CN107153419A - Utilize method and system of the harbour floor-lamp to harbour container unmanned vehicle navigation - Google Patents
Utilize method and system of the harbour floor-lamp to harbour container unmanned vehicle navigation Download PDFInfo
- Publication number
- CN107153419A CN107153419A CN201710307396.8A CN201710307396A CN107153419A CN 107153419 A CN107153419 A CN 107153419A CN 201710307396 A CN201710307396 A CN 201710307396A CN 107153419 A CN107153419 A CN 107153419A
- Authority
- CN
- China
- Prior art keywords
- lamp
- floor
- information
- unmanned vehicle
- harbour
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000004806 packaging method and process Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 238000004040 coloring Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
Abstract
The present invention relates to a kind of method of utilization harbour floor-lamp to harbour container unmanned vehicle navigation, comprise the following steps：Obtain harbour container unmanned vehicle planning driving path information and harbour container unmanned vehicle identification information；The floor-lamp positional information for needing to flash is determined according to harbour container unmanned vehicle planning driving path information；Floor-lamp flash color information, flicker frequency information are determined according to the harbour container unmanned vehicle identification information；According to the floor-lamp positional information, the floor-lamp flash color information and the flicker frequency information, control floor-lamp work.The problem of efficiently being navigated to vehicle, and solve path conflict.Driving efficiency is ensure that, the calculating holding time of the overall planning of monitoring in real time is reduced, it is ensured that the reliability of system.
Description
Technical field
The present invention relates to Navigation Control field, in particular to one kind using harbour floor-lamp to harbour container nobody
The method of car navigation, a kind of utilization harbour floor-lamp to the system and a kind of harbour container of harbour container unmanned vehicle navigation nobody
Vehicle control.
Background technology
In harbour environment, conveying container routine needs artificially start truck and carried back and forth, less efficient, usually
There is situation about waiting in line, cause the wasting of resources；Existing container Automatic Guided Vehicle, combines to obtain by magnetic nail with inertial navigation
Take and obtain position and attitude in real time, so as to reach target location, reduce artificial intervention, but in practice, effect is not to manage very much
Think carrier usually occur in Path Recognition and planning process, mutually conflict with other vehicle routes, cause unexpected jerk, it is right
In container goods cause damage, meanwhile, cause path lose, it is necessary to again path planning the problem of appearance.On the other hand,
Due to Real time identification and path planning, carrier driving speed is influenceed, handling efficiency is reduced.
The content of the invention
The present invention is complicated in order to solve existing air navigation aid, and the problem of path conflict easily occur utilizes there is provided one kind
Harbour floor-lamp comprises the following steps to the method for harbour container unmanned vehicle navigation：
S110, obtains harbour container unmanned vehicle planning driving path information and harbour container unmanned vehicle identification information；
S120, the floor-lamp positional information for needing to flash is determined according to harbour container unmanned vehicle planning driving path information；
S130, determines that floor-lamp flash color information, flicker frequency are believed according to the harbour container unmanned vehicle identification information
Breath；
S140, according to the floor-lamp positional information, the floor-lamp flash color information and the flicker frequency information, control
Floor-lamp works.
Further, the step S110 specifically includes the multiple harbour container unmanned vehicle planning driving path information of acquisition and right
The multiple harbour container unmanned vehicle identification informations answered；Specifically also include in the step 120, according to multiple harbour containers without
People's car planning driving path information determines multiple floor-lamp positional informations for needing to flash, when the driving of the multiple harbour container unmanned vehicle
When having part identical planning driving path in routing information, the floor-lamp in identical planning driving path is evenly distributed to multiple harbour collection
In unmanned vehicle planning driving path of casing.
Further, the step S110 specifically includes the multiple harbour container unmanned vehicle identification informations of acquisition；The step
Multiple floor-lamp flash color information, flicker frequency are determined according to the multiple harbour container unmanned vehicle identification information in rapid S130
Information, when having part identical planning driving path in the multiple harbour container unmanned vehicle planning driving path information, positioned at identical
Floor-lamp fixed time interval flicker multiple color in planning driving path.
Further, the step S110 specifically includes the multiple harbour container unmanned vehicle identification informations of acquisition；The step
Multiple floor-lamp flash color information, flicker frequency are determined according to the multiple harbour container unmanned vehicle identification information in rapid S130
Information, when having part identical planning driving path in the multiple harbour container unmanned vehicle planning driving path information, positioned at identical
Floor-lamp fixed time interval in planning driving path is flashed with multi-frequency.
Further, also comprise the following steps：
S150, sends the floor-lamp positional information, the floor-lamp flash color information and the flicker frequency information to port
Mouth container unmanned vehicle.
Another aspect of the present invention additionally provides a kind of method of utilization harbour floor-lamp to harbour container unmanned vehicle navigation, bag
Include following steps：
S210, receives floor-lamp positional information, floor-lamp flash color information and floor-lamp flicker frequency information；
S220, gathers floor-lamp image, and analysis obtains actual flash color information and actual flicker frequency information；
S230, compares floor-lamp flash color information and actual flash color information, relatively actual flicker frequency information and ground
Lamp flicker frequency information, when the actual flash color information contains flicker face corresponding with the floor-lamp flash color information
During color and/or when the actual flicker frequency information contains flicker frequency corresponding with the floor-lamp flicker frequency information,
Stroboscopic lamp on harbour container unmanned vehicle is controlled to open.
Further, the step of stroboscopic lamp is opened on the control harbour container unmanned vehicle includes：Control harbour packaging
Stroboscopic lamp enters line flicker according to the corresponding color of the floor-lamp flash color information on case unmanned vehicle.
Further, the step of stroboscopic lamp is opened on the control harbour container unmanned vehicle includes：Control harbour packaging
Stroboscopic lamp enters line flicker according to the corresponding frequency of the floor-lamp flicker frequency information on case unmanned vehicle.
Third aspect present invention provides a kind of system of utilization harbour floor-lamp to harbour container unmanned vehicle navigation, including
Reception device, lamp control device and floor-lamp, the reception device and floor-lamp are connected with described ground lamp control device；
The reception device is used to receive harbour container unmanned vehicle planning driving path information and the unmanned logo of harbour container
Know information, send the harbour container unmanned vehicle planning driving path information and harbour container unmanned vehicle identification information to described
Lamp control device；Described ground lamp control device is used to be determined to need to dodge according to the harbour container unmanned vehicle planning driving path information
Bright floor-lamp positional information, floor-lamp flash color information, flicker frequency are determined according to the harbour container unmanned vehicle identification information
Rate information, the generation floor-lamp is controlled according to the floor-lamp positional information, floor-lamp flash color information, floor-lamp flicker frequency information
Control information, and it is sent to the floor-lamp；The floor-lamp is dodged according to the floor-lamp control information with the color, the frequency that set
It is bright；Also include dispensing device, the dispensing device is used to send the floor-lamp positional information, floor-lamp flash color information, floor-lamp
Flicker frequency information.
Fourth aspect present invention provides a kind of unmanned vehicle control of harbour container, including reception device, image are adopted
Acquisition means, stroboscopic lamp control device and stroboscopic lamp, the reception device, image collecting device and stroboscopic lamp and the stroboscopic lamp control
Device connection processed；The reception device is used to receive floor-lamp positional information, floor-lamp flash color information and floor-lamp flicker frequency letter
Breath, and it is sent to the stroboscopic lamp control device；Described image harvester is used to gather floor-lamp image, and is sent to the frequency
Flashing light control device；The stroboscopic lamp control device be used for according to the floor-lamp graphical analysis obtain actual flash color information with
Actual flicker frequency information, and compare floor-lamp flash color information and actual flash color information, relatively actual flicker frequency letter
Breath and floor-lamp flicker frequency information, when the actual flash color information contain it is corresponding with the floor-lamp flash color information
During flash color and/or when the actual flicker frequency information contains flicker frequency corresponding with the floor-lamp flicker frequency information
During rate, stroboscopic lamp opening imformation is generated, the stroboscopic lamp is sent to；The stroboscopic lamp is used to receive the stroboscopic lamp opening imformation
It is operated.
Method and system in the present invention efficiently can navigate to vehicle, and the problem of solve path conflict.
Driving efficiency is ensure that, the calculating holding time of the overall planning of monitoring in real time is reduced, it is ensured that the reliability of system.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood from by reference to accompanying drawing, accompanying drawing is schematical without that should manage
Solve to carry out any limitation to the present invention, in the accompanying drawings：
Fig. 1 is the harbour environment floor-lamp layout diagram in some embodiments of the invention；
Fig. 2 is the harbour environment schematic diagram in some embodiments of the invention；
Fig. 3 is method flow of the utilization harbour floor-lamp in some embodiments of the invention to harbour container unmanned vehicle navigation
Schematic diagram；
Fig. 4 is the planning driving path Conflict solving process schematic in some embodiments of the invention；
Fig. 5 is the planning driving path Conflict solving process schematic in some embodiments of the invention；
Fig. 6 is method flow of the utilization harbour floor-lamp in some embodiments of the invention to harbour container unmanned vehicle navigation
Schematic diagram；
Fig. 7 is system architecture of the utilization harbour floor-lamp in some embodiments of the invention to harbour container unmanned vehicle navigation
Schematic diagram；
Fig. 8 is the harbour container unmanned vehicle control system architecture schematic diagram in some embodiments of the invention.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
The present invention is in order to overcome in the prior art, and carrier path planning is complicated, and Real time identification causes driving efficiency low
The problem of, a kind of harbour environment planned beneficial to planning driving path has been built, i.e., has set and leads in the both sides of the planning driving path of unmanned vehicle
Navigate floor-lamp, and such a navigation floor-lamp can flash according to the multi-frequency and multiple color of setting, and system exchange receives path letter
After breath, floor-lamp of the control on path carries out image, color collecting device or light on color, frequency error factor, unmanned vehicle
The colouring information and frequency information of floor-lamp on line harvester collection path, unmanned vehicle is controlled according to color and frequency information
Planning driving path, reduces the calculating holding time of the overall planning of monitoring in real time, it is ensured that the reliability of system.
Embodiment one
Harbour environment in the embodiment of the present invention is as shown in figure 1, including navigation runway 620, positioned at navigation runway 620
The floor-lamp 630 of both sides, the floor-lamp 630 can control the color of floor-lamp 630 and frequency, the harbour container unmanned vehicle 700
In navigation road runway 620, control color or frequency show and show the profile of the navigation runway 620
Come, the spacing that the image of collection floor-lamp can be obtained between guidance path, the floor-lamp 630 is 5m, width and the unmanned vehicle
700 width and turning capacity adaptation.
Harbour environment in the embodiment of the present invention can also be as shown in Fig. 2 including loading area 100 and loading dock 200, loading area
200 close to bank bridge 300, stops cargo ship 400 by bank bridge, and the loading dock 200 is close to stockyard 500, the loading area 100 and described
Navigation area 600 is provided between loading dock 200, the navigation area 600 includes a plurality of leading line 610 being parallel to each other, adjacent
The formation navigation runway 620 of leading line 610, the driving of harbour container unmanned vehicle 700 described in the navigation runway 620
Direction is mutually perpendicular to harbour in the loading area 100 with the direction of traffic of container unmanned vehicle 700, in the loading dock 200
The row of the harbour direction of traffic and harbour container unmanned vehicle 700 in the loading area 100 of container unmanned vehicle 700
Car direction is parallel to each other, and floor-lamp 630 is arranged at intervals with the course line 610, and such as interval 5m sets a floor-lamp 630, passes through control
Run with container unmanned vehicle 700 in harbour environment at the color and frequency of floor-lamp 630 processed, control harbour.
The present invention is based on setting floor-lamp 630 to provide one kind using harbour floor-lamp 630 to harbour packaging in harbour environment
The method that case unmanned vehicle 700 navigates, as shown in figure 3, comprising the following steps：
S110, obtains harbour container unmanned vehicle planning driving path information and harbour container unmanned vehicle identification information；It is described
Harbour container unmanned vehicle planning driving path information is formed and sent by tele-control system, the unmanned logo of harbour container
Know each corresponding unmanned vehicle vehicle of information；
S120, the floor-lamp positional information for needing to flash is determined according to harbour container unmanned vehicle planning driving path information；It is described
Harbour container unmanned vehicle planning driving path information includes the runway 620 that navigated in planning driving path, such as Fig. 1, positioned at navigation runway
The floor-lamp 630 of 620 both sides needs to be driven into line flicker.
S130, determines that floor-lamp flash color information, flicker frequency are believed according to the harbour container unmanned vehicle identification information
Breath；The present invention is correspondingly arranged different colors or frequency according to different vehicles, makes differentiation, prevents unmanned vehicle 700 from entering
Into other navigation runways 620.
S140, according to the floor-lamp positional information, the floor-lamp flash color information and the flicker frequency information, control
Floor-lamp works.
, can be according to the control of the planning driving path information of unmanned vehicle accordingly by the air navigation aid in the embodiment of the present invention
Lamp enters line flicker, and unmanned vehicle 700 obtains the floor-lamp picture signal of flicker by gathering, and judge the fortune of adjustment unmanned vehicle 700
Row parameter, such as whether moving ahead, if turn, the information such as direction of turning.While face different on the different vehicle match of correspondence
Color and frequency to have any different on path, it is ensured that traffic safety.
Further, the step S110 specifically includes the multiple harbour container unmanned vehicle planning driving path information of acquisition and right
The multiple harbour container unmanned vehicle identification informations answered；Specifically also include in the step 120, according to multiple harbour containers without
The planning driving path information of people's car 700 determines multiple floor-lamp positional informations for needing to flash, when the multiple harbour container unmanned vehicle
When having part identical planning driving path in planning driving path information, the floor-lamp in identical planning driving path is evenly distributed to multiple ports
In mouth container unmanned vehicle planning driving path.As shown in figure 4, when the marginal portion coincidence of two bar navigation runways 620, i.e. floor-lamp
When 630 occupancy has conflict, evenly distribute the floor-lamp 630 during conflict, such as have 4 floor-lamps and take conflict, can by first, the
Three floor-lamps distribute to the first navigation runway, and the second, the 4th floor-lamp distributes to the second navigation runway；Driven a vehicle when there are three bar navigations
During 620 path conflict of road, also can so it evenly distribute.Further, the Color tunable section of floor-lamp 630 in the present invention, above-mentioned two
When bar navigation runway 620 conflicts, the first, the 3rd first moment of floor-lamp can be distributed to the first navigation runway, by second, the
Four first moment of floor-lamp distributed to the second navigation runway, and the first, the 3rd second moment of floor-lamp was distributed into the second navigation driving
Road, distributes to the first navigation runway, as shown in Figure 5 by the second, the 4th first moment of floor-lamp.Taken by timesharing and improve profit
With rate, first moment and second time at intervals may be configured as three seconds.
The problem of embodiment of the present invention also can solve path conflict by color, it is many that the step S110 specifically includes acquisition
Individual harbour container unmanned vehicle identification information；According to the multiple harbour container unmanned vehicle identification information in the step S130
Multiple flash color information of floor-lamp 630, flicker frequency information are determined, when the multiple harbour container unmanned vehicle planning driving path letter
When having part identical planning driving path in breath, the floor-lamp fixed time interval flicker multiple color in identical planning driving path.With it is upper
State similar, can equally be increased operation rate with timesharing turn colors.
The embodiment of the present invention can also solve the problem of road strength conflicts by difference in flicker frequency, and the step S110 is specific
Including obtaining multiple harbour container unmanned vehicle identification informations；In the step S130 according to the multiple harbour container nobody
Car identification information determines multiple flash color information of floor-lamp 630, flicker frequency information, when the multiple harbour container unmanned vehicle
When having part identical planning driving path in planning driving path information, the floor-lamp fixed time interval in identical planning driving path is with a variety of frequencies
Rate flashes.Similar to the above, timesharing is flashed with different frequency, informs unmanned vehicle, and this floor-lamp is taken, it is necessary to open by mulitpath
Avoidance pattern.
The embodiment of the present invention is in order to further unify the stroboscopic lamp installed and the color of the floor-lamp taken on the unmanned vehicle
With frequency, it is easy to remote monitoring system error correction, also comprises the following steps：
S150, sends the floor-lamp positional information, the floor-lamp flash color information and the flicker frequency information to port
Mouth container unmanned vehicle.The harbour container unmanned vehicle 700 receives the frequency controlled after above- mentioned information on the unmanned vehicle 700
Flashing light is worked according to corresponding color and frequency, and the remote monitoring system is monitored by global harbour environment image, this
Sample can intuitively recognize whether the unmanned vehicle occupies other paths from image, if go to the wrong way path.
Embodiment two
As shown in fig. 6, the embodiments of the invention provide a kind of utilization harbour floor-lamp to harbour container unmanned vehicle navigation
Method, comprises the following steps：
S210, receives floor-lamp positional information, floor-lamp flash color information and floor-lamp flicker frequency information；
S220, gathers floor-lamp image, and analysis obtains actual flash color information and actual flicker frequency information；
S230, compares floor-lamp flash color information and actual flash color information, relatively actual flicker frequency information and ground
Lamp flicker frequency information, when the actual flash color information contains flicker face corresponding with the floor-lamp flash color information
During color and/or when the actual flicker frequency information contains flicker frequency corresponding with the floor-lamp flicker frequency information,
Stroboscopic lamp on harbour container unmanned vehicle is controlled to open.Specifically, control harbour container unmanned vehicle on stroboscopic lamp according to described
The corresponding color of floor-lamp flash color information enters line flicker, or, stroboscopic lamp is according to described on control harbour container unmanned vehicle
The corresponding frequency of floor-lamp flicker frequency information enters line flicker.
Air navigation aid in the present embodiment of the present invention is implemented at the end of unmanned vehicle 700, by the image of actual acquisition
Floor-lamp image obtain the actual color and frequency of floor-lamp, compare, if corresponding, show in should with the information that receives
On path should at this moment open stroboscopic lamp, if do not corresponded to, show to be not at should path on, be at this moment not turned on stroboscopic
Lamp, be very easy to find by remote monitoring system be not at should be on path unmanned vehicle, improve the efficiency for sentencing mistake.
Frequency and the color of stroboscopic lamp flicker with should on path the color and frequency of floor-lamp it is identical, in remote monitoring system
Image in system is unified, it is easy to find mistake.
Embodiment three
As shown in fig. 7, the embodiments of the invention provide a kind of utilization harbour floor-lamp to harbour container unmanned vehicle navigation
System 800, including reception device 820, lamp control device 810 and floor-lamp 630, the reception device 820 and floor-lamp 810 and institute
Ground lamp control device 810 is stated to connect；
The reception device 820 is used to receive harbour container unmanned vehicle planning driving path information and harbour container unmanned vehicle
Identification information, sends the harbour container unmanned vehicle planning driving path information and harbour container unmanned vehicle identification information described in
Ground lamp control device 810；Described ground lamp control device 810 is used for true according to the harbour container unmanned vehicle planning driving path information
The fixed floor-lamp positional information for needing to flash, determines that floor-lamp flash color is believed according to the harbour container unmanned vehicle identification information
Breath, flicker frequency information, institute is controlled according to the floor-lamp positional information, floor-lamp flash color information, floor-lamp flicker frequency information
Generation floor-lamp control information is stated, and is sent to the floor-lamp 630；The floor-lamp 630 is according to the floor-lamp control information to set
Color, frequency enter line flicker；Also include dispensing device 830, the dispensing device 830 is used to send the floor-lamp position letter
Breath, floor-lamp flash color information, floor-lamp flicker frequency information.
Navigation system 800 in the embodiment of the present invention ensure that planning driving path safety, prevent unmanned vehicle 700 to be strayed into.
Example IV
There is provided a kind of unmanned vehicle control 900 of harbour container, including reception device 910, image as shown in Figure 8
Harvester 920, stroboscopic lamp control device 930 and stroboscopic lamp 940, the reception device 910, image collecting device 920 and frequency
Flashing light 940 is connected with the stroboscopic lamp control device 930；The reception device 910 is used to receive floor-lamp positional information, floor-lamp sudden strain of a muscle
Bright colouring information and floor-lamp flicker frequency information, and it is sent to the stroboscopic lamp control device 930；Described image harvester
920 are used to gather floor-lamp image, and are sent to the stroboscopic lamp control device 930；The stroboscopic lamp control device 930 is used for root
Actual flash color information and actual flicker frequency information are obtained according to the floor-lamp graphical analysis, and compares floor-lamp flash color letter
Breath and actual flash color information, relatively actual flicker frequency information and floor-lamp flicker frequency information, when the actual flicker face
When color information contains flash color corresponding with the floor-lamp flash color information and/or when the actual flicker frequency information
When containing flicker frequency corresponding with the floor-lamp flicker frequency information, stroboscopic lamp opening imformation is generated, the frequency is sent to
Flashing light 940；The stroboscopic lamp 940 is operated for receiving the stroboscopic lamp opening imformation.
Image collecting device 920 in the embodiment of the present invention collects multiple color or the floor-lamp image of frequency, as long as
There is the floor-lamp flash color information received the color and frequency corresponding with floor-lamp flicker frequency information the inside, can just open frequency
Flashing light 940 works.
In the present invention, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicate or
Imply relative importance.Term " multiple " refers to two or more, unless otherwise clear and definite restriction.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of utilization harbour floor-lamp is to the method for harbour container unmanned vehicle navigation, it is characterised in that comprise the following steps：
S110, obtains harbour container unmanned vehicle planning driving path information and harbour container unmanned vehicle identification information；
S120, the floor-lamp positional information for needing to flash is determined according to harbour container unmanned vehicle planning driving path information；
S130, floor-lamp flash color information, flicker frequency information are determined according to the harbour container unmanned vehicle identification information；
S140, according to the floor-lamp positional information, the floor-lamp flash color information and the flicker frequency information, controls floor-lamp
Work.
2. utilization harbour according to claim 1 floor-lamp is to the method for harbour container unmanned vehicle navigation, it is characterised in that
The step S110 specifically includes the multiple harbour container unmanned vehicle planning driving path information of acquisition and corresponding multiple harbour packagings
Case unmanned vehicle identification information；Specifically also include in the step 120, according to multiple harbour container unmanned vehicle planning driving path information
Multiple floor-lamp positional informations for needing to flash are determined, when having part in the multiple harbour container unmanned vehicle planning driving path information
During identical planning driving path, the floor-lamp in identical planning driving path is evenly distributed to multiple harbour container unmanned vehicle roadways
In footpath.
3. utilization harbour according to claim 1 or 2 floor-lamp exists to the method for harbour container unmanned vehicle navigation, its feature
In the step S110 specifically includes the multiple harbour container unmanned vehicle identification informations of acquisition；According to institute in the step S130
State multiple harbour container unmanned vehicle identification informations and determine multiple floor-lamp flash color information, flicker frequency information, when described many
When having part identical planning driving path in individual harbour container unmanned vehicle planning driving path information, the ground in identical planning driving path
Lamp fixed time interval flashes multiple color.
4. utilization harbour according to claim 1 or 2 floor-lamp exists to the method for harbour container unmanned vehicle navigation, its feature
In the step S110 specifically includes the multiple harbour container unmanned vehicle identification informations of acquisition；According to institute in the step S130
State multiple harbour container unmanned vehicle identification informations and determine multiple floor-lamp flash color information, flicker frequency information, when described many
When having part identical planning driving path in individual harbour container unmanned vehicle planning driving path information, the ground in identical planning driving path
Lamp fixed time interval is flashed with multi-frequency.
5. utilization harbour according to claim 1 floor-lamp is to the method for harbour container unmanned vehicle navigation, it is characterised in that
Also comprise the following steps：
S150, sends the floor-lamp positional information, the floor-lamp flash color information and the flicker frequency information and gives harbour collection
Vanning unmanned vehicle.
6. a kind of utilization harbour floor-lamp is to the method for harbour container unmanned vehicle navigation, it is characterised in that comprise the following steps：
S210, receives floor-lamp positional information, floor-lamp flash color information and floor-lamp flicker frequency information；
S220, gathers floor-lamp image, and analysis obtains actual flash color information and actual flicker frequency information；
S230, compares floor-lamp flash color information and actual flash color information, and relatively actual flicker frequency information and floor-lamp dodge
Bright frequency information, when the actual flash color information contains flash color corresponding with the floor-lamp flash color information
And/or when the actual flicker frequency information contains flicker frequency corresponding with the floor-lamp flicker frequency information, control
Stroboscopic lamp is opened on harbour container unmanned vehicle.
7. utilization harbour according to claim 6 floor-lamp is to the method for harbour container unmanned vehicle navigation, it is characterised in that
The step of stroboscopic lamp is opened on the control harbour container unmanned vehicle includes：Stroboscopic lamp is pressed on control harbour container unmanned vehicle
Enter line flicker according to the corresponding color of the floor-lamp flash color information.
8. utilization harbour according to claim 6 floor-lamp is to the method for harbour container unmanned vehicle navigation, it is characterised in that
The step of stroboscopic lamp is opened on the control harbour container unmanned vehicle includes：Stroboscopic lamp is pressed on control harbour container unmanned vehicle
Enter line flicker according to the corresponding frequency of the floor-lamp flicker frequency information.
9. a kind of utilization harbour floor-lamp is to the system of harbour container unmanned vehicle navigation, it is characterised in that including reception device,
Lamp control device and floor-lamp, the reception device and floor-lamp are connected with described ground lamp control device；
The reception device is used to receive harbour container unmanned vehicle planning driving path information and harbour container unmanned vehicle mark letter
Breath, sends the harbour container unmanned vehicle planning driving path information and harbour container unmanned vehicle identification information to the floor-lamp control
Device processed；Described ground lamp control device is used to be determined to need what is flashed according to the harbour container unmanned vehicle planning driving path information
Floor-lamp positional information, determines that floor-lamp flash color information, flicker frequency are believed according to the harbour container unmanned vehicle identification information
Breath, according to the floor-lamp positional information, floor-lamp flash color information, the floor-lamp flicker frequency information control generation floor-lamp control
Information, and it is sent to the floor-lamp；The floor-lamp enters line flicker according to the floor-lamp control information with the color, the frequency that set；
Also include dispensing device, the dispensing device is used to send the floor-lamp positional information, floor-lamp flash color information, floor-lamp flicker
Frequency information.
10. a kind of unmanned vehicle control of harbour container, it is characterised in that including reception device, image collecting device, stroboscopic
Lamp control device and stroboscopic lamp, the reception device, image collecting device and stroboscopic lamp are connected with the stroboscopic lamp control device；
The reception device is used to receive floor-lamp positional information, floor-lamp flash color information and floor-lamp flicker frequency information, and is sent to
The stroboscopic lamp control device；Described image harvester is used to gather floor-lamp image, and is sent to the stroboscopic lamp control dress
Put；The stroboscopic lamp control device is used to obtain actual flash color information and actual flicker frequency according to the floor-lamp graphical analysis
Rate information, and compare floor-lamp flash color information and actual flash color information, relatively actual flicker frequency information and floor-lamp dodge
Bright frequency information, when the actual flash color information contains flash color corresponding with the floor-lamp flash color information
And/or when the actual flicker frequency information contains flicker frequency corresponding with the floor-lamp flicker frequency information, generation
Stroboscopic lamp opening imformation, is sent to the stroboscopic lamp；The stroboscopic lamp is operated for receiving the stroboscopic lamp opening imformation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710307396.8A CN107153419B (en) | 2017-05-04 | 2017-05-04 | Method and system for navigating port container unmanned vehicle by using port floor lamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710307396.8A CN107153419B (en) | 2017-05-04 | 2017-05-04 | Method and system for navigating port container unmanned vehicle by using port floor lamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107153419A true CN107153419A (en) | 2017-09-12 |
| CN107153419B CN107153419B (en) | 2021-02-12 |
Family
ID=59794187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710307396.8A Expired - Fee Related CN107153419B (en) | 2017-05-04 | 2017-05-04 | Method and system for navigating port container unmanned vehicle by using port floor lamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107153419B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107677288A (en) * | 2017-10-10 | 2018-02-09 | 深圳市招科智控港口科技有限公司 | A kind of harbour container unmanned vehicle avoids the overlapping method and system of running route |
| CN110132259A (en) * | 2019-05-27 | 2019-08-16 | 爱驰汽车有限公司 | Autonomous driving vehicle passes through the method for charge station, system, equipment and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000099149A (en) * | 1998-09-17 | 2000-04-07 | Dainippon Printing Co Ltd | Alarm device for agv |
| US20060064212A1 (en) * | 2004-09-22 | 2006-03-23 | Cycle Time Corporation | Reactive automated guided vehicle vision guidance system |
| KR20080001871A (en) * | 2006-06-30 | 2008-01-04 | 엘지.필립스 엘시디 주식회사 | Guide tape of automatic guided vehicle |
| CN102117550A (en) * | 2009-12-31 | 2011-07-06 | 北京众库传媒广告有限公司 | Parking space guiding method for park |
| CN202838699U (en) * | 2012-06-07 | 2013-03-27 | 深圳市捷顺科技实业股份有限公司 | Parking lot parking stall guidance system |
| CN104807459A (en) * | 2015-04-30 | 2015-07-29 | 吴博 | Indoor navigation system and navigation method thereof |
| CN105636272A (en) * | 2016-02-02 | 2016-06-01 | 四川长虹电器股份有限公司 | Intelligent illumination system and navigation application method therefor |
| CN206133305U (en) * | 2016-04-22 | 2017-04-26 | 王锦海 | Intelligence optics guidance system |
-
2017
- 2017-05-04 CN CN201710307396.8A patent/CN107153419B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000099149A (en) * | 1998-09-17 | 2000-04-07 | Dainippon Printing Co Ltd | Alarm device for agv |
| US20060064212A1 (en) * | 2004-09-22 | 2006-03-23 | Cycle Time Corporation | Reactive automated guided vehicle vision guidance system |
| KR20080001871A (en) * | 2006-06-30 | 2008-01-04 | 엘지.필립스 엘시디 주식회사 | Guide tape of automatic guided vehicle |
| CN102117550A (en) * | 2009-12-31 | 2011-07-06 | 北京众库传媒广告有限公司 | Parking space guiding method for park |
| CN202838699U (en) * | 2012-06-07 | 2013-03-27 | 深圳市捷顺科技实业股份有限公司 | Parking lot parking stall guidance system |
| CN104807459A (en) * | 2015-04-30 | 2015-07-29 | 吴博 | Indoor navigation system and navigation method thereof |
| CN105636272A (en) * | 2016-02-02 | 2016-06-01 | 四川长虹电器股份有限公司 | Intelligent illumination system and navigation application method therefor |
| CN206133305U (en) * | 2016-04-22 | 2017-04-26 | 王锦海 | Intelligence optics guidance system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107677288A (en) * | 2017-10-10 | 2018-02-09 | 深圳市招科智控港口科技有限公司 | A kind of harbour container unmanned vehicle avoids the overlapping method and system of running route |
| CN110132259A (en) * | 2019-05-27 | 2019-08-16 | 爱驰汽车有限公司 | Autonomous driving vehicle passes through the method for charge station, system, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107153419B (en) | 2021-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113486293B (en) | Intelligent horizontal transportation system and method for full-automatic side loading and unloading container wharf | |
| NL1043485B1 (en) | Full-automatic underground mining transportation system | |
| CN105182981B (en) | Robot traveling method, control system and server | |
| US11099566B2 (en) | Systems and methods for providing a vehicle service via a transportation network for autonomous vehicles | |
| CN110418745A (en) | The clearance measurement to escort for vehicle | |
| CN108873902A (en) | A kind of long-range control method and device of unmanned mine vehicle | |
| CN110580038B (en) | Automatic driving and following device and automatic driving motorcade system | |
| EP2775366A2 (en) | Autonomous aircraft guiding mobile unit | |
| CN109477725A (en) | For generating the method and system of the cartographic information in emergency region | |
| WO2019240989A1 (en) | System and method for managing traffic flow of unmanned vehicles | |
| CN109858690A (en) | The test trails dynamic programming method and system of automatic Pilot test carriage | |
| CN110895877A (en) | Intelligent distribution system and method for vehicle road driving tasks | |
| CN111583678A (en) | Unmanned truck port horizontal transportation system and method | |
| CN113538937B (en) | Port mixed traffic control system | |
| CN107091647A (en) | Harbour container level carries unmanned vehicle navigation method | |
| CN107153419A (en) | Utilize method and system of the harbour floor-lamp to harbour container unmanned vehicle navigation | |
| CN113485421A (en) | Unmanned aerial vehicle flight inspection method, system, equipment and medium | |
| CN110716569A (en) | Unmanned vehicle automatic driving system suitable for container transportation | |
| CN110009919A (en) | It is mixed with automatic control system and its working method of the vehicle in intersection of AGV | |
| CN108681333A (en) | A kind of radar under Navigation of Pilotless Aircraft failure of apparatus makes a return voyage system | |
| CN113052531A (en) | Unmanned logistics vehicle distribution method and system based on motion analysis | |
| CN111429734A (en) | Real-time monitoring system and method for inside and outside port container trucks | |
| CN116343514A (en) | Vehicle dispatching management method and system for unmanned vehicle | |
| KR102045126B1 (en) | Method And Apparatus for Providing Auto Shipping by using Autonomous Vehicle | |
| CN110853374B (en) | Shared automobile scheduling method and system based on unmanned technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210212 Termination date: 20210504 |