CN110488321A - Positioning system, hatchway cover positioning system and automatic driving control system - Google Patents
Positioning system, hatchway cover positioning system and automatic driving control system Download PDFInfo
- Publication number
- CN110488321A CN110488321A CN201810454708.2A CN201810454708A CN110488321A CN 110488321 A CN110488321 A CN 110488321A CN 201810454708 A CN201810454708 A CN 201810454708A CN 110488321 A CN110488321 A CN 110488321A
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- CN
- China
- Prior art keywords
- hatchway cover
- equipment
- communication equipment
- landing position
- hatchway
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/02—Details of the space or ground control segments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The present invention discloses positioning system, hatchway cover positioning system and automatic driving control system, to solve the problems, such as that the prior art can not carry out precise positioning to hatchway cover.Hatchway cover positioning system, including the positioning device being arranged on the suspender of handling facilities, and the processing equipment on the handling facilities and the first communication equipment are set, in which: positioning device is positioned to obtain the location information of the antenna for the antenna to positioning device；Processing equipment, the position for the suspender grapple according to the positional information calculation of the antenna；When receive be used to indicate by the hatchway cover grabbed from ship unclamp release instruction when, the position for the suspender grapple being calculated when unclamping the hatchway cover is determined as to the landing position of the hatchway cover；The landing position of the hatchway cover is transmitted by first communication equipment.
Description
Technical field
The present invention relates to field of locating technology, in particular to a kind of positioning system, a kind of hatchway cover positioning system, a kind of dress
Unload equipment, a kind of automatic driving control system and a kind of automatic driving vehicle.
Background technique
Shore tackle (quay crane) is also known as shore container crane, bridge crane, gantry crane etc., be on bank to ship
On the equipment loaded and unloaded of container.Unload work when, card that shore tackle grabs container from ship and is placed into the area of port
Che Shang, by truck by Container Transport to stockyard；When loading work onto ship, truck by under Container Transport to shore tackle, by shore tackle from
Container is grabbed on truck and is placed on ship.Currently, for improve operating efficiency, for each truck be equipped with 2~3 drivers into
Row break tour, however operation danger coefficient is higher in the area of port, therefore, by the scheme of pilot steering truck transport container, not only
It is at high cost, operating efficiency is low, and there are hidden danger to the life security of truck driver.
With the development of automatic Pilot technology, to solve the problems, such as that existing scheme exists, in some port area AGV
(Automated Guided Vehicle, automated guided vehicle) substitutes the truck of pilot steering, and AGV does not need outfit department
Machine, can in the area of port 24 hours automatic transportation containers, being promoted operating efficiency and reduces cost, but AGV is expensive, one
AGV about in seven or eight million RMB, and AGV be path traveling is realized by the earth magnetism nail being laid on ground, and
The maintenance of earth magnetism nail and maintenance cost are also very high, and therefore, by the scheme of AGV transport container, not only cost is excessively high, but also
It needs harbour to stop operation due to being laid with earth magnetism nail, is less likely substantially for this harbour very big for current handling capacity,
Therefore this kind of scheme is unfavorable for promoting.
To reduce cost, those skilled in the art are researching and developing the automatic Pilot card that automatic Pilot can be realized in the area of port
Vehicle realizes that the essential technology of truck automatic Pilot includes positioning, perception, decision and control etc..
Hatchway cover is a kind of provision for sealing for guaranteeing hull watertight and inboard cargo safety, while also having certain resist
Pressure energy power.Handling facilities are carrying out ship to unload ship time, need first to take the hatchway cover on ship away, then unload the collection on ship
Vanning；Handling facilities need for hatchway cover to be installed on ship when shipment finishes when loading ship onto ship.
Currently, carrying out unloading ship time at harbour, directly grabbing hatchway cover by the suspender on handling facilities, (suspender is also used to
Grab container), and the position being placed in the area of port far from bank that hatchway cover is at random, especially some less busy
Hatchway cover may be directly placed on lane by harbour；When shipment finishes, then by the suspender on handling facilities by ground
On hatchway cover pick up and be installed on ship.Since the thickness of hatchway cover is relatively thin, area is larger, on automatic driving vehicle
Awareness apparatus (such as video camera, laser radar etc.) be difficult to perceive and identify hatchway cover, it is possible to will lead to automatic Pilot
The problem of vehicle directly rolls hatchway cover and hatchway cover is caused to damage, or even can also result in traffic accident, therefore, how
The enough position of hatchway cover on the ground timely known in the area of port then become those skilled in the art's technology urgently to be resolved and ask
Topic.
Summary of the invention
In view of the above problems, the present invention provides positioning system, hatchway cover positioning system and automatic driving control system, with solution
The problem of certainly prior art can not carry out precise positioning to hatchway cover.
The embodiment of the present invention, in a first aspect, a kind of hatchway cover positioning system is provided, the suspender including handling facilities are arranged in
On positioning device, and the processing equipment being arranged on the handling facilities and the first communication equipment, in which:
Positioning device is positioned to obtain the location information of the antenna for the antenna to positioning device；
Processing equipment, the position for the suspender grapple according to the positional information calculation of the antenna；When receiving use
When the release instruction that the hatchway cover that grab from ship is unclamped in instruction, the institute that will be calculated when unclamping the hatchway cover
The position for stating suspender grapple is determined as the landing position of the hatchway cover；The hatchway cover is transmitted by first communication equipment
Landing position.
The embodiment of the present invention, second aspect provide a kind of handling facilities, including aforementioned hatchway cover positioning system.
The embodiment of the present invention, the third aspect provide a kind of automatic driving control system, including obtain equipment and the second communication
Equipment, in which:
Equipment is obtained, for obtaining the landing position of hatchway cover by second communication equipment, and by the hatchway cover
And its perceptually result exports landing position.
The embodiment of the present invention, fourth aspect provide a kind of automatic driving vehicle, including aforementioned automatic driving control system.
The embodiment of the present invention, the 5th aspect, provides a kind of positioning system, and the hatchway cover including being mounted on handling facilities is fixed
Position system, the automatic driving control system that is mounted on automatic driving vehicle, wherein the hatchway cover positioning system includes setting
It is communicated in the positioning device on the suspender of the handling facilities and the processing equipment being arranged on the handling facilities and first
Equipment；The automatic driving control system includes obtaining equipment and the second communication equipment；
Positioning device is positioned to obtain the location information of the antenna for the antenna to positioning device；
Processing equipment, the position for the suspender grapple according to the positional information calculation of the antenna；When receiving use
When the release instruction that the hatchway cover that grab from ship is unclamped in instruction, the institute that will be calculated when unclamping the hatchway cover
The position for stating suspender grapple is determined as the landing position of the hatchway cover；The hatchway cover is transmitted by first communication equipment
Landing position；
Equipment is obtained, for obtaining the landing position of hatchway cover by second communication equipment, and by the hatchway cover
And its perceptually result exports landing position.
Technical solution of the present invention is provided with positioning device on the suspender of handling facilities, and is arranged on handling facilities
There are communication equipment and processing equipment, positioning device can position the antenna of positioning device to obtain the real-time position of the antenna
It sets；Processing equipment can determine in real time the position of suspender grapple according to the location information of the antenna, and in suspender by hatchway cover
It is picked up from ship and the position of the suspender grapple when unclamping hatchway cover is determined as the landing position of hatchway cover, and grapple is general
It is to catch the center of hatchway cover and unclamp hatchway cover in place not high from the ground, and hatchway cover is due to having centainly
Weight does the approximate movement of falling object when being released, and therefore, the position of suspender grapple is compared with the landing position of hatchway cover
It is close, it thus can be accurately obtained the position of hatchway cover.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
Fig. 1 is one of the structural schematic diagram of positioning system in the embodiment of the present invention；
Fig. 2 is the second structural representation of positioning system in the embodiment of the present invention；
Fig. 3 is the third structural representation of positioning system in the embodiment of the present invention；
Fig. 4 is four of the structural schematic diagram of positioning system in the embodiment of the present invention；
Fig. 5 is five of the structural schematic diagram of positioning system in the embodiment of the present invention；
Fig. 6 is six of the structural schematic diagram of positioning system in the embodiment of the present invention；
Fig. 7 is seven of the structural schematic diagram of positioning system in the embodiment of the present invention；
Fig. 8 is eight of the structural schematic diagram of positioning system in the embodiment of the present invention；
Fig. 9 is one of the structural schematic diagram of automatic driving control system in inventive embodiments；
Figure 10 is the second structural representation of automatic driving control system in inventive embodiments；
Figure 11 is the third structural representation of automatic driving control system in inventive embodiments.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
In the embodiment of the present invention, handling facilities can be shore tackle, tyre crane, front handling mobile crane, overhead traveling crane, crane etc., and the application is not
Do considered critical.Automatic driving vehicle can be truck, lorry, trailer etc., and the application does not do considered critical.
Embodiment one
It is the structural schematic diagram of positioning system in the embodiment of the present invention referring to Fig. 1, which includes hatchway cover positioning
System 1 and automatic driving control system 2, the hatchway cover positioning system 1 are arranged on handling facilities, the automatic Pilot control
System 2 is arranged on automatic driving vehicle.The hatchway cover positioning system 1 includes positioning device 11, processing equipment 12 and first
Communication equipment 13, wherein the positioning device 11 is arranged on the suspender of the handling facilities, the processing equipment 12 and first
Communication equipment 13 can be set also can be set in the other positions of handling facilities on the suspender, and the application does not make strictly
It limits.The automatic driving control system 2 includes obtaining module 21 and the second communication equipment 22, in which:
Positioning device 11 is positioned to obtain the location information of the antenna for the antenna to positioning device 11；
Processing equipment 12, the position for the suspender grapple according to the positional information calculation of the antenna；When receiving
When being used to indicate the release instruction for unclamping the hatchway cover grabbed from ship, by what is be calculated when unclamping the hatchway cover
The position of the suspender grapple is determined as the landing position of the hatchway cover；The cabin is transmitted by first communication equipment 13
The landing position of cover board；
Equipment 21 is obtained, for obtaining the landing position of hatchway cover by second communication equipment 22, and by the cabin
Perceptually result exports for cover board and its landing position.
The position for the suspender grapple being calculated when unclamping the hatchway cover is determined as to the landing of the hatchway cover
Position, specifically can by but be not limited only to any one following mode and realize:
Mode A1, the position of the suspender grapple being calculated at the time of will be identical as at the time of unclamping the hatchway cover
It is determined as the landing position of the hatchway cover；
Mode A2, it is nearest at the time of distance is unclamped the hatchway cover at the time of position of the suspender grapple that is calculated
Set the landing position for being determined as the hatchway cover.
Mode A3, to unclamp the hatchway cover at the time of elapse the preset period forward, backward and obtain a period
Range is averaged the position at least one the suspender grapple being calculated in the time segment limit to obtain the hatchway cover
Landing position.It is 10:00 at the time of for example, it is assumed that unclamping hatchway cover, elapses 1 minute forward and elapse 1 minute backward, then obtain
One time segment limit is 09:59~10:01, and the position of 10 suspender grapples is calculated within 09:59~10:01 time
It sets, then calculates the average value of 10 positions, the average value of 10 positions is determined as to the landing position of the hatchway cover.
In some instances, the antenna of positioning device 11 can be arranged in suspender grapple position or the antenna with
Suspender grapple be closer (such as linear distance is no more than preset distance threshold, and distance threshold for example can be set to 20cm,
30cm, 50cm etc., the application does not make considered critical), then it is believed that the antenna is identical as the position of suspender grapple, then the place
The position of the suspender grapple according to the positional information calculation of the antenna of equipment 12 is managed, specific implementation can be as follows: by the day
The position of line is determined as the position of the suspender grapple.
In some instances, the linear distance of the antenna of positioning device 11 and suspender grapple farther out, such as more than preset
Distance threshold (distance threshold for example can be set to 20cm, and 30cm, 50cm etc., the application does not make considered critical) is then marked in advance
Determine the relative position of positioning device 11 Yu suspender grapple, and the relative position information of calibration is stored in processing equipment 12
In, then the position of the suspender grapple according to the positional information calculation of the antenna of processing equipment 12, specific implementation can be such as
Under: the relative position information between the antenna and the suspender grapple demarcated according to the position of the antenna and in advance, meter
Calculate the position of the suspender grapple.For example, can be using the relative position information of the antenna and the suspender grapple as configuration
File is stored in the processing equipment 12.
It preferably, is the positioning accuracy for improving positioning device 11, in the embodiment of the present invention, 11 pairs of positioning of positioning device are set
Standby 11 antenna is positioned to obtain the location information of the antenna, and specifically include: positioning device 11 is received by the antenna
Positioning signal；Positioning device 11 obtains RTK correction data, and is carried out according to the RTK correction data of acquisition to the positioning signal
Amendment, obtains the location information of the antenna.
Preferably, the positioning device 11 in the embodiment of the present invention can be GNSS (Global Navigation
Satellite System, Global Satellite Navigation System) receiver, the positioning signal is GNSS signal.
It, can be by wired, wireless (including red between the positioning device 11 and processing equipment 12 in the embodiment of the present invention
Outside, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology etc.) etc. conventional communication mode communicated, the application is not
Make considered critical.It, can be by wired, wireless between first communication equipment 13 and processing equipment 12 in the embodiment of the present invention
The communication mode of the routine such as (including infrared, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology etc.) is communicated,
The application does not make considered critical.
It, can be by wired, wireless (including red between the acquisition equipment and the second communication equipment in the embodiment of the present invention
Outside, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology etc.) etc. conventional communication mode communicated, the application is not
Make considered critical.
It preferably, further include routing device 14 in hatchway cover positioning system 1 to further increase communication success rate, it is fixed
Position equipment 11 is connect by cable with routing device 14, and processing equipment 12 is connect by cable with routing device 14, the first communication
Equipment 13 is connect by cable with routing device 14, so that positioning device 11, processing equipment 12, the first communication equipment 13 are
In the same local area network, mutual communication is realized, as shown in Figure 2.
The location information of the antenna specifically may include position (latitude and longitude coordinates etc.).Preferably, the location information is also
It may further include any one or more following information: the information such as movement velocity, direction of motion.
In earlier figures 1 and system shown in Fig. 2, in an example 1, the processing equipment 12 is communicated by described first
The landing position of hatchway cover is transferred to cloud server by equipment 13, and all hatchway covers in the area of port are uniformly stored by cloud server
Landing position, automatic driving vehicle can from the cloud server obtain port area in all hatchway covers landing position or
Person obtains the landing position of a certain range of all hatchway covers in the automatic driving vehicle periphery from cloud server, specifically originally
Considered critical is not made in application.
Preferably, in the example 1, first communication equipment 13 may include the first LTE communication equipment, and described second is logical
Believe that equipment 22 may include the second LTE communication equipment.The processing equipment 12 transmits the hatchcover by first communication equipment
The landing position of plate, specifically includes: the landing position of the hatchway cover being transmitted to cloud by the first LTE communication equipment
Server.The landing position for obtaining equipment 21 and obtaining hatchway cover by second communication equipment 22, specifically includes: passing through
The second LTE communication equipment obtains the landing position of hatchway cover from cloud server.It is illustrated in figure 3 in system shown in Figure 1,
First communication equipment 13 includes the first LTE communication equipment, and second communication equipment 22 includes the second LTE communication equipment.
It is illustrated in figure 4 in system shown in Figure 2, first communication equipment 13 includes the first LTE communication equipment and the second communication equipment
22 include the second LTE communication equipment.
In system shown in Fig. 4, the first LTE communication equipment can be integrated in same hard with the routing device 14
Can also independently it be arranged on part, the application does not do considered critical.
In the aforementioned embodiment, the processing equipment 12 can be obtained by the first LTE communication equipment from cloud server
Take the RTK correction data.
Since ship is when shipment finishes, it is also necessary to by handling facilities by one or more hatchcover panel assemblies on ground to
On ship, needed for the landing position of the hatchway cover stored on the cloud server that timely updates with ensuring the information accuracy stored
The landing position that these stored in cloud server to be installed onto the hatchway cover on ship in time is deleted.Therefore, preceding
It states in embodiment, the processing equipment 12 is further used for: the hatchway cover on ground being picked up and pacified when receiving to be used to indicate
When being attached to the fetching instruction of ship, the position for the suspender grapple being calculated when picking up the hatchway cover is determined as described
The crawl position of hatchway cover, and deletion is used to indicate to cloud server transmission by the first LTE communication equipment and is fallen
The deletion of position hatchway cover landing position corresponding with the crawl position instructs.
The position for the suspender grapple being calculated when picking up the hatchway cover is determined as to the crawl of the hatchway cover
Position, specifically can by but be not limited only to any one following mode and realize:
The position of mode B1, the suspender grapple being calculated at the time of will be identical as at the time of picking up the hatchway cover
It is determined as the crawl position of the hatchway cover；
Mode B2, it is nearest at the time of distance to be picked up to the hatchway cover at the time of position of the suspender grapple that is calculated
Set the crawl position for being determined as the hatchway cover.
Mode B3, to pick up the hatchway cover at the time of elapse the preset period forward, backward and obtain a period
Range is averaged the position at least one the suspender grapple being calculated in the time segment limit to obtain the hatchway cover
Crawl position.For example, it is assumed that being 10:00 at the time of crawl hatchway cover, elapses 1 minute forward and elapse 1 minute backward, then obtain
One time segment limit is 09:59~10:01, and the position of 10 suspender grapples is calculated within 09:59~10:01 time
It sets, then calculates the average value of 10 positions, the average value of 10 positions is determined as to the crawl position of the hatchway cover.
In earlier figures 1 and system shown in Fig. 2, in an example 2, hatchway cover is being locally stored in the processing equipment 12
Landing position, and the landing position of hatchway cover is transferred to by automatic driving vehicle by first communication equipment 13.Automatically
The landing position of hatchway cover can be obtained from the hatchway cover positioning system on each handling facilities in the area of port by driving vehicle.At this
In example 2, first communication equipment 13 may include the first V2X equipment, and second communication equipment 22 may include that the 2nd V2X is set
It is standby.The processing equipment 12 transmits the landing position of the hatchway cover by first communication equipment 13, specifically includes: passing through
The landing position of the hatchway cover is packaged into V2X message and sent the V2X message to specified by the first V2X equipment
Air interface；Second communication equipment 22 includes the 2nd V2X equipment, and the acquisition equipment 21 passes through second communication equipment
22 obtain the landing position of hatchway cover, specifically include: receiving hatchway cover from specified air interface by the 2nd V2X equipment
The V2X message that positioning system is sent, and parse from the V2X message landing position of hatchway cover.It is illustrated in figure 5 in Fig. 1
Shown in system, first communication equipment 13 includes the first V2X equipment, and second communication equipment 22 includes the 2nd V2X
Equipment.Be illustrated in figure 6 in system shown in Fig. 2, first communication equipment 13 include the first V2X equipment, described second
Communication equipment 22 includes the 2nd V2X equipment
In described Fig. 5, system shown in fig. 6, first communication equipment 13 can also further comprise the first LTE communication
Equipment, processing equipment 12 obtain the RTK correction data from cloud server by the first LTE communication equipment.Such as Fig. 7 institute
It is shown as the first communication equipment 13 described in system shown in Fig. 5 and still further comprises the first LTE communication equipment.As shown in Figure 8
The first LTE communication equipment is still further comprised for the first communication equipment 13 described in system shown in Fig. 6.Shown in Fig. 8
The first LTE communication of this in system equipment can be integrated on a hardware with routing device 14, can also be independently arranged.
Since ship is when shipment finishes, it is also necessary to by handling facilities by one or more hatchcover panel assemblies on ground to
On ship, therefore, for the landing position of the hatchway cover stored on the handling facilities that timely update, to ensure to be sent to automatic Pilot vehicle
Information accuracy, the landing position for the hatchway cover for needing in time to be installed onto these stored on handling facilities on ship
Set deletion.Therefore, in earlier figures 5~system shown in Fig. 8, the processing equipment 12 is further used for: being used for when receiving
When hatchway cover on ground is picked up and is installed to the fetching instruction of ship by instruction, by what is be calculated when picking up the hatchway cover
The position of the suspender grapple is determined as the crawl position of the hatchway cover, and by the landing position of storage and the crawl position
Corresponding hatchway cover landing position is deleted.
Preferably, in previous embodiment, the automatic driving control system 2 can further include sensing module, determine
Plan module and control module, the acquisition equipment 21 can perceptually result be transferred to institute by the hatchway cover and its landing position
State sensing module or the decision-making module, so as to automatic driving control system 2 can according to the landing position of hatchway cover and
The region of the hatchway cover on the ground can be obtained in preset hatchcover board size, to carry out the hatchway cover as barrier
Avoidance, as shown in Figure 9, Figure 10.The sensing module, decision-making module and control module can be mould well known in the prior art
Block, details are not described herein.
Preferably, in previous embodiment, as shown in figure 11, the automatic driving control system 2 be can further include
Sensing module, sensing results Fusion Module, decision-making module and control module, the acquisition equipment 21 can by the hatchway cover and its
Perceptually result is transferred to the sensing results Fusion Module to landing position, so that automatic driving control system 2 being capable of basis
The region of the hatchway cover on the ground can be obtained in the landing position of hatchway cover and preset hatchcover board size, thus should
Hatchway cover carries out avoidance as barrier.The sensing module, sensing results Fusion Module, decision-making module and control module can be with
For module well known in the prior art, details are not described herein.
In previous embodiment, the release instruction, fetching instruction, which can be, to be sent by operator by computer remote
To the instruction of processing equipment 12.Alternatively, the release instruction, fetching instruction can be and mentioned by operator in processing equipment 12
The instruction of the human-computer interaction interface input of confession.It is provided with " unclamping hatchway cover " on handling facilities, " picks up cabin alternatively, can be
The mechanical control of cover board ", when operator presses " unclamping hatchway cover ", meeting automatic trigger sends a use to processing equipment 12
The release instruction that pulse signal or level signal indicate understands automatic trigger when operator presses " picking up hatchway cover " to processing
Equipment 12 sends a fetching instruction indicated with pulse signal or level signal.Alternatively, can be operator passes through remote control
Equipment sends the release instruction, fetching instruction to processing equipment 12.The application does not do the source for unclamping instruction, fetching instruction
Stringent restriction.
It preferably, is the positioning accuracy for improving positioning device 11, in the embodiment of the present invention, by the antenna of positioning device 11
Towards sky, so that antenna obtains very strong positioning signal.It can in the embodiment of the present invention for the loss for reducing positioning signal
Being arranged positioning device 11 and its antenna in the same position, positioning device 11 and the setting of its antenna can also be no more than
The position (such as within 2 meters) of certain distance range.
Preferably, in the embodiment of the present invention, for the communication success rate for improving LTE communication equipment, the LTE communication equipment can
To be arranged in the top or other preferable positions of LTE signal of handling facilities, the antenna of the LTE communication equipment is towards sky.
Preferably, it is damaged to avoid the power supply line connecting with LTE communication equipment and cable etc. from being exposed to external
Problem the power supply line of LTE communication equipment and cable can be arranged in inside the pipeline of handling facilities in the embodiment of the present invention.
Preferably, the below the crossbeam in handling facilities bottom can be set in the antenna of the first V2X equipment, this first
The antenna of V2X equipment can use 9db~12db omnidirectional fibre-glass epoxy antenna.
Preferably, to further ensure that signal quality, the first V2X equipment/double antenna can be used in the 2nd V2X communication equipment is superfluous
Two antennas arranged side by side are arranged in remaining design.First V2X equipment can be set inside the crossbeam of handling facilities or other positions
Set, for the loss for the signal for avoiding the antenna of the first V2X equipment from receiving, the position of the first V2X equipment and its antenna away from
From no more than preset distance threshold (such as 3 meters).
Preferably, to avoid power supply line, the cable etc. that connect with the first V2X equipment from being exposed to outer and impaired problem,
Power supply line, the cable etc. of the first V2X equipment can be arranged in inside the pipeline of handling facilities in the embodiment of the present invention.
In the embodiment of the present invention, the processing equipment 12 can be an industrial personal computer, a computer or embedded device,
The application does not make considered critical.
In the embodiment of the present invention, the automatic driving control system 2 can be the FPGA being arranged on automatic driving vehicle
(Field-Programmable Gate Array, i.e. field programmable gate array), tablet computer, industrial computer, portable electric
Brain, MCU (Microcontroller Unit, micro-control unit), ECU (Electronic Control Unit, electronic control
Unit) or embedded device etc., the application does not make considered critical.
Embodiment two
Same idea based on the positioning system that previous embodiment one provides, the embodiment of the present invention two also provide a kind of cabin
Cover board positioning system, the hatchway cover positioning system include the positioning device being arranged on the suspender of handling facilities, and setting exists
Processing equipment and the first communication equipment on the handling facilities, in which:
Positioning device is positioned to obtain the location information of the antenna for the antenna to positioning device；
Processing equipment, the position for the suspender grapple according to the positional information calculation of the antenna；When receiving use
When the release instruction that the hatchway cover that grab from ship is unclamped in instruction, the institute that will be calculated when unclamping the hatchway cover
The position for stating suspender grapple is determined as the landing position of the hatchway cover；The hatchway cover is transmitted by first communication equipment
Landing position.
In the embodiment of the present invention, the position for the suspender grapple being calculated when unclamping the hatchway cover is determined as institute
State the landing position of hatchway cover, specifically can by any one mode in the A1 of mode described in embodiment one~mode A3,
Details are not described herein.
In some instances, the antenna of positioning device can be arranged in suspender grapple position or the antenna with hang
Tool grapple be closer (such as linear distance is no more than preset distance threshold, and distance threshold for example can be set to 20cm,
30cm, 50cm etc., the application does not make considered critical), then it is believed that the antenna is identical as the position of suspender grapple, then the place
The position of equipment suspender grapple according to the positional information calculation of the antenna is managed, specific implementation can be as follows: by the antenna
Position be determined as the position of the suspender grapple.
In some instances, the linear distance of the antenna of positioning device and suspender grapple farther out, such as more than it is preset away from
From threshold value (distance threshold for example can be set to 20cm, and 30cm, 50cm etc., the application does not make considered critical), then calibration in advance
The relative position of positioning device and suspender grapple, and in processing by the storage of the relative position information of calibration, then institute
The position of processing equipment suspender grapple according to the positional information calculation of the antenna is stated, specific implementation can be as follows: according to institute
The relative position information that the position of antenna is stated between the antenna and the suspender grapple demarcated in advance, calculates the suspender
The position of grapple.For example, the relative position information of the antenna and the suspender grapple can be stored in as configuration file
In the processing equipment.
It preferably, is the positioning accuracy for improving positioning device, in the embodiment of the present invention, positioning device is to positioning device
Antenna is positioned to obtain the location information of the antenna, is specifically included: positioning device receives positioning signal by the antenna；
Positioning device 11 obtains RTK correction data, and is modified according to the RTK correction data of acquisition to the positioning signal, obtains
The location information of the antenna.
Preferably, the positioning device in the embodiment of the present invention can be GNSS (Global Navigation Satellite
System, Global Satellite Navigation System) receiver, the positioning signal is GNSS signal.
In the embodiment of the present invention, between the positioning device and processing equipment can by it is wired, wireless (including it is infrared,
Wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology etc.) etc. conventional communication mode communicated, the application does not make
Considered critical.In the embodiment of the present invention, between first communication equipment and processing equipment can by it is wired, wireless (including
Infrared, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology etc.) etc. conventional communication mode communicated, the application
Do not make considered critical.
It preferably, further include routing device in hatchway cover positioning system to further increase communication success rate, positioning is set
Standby to be connect by cable with routing device, processing equipment is connect by cable with routing device, and the first communication equipment passes through cable
It is connect with routing device, so that positioning device, processing equipment, the first communication equipment are in the same local area network, it is real
Now mutual communication.
The location information of the antenna specifically may include position (latitude and longitude coordinates etc.).Preferably, the location information is also
It may further include any one or more following information: the information such as movement velocity, direction of motion.
In previous embodiment, in an example 1, the processing equipment passes through first communication equipment for hatchway cover
Landing position is transferred to cloud server, the landing position of all hatchway covers in the area of port is uniformly stored by cloud server, automatically
Driving vehicle can be from obtaining in the area of port the landing position of all hatchway covers or from cloud server in the cloud server
The middle landing position for obtaining a certain range of all hatchway covers in the automatic driving vehicle periphery, specific the application do not limit strictly
It is fixed.
Preferably, in the example 1, first communication equipment may include the first LTE communication equipment, the processing equipment
The landing position that the hatchway cover is transmitted by first communication equipment, specifically includes: passing through the first LTE communication equipment
The landing position of the hatchway cover is transmitted to cloud server.
In the aforementioned embodiment, the processing equipment can be obtained by the first LTE communication equipment from cloud server
The RTK correction data.
Since ship is when shipment finishes, it is also necessary to by handling facilities by one or more hatchcover panel assemblies on ground to
On ship, needed for the landing position of the hatchway cover stored on the cloud server that timely updates with ensuring the information accuracy stored
The landing position that these stored in cloud server to be installed onto the hatchway cover on ship in time is deleted.Therefore, preceding
It states in embodiment, the processing equipment is further used for: the hatchway cover on ground being picked up and installed when receiving to be used to indicate
To ship fetching instruction when, the position for the suspender grapple being calculated when picking up the hatchway cover is determined as the cabin
The crawl position of cover board, and deletion landing is used to indicate to cloud server transmission by the first LTE communication equipment
The deletion of position hatchway cover landing position corresponding with the crawl position instructs.
The position for the suspender grapple being calculated when picking up the hatchway cover is determined as to the crawl of the hatchway cover
Position, specific implementation can be used any one in mode B1~mode B3, do not repeating herein.
In an example 2, the processing equipment is led in the landing position that hatchway cover is locally stored, and by described first
Believe that the landing position of hatchway cover is transferred to automatic driving vehicle by equipment.Automatic driving vehicle can be from each handling in the area of port
Hatchway cover positioning system in equipment obtains the landing position of hatchway cover.In the example 2, first communication equipment may include
First V2X equipment, the processing equipment transmit the landing position of the hatchway cover by first communication equipment, specific to wrap
It includes: the landing position of the hatchway cover being packaged by V2X message by the first V2X equipment and sends the V2X message
To specified air interface.Certainly, the first communication equipment in aforementioned hatchway cover positioning system can also further comprise the first LTE
Communication equipment, processing equipment obtain the RTK correction data from cloud server by the first LTE communication equipment.
Since ship is when shipment finishes, it is also necessary to by handling facilities by one or more hatchcover panel assemblies on ground to
On ship, therefore, for the landing position of the hatchway cover stored on the handling facilities that timely update, to ensure to be sent to automatic Pilot vehicle
Information accuracy, the landing position for the hatchway cover for needing in time to be installed onto these stored on handling facilities on ship
Set deletion.Therefore, in the aforementioned embodiment, the processing equipment is further used for: when receiving, be used to indicate will be on ground
When hatchway cover is picked up and is installed to the fetching instruction of ship, by the suspender grapple being calculated when picking up the hatchway cover
Position is determined as the crawl position of the hatchway cover, and the landing position of storage hatchway cover corresponding with the crawl position is fallen
Position is deleted.
In previous embodiment, the release instruction, fetching instruction, which can be, to be sent by operator by computer remote
To the instruction of processing equipment.Alternatively, release instruction, fetching instruction can be as operator provided by the processing equipment
The instruction of human-computer interaction interface input." unclamping hatchway cover ", " picking up hatchway cover " are provided on handling facilities alternatively, can be
Mechanical control, when operator presses " unclamping hatchway cover " can automatic trigger send one to processing equipment and use pulse signal
Or the release instruction that level signal indicates, when operator presses " picking up hatchway cover ", meeting automatic trigger is sent to processing equipment
One fetching instruction indicated with pulse signal or level signal.Alternatively, can be operator passes through remote control equipment to processing
Equipment sends the release instruction, fetching instruction.The application does not do stringent restriction to the source for unclamping instruction, fetching instruction.
It preferably, is the positioning accuracy for improving positioning device, in the embodiment of the present invention, by the antenna direction of positioning device
Sky, so that antenna obtains very strong positioning signal.It, can will in the embodiment of the present invention for the loss for reducing positioning signal
Positioning device and its antenna are arranged in the same position, positioning device and its antenna can also be arranged and be no more than certain distance
The position (such as within 2 meters) of range.
Preferably, in the embodiment of the present invention, for the communication success rate for improving LTE communication equipment, the LTE communication equipment can
To be arranged in the top or other preferable positions of LTE signal of handling facilities, the antenna of the LTE communication equipment is towards sky.
Preferably, it is damaged to avoid the power supply line connecting with LTE communication equipment and cable etc. from being exposed to external
Problem the power supply line of LTE communication equipment and cable can be arranged in inside the pipeline of handling facilities in the embodiment of the present invention.
Preferably, the below the crossbeam in handling facilities bottom can be set in the antenna of the first V2X equipment, this first
The antenna of V2X equipment can use 9db~12db omnidirectional fibre-glass epoxy antenna.
Preferably, to further ensure that signal quality, double antenna Redundancy Design is can be used in the first V2X equipment, that is, is arranged two
A antenna arranged side by side.First V2X equipment can be set inside the crossbeam of handling facilities or other positions, to avoid first
The positional distance of the loss for the signal that the antenna of V2X equipment receives, the first V2X equipment and its antenna is no more than preset
Distance threshold (such as 3 meters).
Preferably, to avoid power supply line, the cable etc. that connect with the first V2X equipment from being exposed to outer and impaired problem,
Power supply line, the cable etc. of the first V2X equipment can be arranged in inside the pipeline of handling facilities in the embodiment of the present invention.
In the embodiment of the present invention, the processing equipment can be an industrial personal computer, a computer or embedded device, this
Considered critical is not made in application.
Embodiment three
Same idea based on the positioning system that previous embodiment one provides, the embodiment of the present invention three provide one kind and drive automatically
Control system is sailed, which includes obtaining equipment and the second communication equipment, in which:
Equipment is obtained, for obtaining the landing position of hatchway cover by second communication equipment, and by the hatchway cover
And its perceptually result exports landing position.
It, can be by wired, wireless (including red between the acquisition equipment and the second communication equipment in the embodiment of the present invention
Outside, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology etc.) etc. conventional communication mode communicated, the application is not
Make considered critical.
Preferably, in one example, second communication equipment includes the second LTE communication equipment, the acquisition module
It can be connect by cable with second communication equipment.The equipment that obtains passes through second communication equipment acquisition hatchway cover
Landing position specifically includes: obtaining the landing position of hatchway cover from cloud server by the second LTE communication equipment.
Preferably, in another example, second communication equipment includes the 2nd V2X equipment, and the acquisition equipment is logical
The landing position that second communication equipment obtains hatchway cover is crossed, is specifically included: by the 2nd V2X equipment from specified sky
The V2X message that middle interface hatchway cover positioning system is sent, and parse from the V2X message landing position of hatchway cover.
Preferably, in one example, the automatic driving control system can further include sensing module, decision
Module and control module, the acquisition equipment can perceptually result be transferred to the sense by the hatchway cover and its landing position
Module or the decision-making module are known, so that automatic driving control system can be according to the landing position of hatchway cover and preset
The region of the hatchway cover on the ground can be obtained in hatchcover board size, to carry out avoidance for the hatchway cover as barrier.
The sensing module, decision-making module and control module can be module well known in the prior art, and details are not described herein.
Preferably, in another example, the automatic driving control system can further include sensing module, sense
Know result Fusion Module, decision-making module and control module, the acquisition equipment can using the hatchway cover and its landing position as
Sensing results are transferred to the sensing results Fusion Module, so that automatic driving control system can be according to the landing position of hatchway cover
It sets and the region of the hatchway cover on the ground can be obtained in preset hatchcover board size, thus using the hatchway cover as obstacle
Object carries out avoidance.The sensing module, sensing results Fusion Module, decision-making module and control module can be in the prior art
The module known, details are not described herein.
In the embodiment of the present invention, the automatic driving control system can be the FPGA being arranged on automatic driving vehicle,
Tablet computer, industrial computer, portable computer, MCU, ECU or embedded device etc., the application does not make considered critical.
Example IV
The embodiment of the present invention four also provides a kind of handling facilities, which is provided with the hatchcover as shown in embodiment two
Plate positioning system, the structure of the hatchway cover positioning system can related content in detailed in Example two, details are not described herein.
Embodiment five
The embodiment of the present invention five is also provided to a kind of automatic driving vehicle, is provided on the automatic driving vehicle such as embodiment
Automatic driving control system described in three, the structure of the automatic driving control system can phase in detailed in Example three inside the Pass
Hold, details are not described herein.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (12)
1. a kind of hatchway cover positioning system, which is characterized in that including the positioning device being arranged on the suspender of handling facilities, and
Processing equipment on the handling facilities and the first communication equipment are set, in which:
Positioning device is positioned to obtain the location information of the antenna for the antenna to positioning device；
Processing equipment, the position for the suspender grapple according to the positional information calculation of the antenna；When receiving for referring to
Show by the hatchway cover grabbed from ship unclamp release instruction when, be calculated when will unclamp the hatchway cover described in hang
The position of tool grapple is determined as the landing position of the hatchway cover；Falling for the hatchway cover is transmitted by first communication equipment
Position.
2. system according to claim 1, which is characterized in that first communication equipment includes the first long term evolution LTE
Communication equipment；The processing equipment transmits the landing position of the hatchway cover by first communication equipment, specifically includes:
The landing position of the hatchway cover is transmitted to cloud server by the first LTE communication equipment.
3. system according to claim 2, which is characterized in that the processing equipment is further used for:
When receive be used to indicate the hatchway cover on ground is picked up and is installed to the fetching instruction of ship when, the cabin will be picked up
The position for the suspender grapple being calculated when cover board is determined as the crawl position of the hatchway cover, and passes through described first
LTE communication equipment is used to indicate to cloud server transmission and deletes landing position hatchway cover corresponding with the crawl position
The deletion of landing position instructs.
4. system according to claim 1, which is characterized in that first communication equipment includes the first V2X equipment；It is described
Processing equipment transmits the landing position of the hatchway cover by first communication equipment, specifically includes:
The landing position of the hatchway cover is packaged into V2X message by the first V2X equipment and sends the V2X message
To specified air interface.
5. system according to claim 4, which is characterized in that the processing equipment is further used for:
When receive be used to indicate the hatchway cover on ground is picked up and is installed to the fetching instruction of ship when, the cabin will be picked up
The position for the suspender grapple being calculated when cover board is determined as the crawl position of the hatchway cover, and by the landing position of storage
Hatchway cover landing position corresponding with the crawl position is set to delete.
6. described in any item systems according to claim 1~5, which is characterized in that day of the positioning device to positioning device
Line is positioned to obtain the location information of the antenna, is specifically included:
Positioning device receives positioning signal by the antenna；
Positioning device obtains RTK correction data, and is modified according to the RTK correction data of acquisition to the positioning signal, obtains
To the location information of the antenna.
7. a kind of handling facilities, which is characterized in that including hatchway cover positioning system as described in any one of claims 1 to 6.
8. a kind of automatic driving control system, which is characterized in that including obtaining equipment and the second communication equipment, in which:
Obtain equipment, for obtaining the landing position of hatchway cover by second communication equipment, and by the hatchway cover and its
Perceptually result exports landing position.
9. system according to claim 8, which is characterized in that second communication equipment includes the second LTE communication equipment,
The landing position for obtaining equipment and obtaining hatchway cover by second communication equipment, specifically includes:
The landing position of hatchway cover is obtained from cloud server by the second LTE communication equipment.
10. system according to claim 8, which is characterized in that the communication equipment includes the 2nd V2X equipment, described to obtain
It takes equipment to obtain the landing position of hatchway cover by second communication equipment, specifically includes:
Receive the V2X message that hatchway cover positioning system is sent from specified air interface by the 2nd V2X equipment, and from this
The landing position of hatchway cover is parsed in V2X message.
11. a kind of automatic driving vehicle, which is characterized in that including the automatic Pilot as described in claim 8~10 any one
Control system.
12. a kind of positioning system, which is characterized in that including be mounted on handling facilities hatchway cover positioning system, be mounted on from
The dynamic automatic driving control system driven on vehicle, wherein the hatchway cover positioning system includes being arranged in the handling facilities
Suspender on positioning device and the processing equipment being arranged on the handling facilities and the first communication equipment；It is described to drive automatically
Sailing control system includes obtaining equipment and the second communication equipment；
Positioning device is positioned to obtain the location information of the antenna for the antenna to positioning device；
Processing equipment, the position for the suspender grapple according to the positional information calculation of the antenna；When receiving for referring to
Show by the hatchway cover grabbed from ship unclamp release instruction when, be calculated when will unclamp the hatchway cover described in hang
The position of tool grapple is determined as the landing position of the hatchway cover；Falling for the hatchway cover is transmitted by first communication equipment
Position；
Obtain equipment, for obtaining the landing position of hatchway cover by second communication equipment, and by the hatchway cover and its
Perceptually result exports landing position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810454708.2A CN110488321B (en) | 2018-05-14 | 2018-05-14 | Positioning system, cabin cover plate positioning system and automatic driving control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810454708.2A CN110488321B (en) | 2018-05-14 | 2018-05-14 | Positioning system, cabin cover plate positioning system and automatic driving control system |
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| Publication Number | Publication Date |
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| CN110488321A true CN110488321A (en) | 2019-11-22 |
| CN110488321B CN110488321B (en) | 2021-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810454708.2A Active CN110488321B (en) | 2018-05-14 | 2018-05-14 | Positioning system, cabin cover plate positioning system and automatic driving control system |
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| CN110488321B (en) | 2021-09-03 |
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