantry direction by the corresponding lidar;

[0101] In step S4, when the IGV6 reaches the target position, when |Y 静 -Y 动 | > Y2, a calibration fault signal of the dynamic and static lidars is output. At this time, the quay crane laser guiding unit CPS stops. When the IGV6 does not reach the target position, then take Y 静 、Y 动 as the normal positioning position; Y2 is the threshold value of the calibration function of the lidar in the trolley direction; Y 静 is the coordinate of the static scan of the IGV trolley direction by the corresponding laser; Y 动 is the coordinate of the dynamic scan of the IGV trolley direction by the corresponding lidar.

[0102] Preferably, in step S5, the process of driving positioning and adjustment of the IGV6 to the central position under the quay crane 5 includes the following execution steps S51 and S52:

[0103] Step S51, execute the one-time guiding and positioning process for the IGV6 in the trolley direction; Step S51 includes steps S511 - S514 executed in sequence:

[0104] Step S511, when |Y 动 -Y 岸 | > Y3, the IGV fleet management system VMS resends the Y 岸桥 position to the IGV vehicle-mounted controller, the IGV6 generates an instruction to the target value position again, and the IGV6 executes the direction action until |Y 动 -Y 岸 | < Y3. If the action is more than three times and the condition is still not met, the IGV vehicle-mounted controller reports a fault; Y 动 is the coordinate of the IGV trolley direction dynamically scanned by the corresponding lidar; Y 岸 is the total travel of the trolley direction under the known quay crane; Y3 is the threshold value of the one-time guiding and positioning function of the IGV6 trolley direction;

[0105] Step S512, when Y2 < |Y 动 -Y 岸 | < Y3, the IGV vehicle-mounted controller sends Y 动偏差 to the IGV6, and the IGV6 performs a one-time guiding action according to the distance to the Y 动偏差 position and moves in different directions according to Y 动偏差 ; where Y 动偏差 = Y 动 -Y 岸 , when Y 动偏差 is positive, Y 动偏差 is the deviation distance of the IGV6 from the center under the quay crane 5 to the left (unit: mm); when Y 动偏差 is negative, Y 动偏差 is the deviation distance of the IGV6 from the center under the quay crane 5 to the right (unit: mm); Y 偏差 is the position deviation of the current IGV6 from the center of the trolley direction of the quay crane 5; Y 岸 is the total travel of the trolley direction under the known quay crane; Y2 is the deviation threshold of the IGV trolley direction positioning and deviation correction function; Y 动 is the coordinate of the IGV trolley direction dynamically scanned by the corresponding lidar; Y3 is the threshold value of the one-time guiding and positioning function of the IGV6 trolley direction;

[0106] Step S513, when the IGV6 determines the coordinate Y of the IGV trolley direction dynamically scanned by the corresponding lidar 动After the action reaches the operation target position under the quay crane, the static lidar scans; the operation target position under the quay crane is the target position where the IGV fleet management system VMS sends instructions to IGV6.

[0107] Step S514, determine whether |Y 静 -Y 岸 | is less than Y4. If the judgment is yes, the positioning of IGV6 is completed; if the judgment is no, re-judge the Y 动 value, and repeat steps S511 - S513; Y4 is the minimum value of the threshold for the one-time guiding and positioning function of the IGV6 trolley direction; Y 静 is the coordinate of the IGV trolley direction scanned statically by the corresponding laser; Y 岸 is the known total travel of the trolley direction under the quay crane.

[0108] Step S52, execute the secondary guiding and positioning process for the IGV6 large and small vehicle directions; Step S52 includes steps S521, S522, and S523 executed in sequence:

[0109] Step S521, after IGV6 reaches the central position under quay crane 5, the corresponding lidar performs a static attitude scan on IGV6, and takes the current scan value as S 静 , and define the deviation threshold for the secondary guiding function of the large vehicle direction as value S5.

[0110] Step S522, execute the following judgment process:

[0111] When |S 静 -S 岸 | < S5, it is determined that the current IGV6 has reached the position, then stop the guidance and complete the automated loading and unloading process of the quay crane laser guidance unit CPS cooperating with IGV6; S 岸 is the known total travel of the large vehicle direction under the quay crane; S 静 is the coordinate of the IGV large vehicle direction scanned statically by the lidar; the automated loading and unloading process of the quay crane laser guidance unit CPS cooperating with IGV6 is that after IGV6 reaches the guidance under quay crane 5 and is completed, the spreader of quay crane 5 automatically loads and unloads the container on IGV6.

[0112] When |S 静 -S 岸 | > S5, it is determined that IGV6 needs to perform a secondary guiding action, and calculate the static deviation of the current IGV6 and the deviation S 静偏差 of the central position under quay crane 5, S 静偏差 = S 静 -S 岸 When S 静偏差 is a positive value, then S 静偏差 is the deviation distance of IGV6 from the central position under quay crane 5 to the left. When S静偏差 When it is negative, then S 静偏差 is the deviation distance to the right of the center under the IGV6 offshore bridge 5;

[0113] Step S523, the quay crane 5 sends S through the communication unit 7 静偏差 to the IGV6, and performs a secondary guiding action for the IGV6 in the trolley direction. According to S 静偏差 move in different directions;

[0114] Step S524, perform the following judgment:

[0115] Judge whether |S 动 -S 岸 | is less than S5. When the judgment is yes, the positioning of the IGV6 is completed. When the judgment is no, re-judge the S 静 value, and repeat steps S521 - S523.

[0116] In step S523, the process of performing secondary guidance for the IGV6 in the trolley direction is as follows:

[0117] After the IGV6 reaches the command position of the center under the quay crane 5, the corresponding lidar scans the static attitude of the IGV6, and takes the current scan value as Y 静 , and then perform the following judgment process:

[0118] Judgment step one, when |Y 静 -Y 岸 | < Y5, it is determined that the current IGV6 has reached the position, then stop the guidance, and complete the automated loading and unloading process of the quay crane laser guidance unit CPS cooperating with the IGV6; Y5 is the minimum value of the secondary guidance function threshold for the IGV6 trolley direction; the automated loading and unloading process of the quay crane laser guidance unit CPS cooperating with the IGV6 is that after the IGV6 reaches the guidance under the quay crane 5 and is completed, the spreader of the quay crane 5 performs an automatic loading and unloading process on the container on the IGV6; then perform judgment step two;

[0119] Judgment step two, when |Y 静 -Y 岸 | > Y5, it is determined that the IGV6 needs to perform secondary guidance. At this time, calculate the deviation between the current static deviation of the IGV6 and the position of the center under the quay crane 5 as Y 静偏差 , Y 静偏差 = Y 静 -Y 岸 , when Y 静偏差 is positive, then Y 静偏差 is the deviation distance of the IGV6 from the center under the quay crane 5 upwards (unit: mm). When Y 静偏差 is negative, then Y 静偏差is the deviation distance of the lower center of the IGV6 under the offshore bridge 5 (unit: mm); at this time, the shore bridge laser guidance unit CPS sends Y 静偏差 to the IGV6, and at this time the IGV6 moves in the Y 静偏差 position distance for a secondary guidance action, according to Y 静偏差 to move in different directions; then execute the judgment step three;

[0120] Judgment step three, |Y 动 -Y 岸 | < Y5, then the IGV6 positioning is completed, otherwise re-judge the Y 静 value and repeat the judgment step one.

[0121] Optimally, step S6 includes the following steps:

[0122] Step S61, when the IGV6 enters under the shore bridge 5, the self-positioning coordinates of the IGV6 identify the road surface markings on the lane under the shore bridge 5 through a binocular camera to obtain the large vehicle direction coordinates and the small vehicle direction coordinates (x 视车 , y 视车 ), where each time the IGV6 receives the deviation coordinates of the large vehicle direction and the small vehicle direction during the first and second guidance, they are (X 偏差 , Y 偏差 );

[0123] Step S62, set the target moving position coordinates of the IGV6 as (x T , y T ), where the weight factor is defined as w f , and calculate the following formula:

[0124] X T = x 视车 + w f X 偏差 ;

[0125] Y T = y 视车 + w f Y 偏差 ;

[0126] where (0 < w f ≤ 1)

[0127] where X 动 , Y 动 are all real-time positioning values of the laser dynamic scanning, is the outlier processing parameter.

[0128] Preferably, the quay crane and guided vehicle interaction system based on a single trolley further includes a master controller. The IGV management system includes multiple IGV single controllers and an IGV management unit, and the quay crane management system includes multiple quay crane single controllers and a quay crane management unit. The master controller is provided with a single machine automatic control system (ACCS). The quay crane management unit is the quay crane management system (QCMS). The IGV vehicle-mounted controller is used to control the operation of a single IGV. The quay crane single controller is used to control the operation of a single quay crane.

[0129] Further preferably, in step S1, through the binocular camera vision recognition and positioning method and the IGV fleet management system (VMS) for positioning control and management, the IGV6 is made to enter the starting position of the designated lane under the quay crane 5.

[0130] The present invention can effectively increase the accuracy and reliability of IGV positioning through the new scanning modes of "dynamic scanning" and "static scanning" based on IGV accuracy and the positioning deviation correction algorithm. It also greatly improves the operation efficiency of the automated terminal through the lane priority loading and unloading algorithm, which has promotional significance for automated loading and unloading.

[0131] Embodiment 2

[0132] As Figure 1 、 Figure 2 shown:

[0133] This embodiment proposes an execution method for a quay crane and guided vehicle interaction system based on a single trolley. The execution method includes the following steps:

[0134] Step S100, when the quay crane 5 needs to execute the task of loading and unloading containers, the quay crane management system sends an instruction to the IGV management system. The IGV management system automatically selects the idle IGV6 and controls the IGV6 to travel to the locked lane of the multi-lane under 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 the IGV6 preferentially travels on the idle lane closest to the sea side of the terminal and at least one lane for the IGV6 to return is reserved on the side adjacent to the road side of the terminal. Then step S200 is executed. Specifically, the driving mode of the center lower lane of the quay crane is that the IGV preferentially travels on the idle lane closest to the sea side of the terminal and at least one lane for the IGV to return is reserved on the side adjacent to the land side of the terminal (i.e., the rear side in the Y direction as Figure 1 shown).

[0135] Step S200, at least one dynamic and static scanning combination scans the corresponding locked lane under the quay crane 5. Then step S300 is executed.

[0136] Step S300: Control the specified IGV6 to drive through the corresponding locked lane, and identify the position deviation of the corresponding IGV6 in the Y direction of the trolley movement of the quay crane 5 and the parallelism between the IGV6 and the lane through the combined dynamic and static scanning of the corresponding locked lane; then execute Step S400. Specifically, the locked lane is the lane where the quay crane center assigns tasks when the terminal container receiving instruction is generated, and other IGVs cannot reach this lane. The locked lane cannot be passed through and can only be unlocked when the task IGV completes the task in this lane.

[0137] Step S400: According to the position deviation and parallelism obtained in Step S300, control the trolley mechanism and spreader of the quay crane 5 to reach the specified target position, and then control the spreader to complete the automatic operation at the specified tilting angle; then execute Step S500.

[0138] Step S500: After the spreader of the quay crane 5 finishes loading and unloading the container on the IGV6 vehicle, the IGV6 leaves the corresponding locked lane and unlocks the locked lane.

[0139] After completing the IGV positioning and deviation correction method in Embodiment 1, execute the above-mentioned execution method based on the interaction system between the single-trolley quay crane and the guide vehicle.

[0140] Further optimally, after executing the execution method based on the interaction system between the single-trolley quay crane and the guide vehicle, perform the IGV positioning and deviation correction method of Embodiment 1 again.

[0141] Further optimally, the execution method based on the interaction system between the single-trolley quay crane and the guide vehicle executes the following control logic and algorithms:

[0142] In Step S100, when the quay crane 5 needs to execute the container loading and unloading task, the quay crane management system QCMS sends an automatic selection of an idle IGV6 to the IGV management system (specifically the vehicle fleet management system VMS), locks 1 lane under the quay crane 5, and controls the IGV6 to enter under the center of the quay crane 5 from right to left or from left to right.

[0143] In Step S100, the quay crane management system QCMS issues a land-side container grabbing instruction to the quay crane management system (specifically the single-machine automatic control system ACCS), and the single-machine automatic control system ACCS controls the single-trolley of the quay crane 5 to automatically drive above the locked lane.

[0144] In Step S200, at this time, the four lasers above the quay crane 5 execute the lane scanning optimization process and rules, and the specific rules are as follows:

[0145] As Figure 2As shown in the figure, the 4 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.

[0146] It is known that six lanes are located under the center of the quay crane 5. The first to sixth lanes waiting for loading and unloading tasks are S1, S2, S3, S4, S5, and S6 respectively. Since the maximum number of waiting vehicles in the lanes under the quay crane 5 is 1, the following definitions are made:

[0147]

[0148] It is known that there are a total of six lanes under the quay crane 5, which are divided into passing lanes and operating lanes. Among them, the lane where IGV6 aligns with the quay crane 5 is the operating lane, and the lane that provides passage for IGV6 is the passing lane. And there must be at least one passing lane beside any operating lane for operation. Lanes 1-6 can all be freely switched between passing / operating lanes. The following equation relationship for the number of IGVs in the corresponding lanes can be obtained:

[0149]

[0150] is the number of IGV6s in the first to sixth lanes; is the number of IGV6s in the first to third lanes; is the number of IGV6s in the fourth to sixth lanes;

[0151] 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 1 same lane at the same time each time, and the L2 and L4 lasers are responsible for scanning 1 same lane at the same time each time. Each laser can cover and scan all lanes.

[0152] The scanning time of a laser is T. To ensure the operation efficiency of the quay crane 5, it is defined that the four lasers give priority to completing the guidance of IGV6 on the sea side, that is, giving priority to completing the guidance of IGV6 in the lane with a smaller number of lanes, and then guiding the lane with a larger number of lanes.

[0153] To ensure the positioning accuracy of the laser, the laser tries to select the nearest lane for scanning. And when the vehicle enters from the right and exits from the left, the right laser closest to the current lane is preferentially selected for dynamic scanning. When the vehicle enters from the left and exits from the right, the left laser closest to the lane is preferentially selected for dynamic scanning.

[0154] Based on the above principles, the laser scanning and lane selection logic is:

[0155] Logic 1.0: When L2 and L4 start scanning simultaneously, for the current scanned lane, when the vehicle enters from the right and exits from the left, L2 performs dynamic scanning and L4 performs static scanning; when the vehicle enters from the left and exits from the right, L4 performs dynamic scanning and L2 performs static scanning.

[0156] Logic 2.0: When L1 and L3 start scanning simultaneously, for the current scanned lane, when the vehicle enters from the right and exits from the left, L1 performs dynamic scanning and L3 performs static scanning; when the vehicle enters from the left and exits from the right, L3 performs dynamic scanning and L1 performs static scanning.

[0157] Logic 3.0: When the number of IGVs in the corresponding lane When the number of IGVs in the corresponding lane L4, L2, L1, and L3 first scan the vehicles in the first to third lanes simultaneously. At this time, the total scanning time is T.

[0158] If 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.

[0159] When the number of IGVs in the corresponding lane L4 and L2 scan the vehicles in the first to third lanes, and L3 and L1 remain stationary. At this time, the total scanning time is T.

[0160] If 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.

[0161] When in the manual control mode and the number of IGVs in the corresponding lane L3 and L1 scan the vehicles in the fourth to sixth lanes, and L4 and L2 remain stationary. At this time, the total scanning time is T.

[0162] Logic 4.0: When the number of IGVs in the corresponding lane L1, L3, and L2, L4 remain stationary. 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.

[0163] Embodiment 3

[0164] Embodiment 3 is an optimized design scheme of Embodiment 1;

[0165] The lidar is the laser described below;

[0166] The rules for the dynamic scanning and static scanning data of the laser defined in this embodiment are as follows. Each laser can automatically switch between the dynamic and static scanning modes:

[0167] Rule 1: Dynamic Scanning

[0168] The dynamic scanning of the laser is real-time scanning, that is, the position of the IGV in the lane under the quay crane is scanned in real time by the laser, and the position of the IGV in the large vehicle direction (horizontally along the coastline) is generated in real time, which is defined as the position S on the X coordinate 动 , and the position of the IGV in the small vehicle direction (vertically perpendicular to the lane) is generated in real time, which is defined as the Y coordinate Y 动 ; The triggering condition of the laser for dynamic scanning is: start scanning when the IGV vehicle enters under the quay crane. At this time, S 动 During the process of the IGV moving to the operation lane under the quay crane under the command control, the position of the IGV changes in real time. Finally, it stops when the IGV reaches the central operation position under the quay crane;

[0169] Rule 2: Static Scanning

[0170] The static scanning of the laser is non-real-time scanning. This scanning only starts when the IGV completes the command and reaches the central position under the quay crane. After the scanning is completed, the position of the IGV in the large vehicle direction (horizontally along the coastline) is generated, which is defined as the position S on the X coordinate 静 ; The position of the IGV in the small vehicle direction (vertically perpendicular to the lane) is generated in real time, which is defined as the Y coordinate Y 静 ;

[0171] Rule 3: Total Travel Under the Quay Crane

[0172] Define the distance in the large vehicle direction (horizontally along the coastline) from the left connecting beam to the right connecting beam under the quay crane as the total travel of the quay crane, that is, the total travel in the large vehicle direction under the quay crane is known as S 岸 , at this time, the IGV reaches the exact center under the quay crane, that is, the position where the spreader of the quay crane can pick up and place the container vertically after the IGV arrives is At this time, combining dynamic and static scanning, the following functions (i.e., Rule 4) are realized;

[0173] Rule 4: Positioning and Deviation Correction of the Visual System Under the Quay Crane

[0174] The visual system of the quay crane adopts the binocular camera positioning and perception method. The binocular camera is a stereo vision system composed of two cameras. By calculating the differences between the images captured by the two cameras, the binocular camera can obtain the images of the vehicle's surrounding environment, and match the diamond-shaped signs on the road under the quay crane to achieve precise positioning;

[0175] Among them, the main positioning process of the binocular camera is as follows:

[0176] ①Collect the images of the binocular camera, obtain the images of the diamond under the quay crane from the left and right cameras, and obtain the world coordinate system;

[0177] ② Image preprocessing: According to the distortion parameters obtained from the diamond calibration in the workshop, undistort the acquired images, and perform enhancement, filtering, etc. on the undistorted images based on the characteristics of the test image data to make the images more convenient for eigenvalue detection and facilitate the determination of the current positioning distance;

[0178] ③ Image feature point matching: Perform feature detection on the left and right cameras, match the detected feature points according to the matching algorithm, record the matched feature points, and obtain the image coordinate system;

[0179] ④ Calculate the disparity according to the matched feature points. According to the binocular vision ranging principle, obtain the three-dimensional coordinates in the camera coordinate system corresponding to the matching point pairs, that is, the camera coordinate system;

[0180] ⑤ Determine the current position of the vehicle according to the relative position relationship between the camera coordinates and the vehicle coordinates;

[0181] Among them, the binocular camera is on the front vehicle of the IGV. The standard coordinate information of the diamond calibration in the workshop is the internal parameters of the camera. The mathematical relationship is as follows, where (u, v) is the image coordinate system, (u0, v0) is the coordinate of the optical center of the camera lens on the image plane, and dx and dy are the actual physical sizes corresponding to the pixel points of the photosensitive chip. f / dx, f / dy, u0, v0 are the internal calibration parameter values of the camera, R, T are the rotation and translation matrices, which are the external calibration parameter values of the camera, S is the scale factor, (X W ,Y W ,Z W ) is the world coordinate system coordinate obtained by the camera;

[0182]

[0183] According to the above formula (10), calculate the (x, y) of the camera coordinate system. Based on the (x, y) of the camera coordinate system and the relative position of the camera coordinate system relative to the vehicle center coordinate system, calculate the current vehicle, and the current coordinates of the vehicle (x 视车 ,y 视车 ) can be obtained, and then positioning is achieved.

[0184] Among them, the role of the visual positioning algorithm is:

[0185] Binocular camera three-dimensional coordinate conversion formula: Map the image coordinate system to the world coordinate system through disparity calculation to accurately obtain the real-time position of the IGV;

[0186] Distortion correction formula: Use the calibration parameters to preprocess the images to improve the accuracy of feature point matching.

[0187] When the IGV enters under the quay crane, the self-positioning coordinates of the IGV are obtained by the binocular camera recognizing the diamond coordinates under the quay crane. The coordinates in the trolley direction and the coordinates in the crab direction are used as the reference, that is, (x 视车 ,y视车 ), at this time, the IGV controls the current IGV to reach the target coordinate sent by the command with the current coordinate of itself and the coordinate deviation obtained by the first and second guidance of the guidance system. The following is the first and second guidance process of the dynamic and static scanning of the IGV.

[0188] The dynamic / static scanning formula involved in this embodiment can achieve multi-source data redundancy verification to ensure the reliability of the positioning result;

[0189] The visual positioning formula involved in this embodiment can make up for the blind area of laser scanning (such as occluded scenes) through high-precision three-dimensional reconstruction;

[0190] The fusion algorithm formula involved in this embodiment: combines the real-time nature of the laser and the stability of vision to form complementary advantages; the deviation correction control formula involved in this embodiment: converges the positioning error to the millimeter level through threshold determination and iterative adjustment to meet the stringent requirements of the automated loading and unloading of quay cranes.

[0191] The dynamic and static scanning positioning deviation correction process of the trolley and the gantry involved in this embodiment

[0192] Among them, the role of the deviation correction control logic is:

[0193] The deviation threshold formula: defines the allowable range of positioning error and triggers deviation correction actions (such as the first and second guidance);

[0194] The weight factor formula: fuses visual and laser data, optimizes the target position through weighted calculation, and improves redundancy and anti-interference ability;

[0195] Among them, the role of the dynamic / static scanning positioning is:

[0196] The dynamic scanning formula: calculates the position deviation of the IGV in the gantry direction (X coordinate) and the trolley direction (Y coordinate) in real time, and provides data input for real-time deviation correction.

[0197] Embodiment 4

[0198] This embodiment proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the IGV positioning deviation correction method based on the interaction system between a single trolley quay crane and a guiding vehicle described in any one of the technical solutions in Embodiment 1.

[0199] Embodiment 5

[0200] This embodiment provides 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 IGV positioning and deviation correction method based on the interaction system between a single trolley quay crane and a guiding vehicle as described in any one of the technical solutions in Embodiment 1 are implemented.

[0201] The above embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these 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 appended claims.

Claims

1. An IGV positioning and correction method based on a single-trolley quay crane and a guided vehicle interactive system, characterized in that: The IGV positioning and deviation correction method is applied to a system based on a single-trolley quay crane and a guide vehicle interaction. The system based on a single-trolley quay crane and a guide vehicle interaction comprises a plurality of IGVs (6) applied to an automated container terminal, a quay crane laser guidance unit (CPS), an IGV fleet management system (VMS) and a quay crane management system. The quay crane laser guidance unit (CPS) is used to detect the three-dimensional coverage of a plurality of lanes and provide accurate distance and direction guidance for the operating vehicles. The IGV fleet management system (VMS) is used to perform positioning control management on a plurality of IGVs (6) in the automated container terminal. The quay crane management system is used to perform control management on a plurality of quay cranes (5) in the automated container terminal. The quay crane laser guidance unit (CPS) comprises a plurality of laser radars, a computing unit and a communication unit (7). The laser radars are installed on the quay crane (5). The computing unit is respectively connected to the laser radars and the communication unit (7) for communication. The plurality of lanes under the center of the quay crane (5) comprises a plurality of IGV priority driving lanes and a plurality of IGV auxiliary driving lanes. The number of the laser radars is four. The fourth laser radar (L 4) 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 are combined into a first dynamic and static scanning combination for priority scanning, and the first laser radar (L1) and the third laser radar are combined into a first dynamic and static scanning combination for priority scanning, and the first laser radar (L4 ... The L3 combination is 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 lane in the multiple lanes under the center of the quay bridge (5); the second dynamic and static scanning combination is used to perform 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); each IGV (6) is provided with a binocular camera for identifying lane markings under the quay bridge (5) and an IGV on-board controller; The IGV positioning and correction method includes the following execution steps: Step S1, positioning control management is performed through the IGV fleet management system (VMS), so that the IGV (6) enters the starting position of the designated lane under the quay crane (5); Step S2, detecting the scanning status of each laser radar, and executing step S3 when the laser radar scanning status is normal; the normal laser radar scanning status means that the first dynamic and static scanning combination and the second dynamic and static scanning combination operate normally; Step S3, when the IGV (6) starts to travel from the starting position to the direction of the center position under the quay crane (5), it is detected whether the guiding positioning detection process of the IGV (6) is normal, and if it is judged to be not, the guiding of the IGV (6) is suspended, and if it is judged to be yes, step S4 is executed; the guiding positioning detection process of the IGV (6) is used to guide the IGV (6) according to the positioning target, and specify a normal driving route to make the IGV (6) travel from the starting position to the direction of the center position under the quay crane (5); The binocular camera is used to identify the lane markings under the quay crane (5). The binocular camera maps the image coordinate system to the world coordinate system through parallax calculation, thereby obtaining the deviation coordinate data of the IGV (6) vehicle direction and the IGV vehicle direction obtained by visual recognition; Step S4, during the driving process of an IGV (6) towards the center position under the quay bridge (5), detecting and judging whether the direction verification process of the IGV (6) by a dynamic and static scanning combination is normal, and stopping the execution when it is judged to be no, and executing step S5 when it is judged to be yes; the direction verification process of the IGV (6) by the dynamic and static scanning combination is to verify whether the dynamic laser radar and the static laser radar output normally through mutual verification of the dynamic laser radar and the static laser radar; Step S5, executing a driving positioning and adjustment process of an IGV (6) to the center position under the quay crane (5), calibrating and analyzing the data of the positioning detection of the IGV (6) by the dynamic and static scanning combination and the data of the positioning detection of the IGV (6) by the IGV fleet management system (VMS), so as to obtain the calibrated deviation coordinate data of the large vehicle direction and the small vehicle direction of the IGV (6); the driving positioning and adjustment process of the IGV (6) to the center position under the quay crane (5) is used to control the IGV (6) to reach the target position through at least two guidances; Step S6, fusing and analyzing the deviation coordinate data obtained by visual recognition with the calibrated deviation coordinate data and performing deviation correction.

2. The IGV positioning and deviation correction method based on the single-trolley quay crane and guide vehicle interactive system according to claim 1 is characterized in that: In step S3, the guidance positioning detection process of the IGV (6) includes steps S31 and S32 which are performed sequentially: Step S31, when the IGV (6) is controlled by the fleet management system (VMS) to reach the IGV vehicle target position coordinate S IGV目标 When the IGV vehicle direction positioning deviation threshold S1 is determined, the analysis is as follows: When |S IGV定位 -|(S IGV目标 -S 动 )||>S1, it is judged as an IGV guidance positioning deviation fault, and the IGV (6) guidance is suspended at this time; S IGV定位 S is the current positioning coordinates of the IGV single machine; IGV目标 is the target position coordinate of the IGV vehicle; S 动 To correspond to the laser radar dynamic scanning IGV vehicle direction coordinates; When |S IGV定位 -|(S IGV目标 -S 动 )||<S1, it is judged that the IGV (6) guides the positioning normally, and the guidance is normal at this time; Step S32, when the IGV (6) is controlled by the fleet management system (VMS) to move to the target position Y IGV目标 , the following judgment is performed at this time: When |Y IGV定位 -|(Y IGV目标 -Y 动 )||>Y1, it is judged that the IGV (6) guidance positioning deviation fault occurs, and the IGV (6) guidance is suspended at this time; Y 动 Y is the coordinate of the IGV car direction corresponding to the dynamic scanning of the laser radar. IGV目标 is the target position of the IGV car, Y IGV定位 is the current positioning position of the IGV; Y1 is the threshold value of the deviation of the positioning correction function of the trolley direction; When |Y IGV定位 -|(Y IGV目标 -Y 动 )||<Y1, it is judged that the IGV (6) guides the positioning normally, and the guidance is normal at this time; When the IGV (6) completes the guiding positioning detection process of the IGV (6), it is used to determine whether the current IGV (6) is in a guiding state, thereby ensuring the positioning stability of the laser guidance system; When the IGV (6) has entered under the quay crane (5), the working status of the dynamic laser radar and the static laser radar of the IGV (6) in the direction of the large and small vehicles is determined by a combination of dynamic and static scanning.

3. The IGV positioning and deviation correction method based on the single-trolley quay crane and guided vehicle interactive system according to claim 1 is characterized in that: In step S4, the dynamic and static scanning combination performs a process of verifying the directions of the trolley and the small trolley of the IGV (6) by means of a mutual verification function of the dynamic laser radar and the static laser radar, and detects whether the dynamic laser radar and the static laser radar of the quay crane (5) are working normally in a mutual verification state; In step S4, when the IGV (6) reaches the target position, when |S 静 -S 动 |>S2, the static and dynamic laser radar verification fault signal is output, and the quay crane laser guidance unit (CPS) stops. When the IGV (6) does not reach the target position, S is taken. 静 , S 动 The positioning position is normal; S2 is the deviation threshold of the IGV dynamic and static laser vehicle direction verification function; S 静 The laser is used to statically scan the IGV vehicle direction coordinates; S 动 To correspond to the laser radar dynamic scanning IGV vehicle direction coordinates; In step S4, when IGV (6) reaches the target position, when |Y 静 -Y 动 When |>Y2, the static and dynamic laser radar verification fault signal is output, and the quay crane laser guidance unit (CPS) stops. When the IGV (6) does not reach the target position, Y is taken. 静 , Y 动 The positioning position is normal; Y2 is the threshold of the laser radar vehicle direction verification function; Y 静 Y is the coordinate of the IGV car direction corresponding to the static scanning of the laser; 动 It corresponds to the direction coordinates of the IGV car dynamically scanned by the laser radar.

4. The IGV positioning and deviation correction method based on the single-trolley quay crane and guided vehicle interactive system according to claim 1 is characterized in that: In step S5, the driving positioning and adjustment process of the IGV (6) to the center position under the quay crane (5) includes the following steps S51 and S52: Step S51, executing the IGV (6) vehicle direction one-time guidance positioning process; Step S51 includes steps S511-S514 executed in sequence: Step S511, when |Y 动 -Y 岸 |>Y3, the IGV fleet management system (VMS) resends Y 岸桥 The position is sent to the IGV on-board controller, and IGV (6) generates instructions to the target value position again, and IGV (6) performs the direction action until |Y 动 -Y 岸 |<Y3, when the condition is still not met, the IGV on-board controller reports a fault; Y 动 Y is the coordinate of the IGV car direction corresponding to the dynamic scanning of the laser radar; 岸 is the total travel of the trolley in the known quay crane direction; the threshold of the one-time guidance positioning function of the IGV (6) trolley direction is Y3; Step S512, when Y2<|Y 动 -Y 岸 |<Y3, the IGV on-board controller sends Y through the communication unit (7) 动偏差 to IGV(6), IGV(6) to Y 动偏差 Position distance to perform a guiding action, and according to Y 动偏差 Move in different directions; 动偏差 =Y 动 -Y 岸 , when Y 动偏差 If Y is positive 动偏差 is the deviation distance to the left of the lower center of the IGV (6) from the quay bridge (5); 动偏差 If Y is negative 动偏差 Y is the deviation distance to the right of the lower center of the IGV (6) from the quay bridge (5); 偏差 Y is the current position deviation between the IGV (6) and the center trolley direction of the quay crane (5); 岸 is the total travel of the trolley under the known quay crane; Y2 is the deviation threshold of the IGV trolley direction positioning and correction function; Y 动 The coordinates of the IGV direction corresponding to the dynamic scanning of the laser radar; Y3 is the threshold of the IGV direction one-time guidance positioning function; Step S513, when the IGV (6) dynamically scans the IGV vehicle direction coordinate Y according to the corresponding laser radar 动 After the action, when the target position of the operation under the quay crane is reached, the static laser radar performs scanning; the target position of the operation under the quay crane is the target position to which the IGV fleet management system (VMS) sends instructions to the IGV (6); Step S514, determine |Y 静 -Y 岸 | is less than Y4, if it is judged to be yes, the IGV (6) positioning is completed, if it is judged to be no, Y is judged again. 动 value, and repeat steps S511 to S513; Y4 is the minimum threshold value of the one-time guidance positioning function of the IGV (6) trolley direction; Y 静 Y is the coordinate of the IGV car direction corresponding to the static scanning of the laser; 岸 is the total travel distance of the trolley under the known quay crane; Step S52, executing the secondary guidance and positioning process of the IGV (6) trolley and trolley directions; Step S52 includes steps S521, S522, and S523 executed in sequence: Step S521, after the IGV (6) reaches the center position under the quay crane (5), the corresponding laser radar performs a static posture scan on the IGV (6), and takes the current scan value as S 静 , define the deviation threshold of the secondary guidance function of the vehicle direction as S5; Step S522, executing the following judgment process: When |S 静 -S 岸 |<S5, it is determined that the current IGV (6) is in place, so the guidance is stopped, and the automated loading and unloading process of the quay crane laser guidance unit (CPS) and the IGV (6) is completed; S 岸 is the total travel distance of the trolley under the known quay crane; S 静 The laser radar statically scans the IGV trolley direction coordinates; the quay crane laser guidance unit (CPS) cooperates with the IGV (6) in the automatic loading and unloading process, after the IGV (6) arrives at the quay crane (5) and the guidance is completed, the quay crane (5) hoist performs the automatic loading and unloading process of the container on the IGV (6); When |S 静 -S 岸 |>S5, it is determined that the IGV (6) needs to perform a secondary guidance action, and the current IGV (6) static deviation and the deviation S of the lower center position of the quay crane (5) are calculated. 静偏差 , S 静偏差 =S 静 -S 岸 , when S 静偏差 When S is positive, 静偏差 is the deviation distance to the left from the lower center of the IGV (6) from the quay bridge (5). 静偏差 When S is negative 静偏差 is the deviation distance to the right of the lower center of the IGV (6) from the quay bridge (5); Step S523, the quay crane (5) sends S 静偏差 to IGV (6), and perform the secondary guidance action of IGV (6) in the direction of the large vehicle, according to S 静偏差 Move in different directions; Step S524, perform the following judgment: Judgment|S 动 -S 岸 | is less than S5, if it is judged to be yes, the IGV (6) positioning is completed, if it is judged to be no, S is judged again. 静 value, repeat steps S521-S523. In step S523, the process of performing secondary guidance of the vehicle direction IGV (6) is as follows: After the IGV (6) reaches the central command position under the quay crane (5), the corresponding laser radar performs a static posture scan of the IGV (6) and takes the current scan value as Y 静 , and then perform the following judgment process: Judgment step 1, when |Y 静 -Y 岸 |<Y5, it is determined that the current IGV (6) is in place, then the guidance is stopped, and the automated loading and unloading process of the quay crane laser guidance unit (CPS) cooperating with the IGV (6) is completed; Y5 is the minimum threshold value of the secondary guidance function of the trolley direction of the IGV (6); the automated loading and unloading process of the quay crane laser guidance unit (CPS) cooperating with the IGV (6) is that after the IGV (6) arrives at the quay crane (5) and the guidance is completed, the quay crane (5) hoist performs the automated loading and unloading process of the container on the IGV (6); then the judgment step 2 is executed; Judgment step 2, when |Y 静 -Y 岸 When |>Y5, it is determined that the IGV (6) needs to be guided again. At this time, the deviation between the current static deviation of the IGV (6) and the lower center position of the quay crane (5) is calculated as Y 静偏差 , Y 静偏差 =Y 静 -Y 岸 , when Y 静偏差 When Y is positive 静偏差 is the deviation distance from the lower center of the IGV (6) to the upper side of the gantry bridge (5). 静偏差 If Y is negative, 静偏差 is the deviation distance of the IGV (6) from the lower center of the quay bridge (5); at this time, the quay bridge laser guidance unit (CPS) sends Y through the communication unit (7) 静偏差 Give IGV(6), then IGV(6) moves to Y 静偏差 Position distance for secondary guidance action, according to Y 静偏差 Move in different directions; then execute judgment step three; Judgment step three, |Y 动 -Y 岸 |<Y5, IGV(6) positioning is completed, otherwise re-determine Y 静 value, repeat the judgment step 1.

5. The IGV positioning and deviation correction method based on the single-trolley quay crane and guided vehicle interactive system according to claim 1 is characterized in that: Step S6 includes the following steps: Step S61, when the IGV (6) enters under the quay crane (5), the IGV (6) identifies the road surface markings on the lane under the quay crane (5) through the binocular camera to obtain the large vehicle direction coordinates and the small vehicle direction coordinates (x 视车 ,y 视车 ), where the deviation coordinates of the direction of the large vehicle and the direction of the small vehicle received by IGV (6) during the first and second guidance are (X 偏差 ,Y 偏差 ); Step S62, set the target moving position coordinates of IGV (6) to (x T ,y T ), where the weight factor is defined as w f , and calculate the following formula: X T =x 视车 +w f X 偏差 ; AND T =and 视车 +w f AND 偏差 ; Where X 动 , Y 动 All are real-time positioning values ​​of laser dynamic scanning. Parameters for outlier handling.

6. The IGV positioning and deviation correction method based on the single-trolley quay crane and guided vehicle interactive system according to any one of claims 1 to 5, characterized in that: The single-trolley quay crane and guide vehicle 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 quay crane management unit is a quay crane management system QCMS; the IGV on-board 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.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, the steps of the IGV positioning and correction method based on the single-trolley quay crane and guide vehicle interaction system as described in any one of claims 1 to 5 are implemented.

8. An electronic device, characterized in that: It includes 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 IGV positioning and correction method based on the single-trolley quay crane and guide vehicle interaction system as described in any one of claims 1 to 5 are implemented.

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