Autonomous Yard Tractor Position Guidance for Crane Alignment
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Solution Overview
Problem
Current autonomous yard tractor systems lack effective guidance for accurately positioning themselves at work sites, particularly in unmanned operations, as they fail to account for both longitudinal reference distance and rotation angle errors, necessitating a technology that can utilize V2X communication for precise positioning.
Innovation Solution
A work position guide apparatus comprising a reference position determination unit, real-time position detection unit, error data acquisition unit, and guide command generation unit, which uses V2X communication to guide the autonomous yard tractor to a correct work position by calculating and correcting errors in longitudinal, transverse, and rotational alignment, with the aid of laser scanners and augmented/virtual reality services.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If autonomous driving technology is applied to the yard tractor to operate in an unmanned manner, then productivity is improved, but positioning precision deteriorates due to lack of effective guidance technology
Solution Approach 1:
The patent implements a feedback mechanism where the yard tractor continuously receives guidance commands based on real-time position detection and error calculation. The system compares the current position with the reference work position, calculates longitudinal and rotational errors, and generates corrective guidance commands that are transmitted back to the yard tractor via V2X communication, enabling continuous position correction during unmanned operation.
Solution Approach 2:
The patent introduces an electronic sign as an intermediary device that displays visual guidance information (longitudinal reference distance error) to the yard tractor. This intermediary translates complex positioning data into intuitive visual cues, bridging the gap between the control system and the autonomous vehicle, and enabling the yard tractor to understand and respond to positioning requirements without human intervention.
2Ease of operation
If only longitudinal reference distance error is displayed through electronic sign, then ease of operation is improved, but measurement precision deteriorates by failing to account for rotation angle error
Solution Approach 1:
The patent segments the positioning error into two distinct components: longitudinal reference distance error and rotational reference distance error. Each error type is calculated separately based on different aspects of position deviation, allowing the system to address each dimensional error independently through targeted guidance commands, thereby improving overall positioning precision without complicating the operational display.
3Reliability
If V2X communication is used to transmit guide commands, then reliability is improved, but device complexity increases due to additional communication infrastructure
Solution Approach 1:
The patent leverages V2X communication technology that serves multiple functions: it transmits guidance commands from the control system to the yard tractor, enables real-time position detection, facilitates error data acquisition, and supports bidirectional communication between the electronic sign and the vehicle. This multi-functionality reduces the need for separate dedicated communication channels, thereby improving reliability without proportionally increasing system complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise and accurate positioning of autonomous yard tractors at work sites, ensuring correct alignment and operation within preset error ranges, enhancing the efficiency and reliability of unmanned operations in port container handling.
Implementation Method 1
the real-time position detection unit may include laser scanners provided in an external quay crane and a yard crane
Data Source
AI summary
A work position guide apparatus for guiding an autonomous yard tractor to a work position, includes a reference position determination unit that determines a reference position based on a position of a crane located at a work position, a real-time position detection unit that detects a real-time position of the autonomous yard tractor, an error data acquisition unit that acquires error data between the reference position and the real-time position, and a guide command generation unit that generates a guide command for guiding the autonomous yard tractor to the work position based on the error data.