CN110488321B - Positioning system, cabin cover plate positioning system and automatic driving control system - Google Patents
Positioning system, cabin cover plate positioning system and automatic driving control system Download PDFInfo
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- CN110488321B CN110488321B CN201810454708.2A CN201810454708A CN110488321B CN 110488321 B CN110488321 B CN 110488321B CN 201810454708 A CN201810454708 A CN 201810454708A CN 110488321 B CN110488321 B CN 110488321B
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- deck plate
- positioning
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- landing position
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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
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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
- G01S19/02—Details of the space or ground control segments
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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
- G01S19/38—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 invention discloses a positioning system, a cabin cover plate positioning system and an automatic driving control system, and aims to solve the problem that the cabin cover plate cannot be accurately positioned in the prior art. Deck lid positioning system, including setting up the positioning device on the hoist of handling equipment, and setting up processing apparatus and first communication equipment on the handling equipment, wherein: the positioning equipment is used for positioning an antenna of the positioning equipment to obtain the position information of the antenna; the processing equipment is used for calculating the position of the lifting appliance grapple according to the position information of the antenna; when a loosening instruction for indicating that a deck plate grabbed from a ship is loosened is received, determining the position of the lifting appliance grapple obtained by calculation when the deck plate is loosened as a landing position of the deck plate; transmitting, by the first communication device, a landing position of the deck lid.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a positioning system, a cabin cover plate positioning system, loading and unloading equipment, an automatic driving control system and an automatic driving vehicle.
Background
Shore cranes (also known as quay cranes), also known as quayside container cranes, bridge cranes, shore bridges, etc., are devices used to load and unload containers on ships on shore. When the ship is unloaded, the shore crane grabs the container from the ship and places the container on a truck in a harbor area, and the container is transported to a storage yard by the truck; during the shipping operation, the truck transports the container to the shore crane, from which the container is picked up and placed on the ship. At present, in order to improve the operating efficiency, 2-3 drivers are equipped for each truck to shift, however, the operating risk coefficient in a port area is higher, so that the scheme of manually driving the truck transportation container has high cost and low operating efficiency, and potential hazards exist to the life safety of the truck drivers.
With the development of the automatic driving technology, in order to solve the problems of the existing solutions, an Automated Guided Vehicle (AGV) is used to replace a manually driven truck in some port areas, the AGV does not need to be equipped with a driver, and can automatically transport a container in the port area for 24 hours, thereby improving the operation efficiency and reducing the cost, but the AGV is expensive, one AGV is about seven-eight million RMB, and the AGV realizes track route running through geomagnetic nails laid on the ground, and the maintenance and repair costs of the geomagnetic nails are very high, therefore, the solution of transporting the container by the AGV is not only too high in cost, but also is not likely to be popularized for the port with very large throughput at present because the laying of the requirement of stopping operation of the port.
To reduce costs, those skilled in the art are developing autonomous trucks that are capable of performing autonomous driving within a port area, the technologies necessary to perform truck autonomous driving including positioning, sensing, decision making, and control.
The cover plate is a closed device for ensuring the watertight state of the ship body and the safety of goods in the cabin, and has certain pressure resistance. When the loading and unloading equipment unloads the ship, the hatch cover plate on the ship needs to be taken away firstly, and then the container on the ship needs to be unloaded; when the loading and unloading equipment is used for loading a ship, the hatch cover plate needs to be installed on the ship after the loading of the ship is finished.
At present, when ship unloading is carried out in a port, a lifting appliance on loading and unloading equipment is used for directly grabbing a cabin cover plate (the lifting appliance is also used for grabbing a container), and the cabin cover plate is randomly placed at a position far away from the shore in a port area, particularly in some ports which are not busy, the cabin cover plate can be directly placed on a lane; and when the loading is finished, the cover plate on the ground is grabbed by the lifting appliance on the loading and unloading equipment and is installed on the ship. Since the thickness of the deck cover is relatively thin and the area is large, sensing equipment (such as a camera, a laser radar and the like) on the automatic pilot vehicle is difficult to sense and identify the deck cover, which may cause the problem that the deck cover is damaged due to the fact that the automatic pilot vehicle directly rolls the deck cover, and even may cause traffic accidents, how to timely know the position of the deck cover in the harbor area on the ground becomes a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of the above problems, the present invention provides a positioning system, a deck plate positioning system and an automatic steering control system, so as to solve the problem that the prior art cannot accurately position a deck plate.
The embodiment of the invention provides, in a first aspect, a deck plate positioning system, which includes a positioning device arranged on a spreader of a handling device, and a processing device and a first communication device arranged on the handling device, wherein:
the positioning equipment is used for positioning an antenna of the positioning equipment to obtain the position information of the antenna;
the processing equipment is used for calculating the position of the lifting appliance grapple according to the position information of the antenna; when a loosening instruction for indicating that a deck plate grabbed from a ship is loosened is received, determining the position of the lifting appliance grapple obtained by calculation when the deck plate is loosened as a landing position of the deck plate; transmitting, by the first communication device, a landing position of the deck lid.
According to an embodiment of the invention, in a second aspect, a loading and unloading device is provided, which includes the above mentioned deck plate positioning system.
An embodiment of the present invention, in a third aspect, provides an automatic driving control system, including an acquisition device and a second communication device, where:
and the acquisition equipment is used for acquiring the landing position of the deck plate through the second communication equipment and outputting the deck plate and the landing position thereof as a sensing result.
The embodiment of the invention provides an automatic driving vehicle in a fourth aspect, which comprises the automatic driving control system.
The positioning system comprises a cabin cover plate positioning system arranged on a loading and unloading device and an automatic driving control system arranged on an automatic driving vehicle, wherein the cabin cover plate positioning system comprises a positioning device arranged on a lifting appliance of the loading and unloading device, a processing device and a first communication device which are arranged on the loading and unloading device; the automatic driving control system comprises an acquisition device and a second communication device;
the positioning equipment is used for positioning an antenna of the positioning equipment to obtain the position information of the antenna;
the processing equipment is used for calculating the position of the lifting appliance grapple according to the position information of the antenna; when a loosening instruction for indicating that a deck plate grabbed from a ship is loosened is received, determining the position of the lifting appliance grapple obtained by calculation when the deck plate is loosened as a landing position of the deck plate; transmitting a landing position of the deck plate through the first communication device;
and the acquisition equipment is used for acquiring the landing position of the deck plate through the second communication equipment and outputting the deck plate and the landing position thereof as a sensing result.
According to the technical scheme, the lifting appliance of the loading and unloading equipment is provided with the positioning equipment, the loading and unloading equipment is provided with the communication equipment and the processing equipment, and the positioning equipment can position the antenna of the positioning equipment to obtain the real-time position of the antenna; the processing equipment can determine the position of the grab hook of the lifting appliance in real time according to the position information of the antenna, the position of the grab hook of the lifting appliance is determined as the landing position of the deck plate when the lifting appliance grabs the deck plate from the ship and loosens the deck plate at a place which is not high above the ground, the grab hook generally grabs the central position of the deck plate and loosens the deck plate at a place which is not high above the ground, and the deck plate has certain weight and does approximate free-falling body movement when being loosened, so that the position of the grab hook of the lifting appliance is closer to the landing position of the deck plate, and the position of the deck plate can be accurately obtained.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a schematic diagram of a positioning system according to an embodiment of the present invention;
FIG. 2 is a second schematic structural diagram of a positioning system according to an embodiment of the present invention;
FIG. 3 is a third exemplary diagram of a positioning system according to an embodiment of the present invention;
FIG. 4 is a fourth schematic structural diagram of a positioning system according to an embodiment of the present invention;
FIG. 5 is a fifth exemplary diagram of a positioning system according to the present invention;
FIG. 6 is a sixth schematic structural view of a positioning system in an embodiment of the present invention;
FIG. 7 is a seventh exemplary diagram of a positioning system according to the present invention;
FIG. 8 is an eighth schematic structural diagram of a positioning system in an embodiment of the present invention;
FIG. 9 is a schematic diagram of an embodiment of an automatic driving control system;
FIG. 10 is a second schematic diagram of an embodiment of an automatic driving control system;
fig. 11 is a third schematic structural diagram of an automatic driving control system according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the embodiment of the invention, the loading and unloading equipment can be a shore crane, a tire crane, a front crane, a crown block, a crane and the like, and the application is not strictly limited. The autonomous vehicle may be a truck, lorry, trailer, etc., and the application is not strictly limited.
Example one
Referring to fig. 1, which is a schematic structural diagram of a positioning system in an embodiment of the present invention, the positioning system includes a deck plate positioning system 1 and an automatic steering control system 2, the deck plate positioning system 1 is disposed on a loading and unloading device, and the automatic steering control system 2 is disposed on an automatic steering vehicle. The deck lid positioning system 1 comprises a positioning device 11, a processing device 12 and a first communication device 13, wherein the positioning device 11 is arranged on a spreader of the handling device, and the processing device 12 and the first communication device 13 may be arranged on the spreader or on other positions of the handling device, which is not strictly limited in this application. The automatic driving control system 2 comprises an acquisition module 21 and a second communication device 22, wherein:
the positioning device 11 is configured to position an antenna of the positioning device 11 to obtain position information of the antenna;
the processing device 12 is used for calculating the position of the lifting appliance grapple according to the position information of the antenna; when a loosening instruction for indicating that a deck plate grabbed from a ship is loosened is received, determining the position of the lifting appliance grapple obtained by calculation when the deck plate is loosened as a landing position of the deck plate; transmitting the landing position of the deck plate through the first communication device 13;
and the acquisition device 21 is configured to acquire the landing position of the deck plate through the second communication device 22, and output the deck plate and the landing position thereof as a sensing result.
Determining the calculated position of the lifting appliance grapple when the deck plate is loosened as the landing position of the deck plate, which can be specifically realized by any one of, but not limited to:
in the mode A1, the position of the lifting appliance grapple calculated at the same time as the time of loosening the deck plate is determined as the landing position of the deck plate;
in the mode a2, the position of the hook of the spreader, which is calculated at the time closest to the time when the deck panel is released, is determined as the landing position of the deck panel.
In the mode A3, a time period range is obtained by pushing a preset time period forwards and backwards at the moment of loosening the deck plate, and the average value of the calculated position of at least one lifting appliance grapple in the time period range is obtained to obtain the landing position of the deck plate. For example, assuming that the time for releasing the deck plate is 10:00, and the time for pushing forward is 1 minute and the time for pushing backward is 1 minute, a time period range of 09:59 to 10:01 is obtained, the positions of 10 lifting hook devices are calculated within the time range of 09:59 to 10:01, the average value of the 10 positions is calculated, and the average value of the 10 positions is determined as the landing position of the deck plate.
In some examples, the antenna of the positioning device 11 may be disposed at a position of the hook of the spreader or the antenna may be located at a close distance from the hook of the spreader (for example, the straight distance does not exceed a preset distance threshold, and the distance threshold may be set to 20cm, 30cm, 50cm, etc., which is not strictly limited in this application), the position of the antenna and the position of the hook of the spreader may be considered to be the same, and the processing device 12 calculates the position of the hook of the spreader according to the position information of the antenna, which may be implemented as follows: determining the position of the antenna as the position of the spreader grapple.
In some examples, if the linear distance between the antenna of the positioning device 11 and the hook of the spreader is relatively long, for example, exceeds a preset distance threshold (the distance threshold may be set to 20cm, 30cm, 50cm, etc., and the present application is not strictly limited), the relative position between the positioning device 11 and the hook of the spreader is calibrated in advance, and the calibrated relative position information is stored in the processing device 12, and the processing device 12 calculates the position of the hook of the spreader according to the position information of the antenna, which may be implemented as follows: and calculating the position of the lifting appliance grapple according to the position of the antenna and the relative position information between the antenna and the lifting appliance grapple which is calibrated in advance. For example, the relative position information of the antenna and the spreader grapple may be stored as a configuration file in the processing device 12.
Preferably, in order to improve the positioning accuracy of the positioning device 11, in the embodiment of the present invention, the positioning device 11 positions the antenna of the positioning device 11 to obtain the position information of the antenna, which specifically includes: the positioning device 11 receives the positioning signal through the antenna; the positioning device 11 acquires RTK correction data, and corrects the positioning signal according to the acquired RTK correction data to obtain position information of the antenna.
Preferably, the positioning device 11 in the embodiment of the present invention may be a GNSS (Global Navigation Satellite System) receiver, and the positioning signal is a GNSS signal.
In the embodiment of the present invention, the positioning device 11 and the processing device 12 may communicate with each other in a wired or wireless (including infrared, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology, etc.) communication manner, which is not limited in this application. In the embodiment of the present invention, the first communication device 13 and the processing device 12 may communicate with each other in a wired or wireless (including infrared, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology, etc.) communication manner, which is not limited in this application.
In the embodiment of the present invention, the obtaining device and the second communication device may communicate with each other in a wired or wireless (including infrared, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology, etc.) conventional communication manner, which is not limited strictly in this application.
Preferably, in order to further improve the success rate of communication, the canopy plate positioning system 1 further includes a routing device 14, the positioning device 11 is connected to the routing device 14 through a network cable, the processing device 12 is connected to the routing device 14 through a network cable, and the first communication device 13 is connected to the routing device 14 through a network cable, so that the positioning device 11, the processing device 12, and the first communication device 13 are all located in the same local area network, and communication between them is achieved, as shown in fig. 2.
The location information of the antenna may specifically include a location (latitude and longitude coordinates, etc.). Preferably, the location information may further include any one or more of the following information: speed of movement, direction of movement, etc.
In the foregoing systems shown in fig. 1 and fig. 2, in an example 1, the processing device 12 transmits the landing positions of the deck boards to a cloud server through the first communication device 13, the cloud server stores the landing positions of all the deck boards in the harbor area in a unified manner, and the autonomous vehicle may obtain the landing positions of all the deck boards in the harbor area from the cloud server or obtain the landing positions of all the deck boards in a certain range around the autonomous vehicle from the cloud server, which is not limited in this application.
Preferably, in this example 1, the first communication device 13 may comprise a first LTE communication device, and the second communication device 22 may comprise a second LTE communication device. The processing device 12 transmits the landing position of the deck plate through the first communication device, and specifically includes: transmitting the landing position of the deck plate to a cloud server through the first LTE communication equipment. The acquiring device 21 acquires the landing position of the deck plate through the second communication device 22, and specifically includes: and acquiring the landing position of the cabin cover plate from a cloud server through the second LTE communication equipment. As shown in fig. 3, in the system shown in fig. 1, the first communication device 13 includes a first LTE communication device, and the second communication device 22 includes a second LTE communication device. As shown in fig. 4, in the system shown in fig. 2, the first communication device 13 includes a first LTE communication device, and the second communication device 22 includes a second LTE communication device.
In the system shown in fig. 4, the first LTE communication device and the routing device 14 may be integrated on the same hardware or may be separately and independently disposed, which is not strictly limited in this application.
In the foregoing embodiment, the processing device 12 may acquire the RTK correction data from a cloud server through the first LTE communication device.
When the ship is loaded, one or more cabin cover plates on the ground are required to be arranged on the ship by the loading and unloading equipment, and the landing positions of the cabin cover plates which are stored in the cloud server and are loaded back to the ship are required to be deleted in time in order to update the landing positions of the cabin cover plates stored in the cloud server in time and ensure the accuracy of stored information. Therefore, in the foregoing embodiment, the processing device 12 is further configured to: when a grabbing instruction for instructing to grab and install a cover plate on the ground to a ship is received, the position of the lifting appliance grab hook calculated when the cover plate is grabbed is determined as the grabbing position of the cover plate, and a deleting instruction for instructing to delete the landing position of the cover plate corresponding to the grabbing position is sent to the cloud server through the first LTE communication device.
The position of the lifting appliance grapple calculated when the deck plate is grabbed is determined as the grabbing position of the deck plate, which can be specifically realized by any one of, but not limited to:
a mode B1, determining the position of the lifting appliance grapple calculated at the same time as the time of grabbing the deck plate as the grabbing position of the deck plate;
and in the mode B2, the position of the lifting appliance grapple calculated at the time closest to the time of grabbing the deck plate is determined as the grabbing position of the deck plate.
And B3, pushing a preset time period forwards and backwards at the moment of grabbing the deck plate to obtain a time period range, and averaging the calculated position of at least one lifting appliance grapple in the time period range to obtain the grabbing position of the deck plate. For example, assuming that the time for grabbing the deck plate is 10:00, and the time for pushing forward is 1 minute, and the time for pushing backward is 1 minute, a time period range is 09: 59-10: 01, the positions of 10 lifting appliance grapples are calculated within the time range of 09: 59-10: 01, the average value of the 10 positions is calculated, and the average value of the 10 positions is determined as the grabbing position of the deck plate.
In the system shown in fig. 1 and 2, in an example 2, the processing device 12 locally stores the landing position of the deck plate and transmits the landing position of the deck plate to the autonomous vehicle through the first communication device 13. The autonomous vehicle may obtain a landing position of the deck plate from a deck plate positioning system on each of the load handling devices within the harbor. In this example 2, the first communication device 13 may comprise a first V2X device and the second communication device 22 may comprise a second V2X device. The processing device 12 transmits the landing position of the deck lid through the first communication device 13, and specifically includes: packing the landing positions of the deck boards into V2X messages through the first V2X equipment, and sending the V2X messages to a designated air interface; the second communication device 22 includes a second V2X device, and the acquiring device 21 acquires the landing position of the deck plate through the second communication device 22, which specifically includes: and receiving the V2X message sent by the deck plate positioning system from the designated air interface through the second V2X equipment, and analyzing the landing position of the deck plate from the V2X message. As shown in fig. 5, in the system shown in fig. 1, the first communication device 13 comprises a first V2X device and the second communication device 22 comprises a second V2X device. As shown in FIG. 6, in the system shown in FIG. 2, the first communication device 13 comprises a first V2X device and the second communication device 22 comprises a second V2X device
In the systems shown in fig. 5 and fig. 6, the first communication device 13 may further include a first LTE communication device, and the processing device 12 acquires the RTK correction data from a cloud server through the first LTE communication device. As shown in fig. 7, in the system shown in fig. 5, the first communication device 13 further includes a first LTE communication device. As shown in fig. 8, in the system shown in fig. 6, the first communication device 13 further includes a first LTE communication device. In the system shown in fig. 8, the first LTE communication device and the routing device 14 may be integrated on one hardware, or may be separately provided.
Since one or more on-ground deck boards are required to be mounted on the ship by the loading and unloading equipment after the loading of the ship is completed, the landing positions of the deck boards which are already loaded back on the ship and stored on the loading and unloading equipment need to be deleted in time in order to update the landing positions of the deck boards stored on the loading and unloading equipment in time and ensure the accuracy of information sent to the autonomous vehicle. Therefore, in the foregoing systems shown in fig. 5 to 8, the processing device 12 is further configured to: when a grabbing instruction for instructing to grab and install the cover plate on the ground to the ship is received, the position of the lifting appliance grabbing hook calculated when the cover plate is grabbed is determined as the grabbing position of the cover plate, and the stored landing position and the landing position of the cover plate corresponding to the grabbing position are deleted.
Preferably, in the foregoing embodiment, the automatic pilot control system 2 may further include a sensing module, a decision-making module and a control module, and the obtaining device 21 may transmit the deck plate and the landing position thereof as a sensing result to the sensing module or the decision-making module, so that the automatic pilot control system 2 can obtain an area of the deck plate on the ground according to the landing position of the deck plate and a preset size of the deck plate, and thus use the deck plate as an obstacle to avoid the obstacle, as shown in fig. 9 and 10. The sensing module, the decision-making module and the control module may be known in the art and are not described herein again.
Preferably, in the foregoing embodiment, as shown in fig. 11, the automatic pilot control system 2 may further include a sensing module, a sensing result fusion module, a decision module, and a control module, and the obtaining device 21 may transmit the deck plate and the landing position thereof as a sensing result to the sensing result fusion module, so that the automatic pilot control system 2 can obtain the area of the deck plate on the ground according to the landing position of the deck plate and a preset size of the deck plate, and thus, the deck plate is used as an obstacle to avoid the obstacle. The sensing module, the sensing result fusion module, the decision module and the control module may be known modules in the prior art, and are not described herein again.
In the foregoing embodiment, the release instruction and the capture instruction may be instructions remotely sent to the processing device 12 by an operator through a computer. Alternatively, the release command, the grab command, may be a command entered by an operator at a human-machine interface provided by the processing device 12. Alternatively, mechanical controls for "releasing the deck plate" and "grabbing the deck plate" may be provided on the handling apparatus, and when the operator presses "releasing the deck plate", the mechanical controls may automatically trigger sending a release command represented by a pulse signal or a level signal to the processing apparatus 12, and when the operator presses "grabbing the deck plate", the mechanical controls may automatically trigger sending a grabbing command represented by a pulse signal or a level signal to the processing apparatus 12. Alternatively, the operator may send the release command or the grab command to the processing device 12 through a remote control device. The source of the loosening command and the grabbing command is not strictly limited.
Preferably, in order to improve the positioning accuracy of the positioning apparatus 11, in the embodiment of the present invention, the antenna of the positioning apparatus 11 is oriented towards the sky, so that the antenna obtains a very strong positioning signal. In order to reduce the loss of the positioning signal, in the embodiment of the present invention, the positioning device 11 and the antenna thereof may be disposed at the same position, or the positioning device 11 and the antenna thereof may be disposed at a position (for example, within 2 meters) within a certain distance range.
Preferably, in the embodiment of the present invention, to improve the communication success rate of the LTE communication device, the LTE communication device may be disposed on the top of the handling device or at another location where LTE signals are good, and an antenna of the LTE communication device faces the sky.
Preferably, in order to avoid the problem that the power line, the network cable, and the like connected to the LTE communication device are exposed to the outside and damaged, in the embodiment of the present invention, the power line and the network cable of the LTE communication device may be disposed inside the pipe of the handling device.
Preferably, the antenna of the first V2X device may be disposed below the lowest beam of the handling equipment, and the antenna of the first V2X device may be a 9 db-12 db omnidirectional glass fiber reinforced plastic antenna.
Preferably, to further ensure signal quality, the first V2X device/second V2X communication device may employ a dual antenna redundancy design, i.e., two antennas are provided in parallel. The first V2X device may be located inside a beam of the handling equipment or elsewhere, the first V2X device being located no further than a preset distance threshold (e.g., 3 meters) from its antenna in order to avoid loss of signal received by the antenna of the first V2X device.
Preferably, in order to avoid the problem that the power line, the network cable and the like connected with the first V2X equipment are exposed and damaged, the power line, the network cable and the like of the first V2X equipment can be arranged inside the pipeline of the loading and unloading equipment in the embodiment of the invention.
In the embodiment of the present invention, the processing device 12 may be an industrial personal computer, a computer, or an embedded device, and the present application is not limited strictly.
In the embodiment of the present invention, the automatic driving Control system 2 may be an FPGA (Field-Programmable Gate Array), a tablet computer, an industrial computer, a portable computer, an MCU (micro controller Unit), an ECU (Electronic Control Unit), or an embedded device, which are disposed on the automatic driving vehicle, and the present application is not limited strictly.
Example two
Based on the same concept of the positioning system provided by the first embodiment, the second embodiment of the present invention further provides a deck plate positioning system, which includes a positioning device provided on a spreader of a handling device, and a processing device and a first communication device provided on the handling device, wherein:
the positioning equipment is used for positioning an antenna of the positioning equipment to obtain the position information of the antenna;
the processing equipment is used for calculating the position of the lifting appliance grapple according to the position information of the antenna; when a loosening instruction for indicating that a deck plate grabbed from a ship is loosened is received, determining the position of the lifting appliance grapple obtained by calculation when the deck plate is loosened as a landing position of the deck plate; transmitting, by the first communication device, a landing position of the deck lid.
In the embodiment of the present invention, the position of the lifting appliance grapple, which is calculated when the deck plate is released, is determined as the landing position of the deck plate, which may be specifically determined by any one of the modes a1 to A3 described in the first embodiment, and details thereof are not repeated herein.
In some examples, the antenna of the positioning device may be disposed at a position of the spreader grapple or the antenna may be located at a close distance from the spreader grapple (for example, a straight distance does not exceed a preset distance threshold, the distance threshold may be set to 20cm, 30cm, 50cm, etc., which is not strictly limited in this application), and the antenna and the spreader grapple may be considered to be located at the same position, and the processing device calculates the position of the spreader grapple according to the position information of the antenna, which may be implemented as follows: determining the position of the antenna as the position of the spreader grapple.
In some examples, if the linear distance between the antenna of the positioning device and the hook of the spreader is relatively long, for example, exceeds a preset distance threshold (the distance threshold may be set to 20cm, 30cm, 50cm, etc., which is not strictly limited in this application), the relative position between the positioning device and the hook of the spreader is calibrated in advance, and the calibrated relative position information is stored in the processing device, and the processing device calculates the position of the hook of the spreader according to the position information of the antenna, which may be implemented as follows: and calculating the position of the lifting appliance grapple according to the position of the antenna and the relative position information between the antenna and the lifting appliance grapple which is calibrated in advance. For example, the relative position information of the antenna and the spreader grapple may be stored as a configuration file in the processing device.
Preferably, in order to improve the positioning accuracy of the positioning device, in the embodiment of the present invention, the positioning device positions the antenna of the positioning device to obtain the position information of the antenna, which specifically includes: the positioning equipment receives a positioning signal through the antenna; the positioning device 11 acquires RTK correction data, and corrects the positioning signal according to the acquired RTK correction data to obtain position information of the antenna.
Preferably, the positioning device in the embodiment of the present invention may be a GNSS (Global Navigation Satellite System) receiver, and the positioning signal is a GNSS signal.
In the embodiment of the present invention, the positioning device and the processing device may communicate with each other in a wired or wireless (including infrared, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology, etc.) communication manner, which is not limited in this application. In the embodiment of the present invention, the first communication device and the processing device may communicate with each other in a wired or wireless (including infrared, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology, etc.) communication manner, which is not limited in this application.
Preferably, in order to further improve the success rate of communication, the cabin cover plate positioning system further comprises a routing device, the positioning device is connected with the routing device through a network cable, the processing device is connected with the routing device through a network cable, and the first communication device is connected with the routing device through a network cable, so that the positioning device, the processing device and the first communication device are all located in the same local area network, and communication among the positioning device, the processing device and the first communication device is achieved.
The location information of the antenna may specifically include a location (latitude and longitude coordinates, etc.). Preferably, the location information may further include any one or more of the following information: speed of movement, direction of movement, etc.
In the foregoing embodiment, in an example 1, the processing device transmits the landing positions of the deck boards to the cloud server through the first communication device, the cloud server stores the landing positions of all the deck boards in the harbor area in a unified manner, and the autonomous vehicle may obtain the landing positions of all the deck boards in the harbor area from the cloud server or obtain the landing positions of all the deck boards in a certain range around the autonomous vehicle from the cloud server, which is not limited in this application.
Preferably, in this example 1, the first communication device may include a first LTE communication device, and the processing device transmits the landing position of the deck lid through the first communication device, specifically including: transmitting the landing position of the deck plate to a cloud server through the first LTE communication equipment.
In the foregoing embodiment, the processing device may acquire the RTK correction data from a cloud server through the first LTE communication device.
When the ship is loaded, one or more cabin cover plates on the ground are required to be arranged on the ship by the loading and unloading equipment, and the landing positions of the cabin cover plates which are stored in the cloud server and are loaded back to the ship are required to be deleted in time in order to update the landing positions of the cabin cover plates stored in the cloud server in time and ensure the accuracy of stored information. Accordingly, in the foregoing embodiment, the processing device is further configured to: when a grabbing instruction for instructing to grab and install a cover plate on the ground to a ship is received, the position of the lifting appliance grab hook calculated when the cover plate is grabbed is determined as the grabbing position of the cover plate, and a deleting instruction for instructing to delete the landing position of the cover plate corresponding to the grabbing position is sent to the cloud server through the first LTE communication device.
The position of the lifting appliance grapple obtained by calculation when the deck lid is grabbed is determined as the grabbing position of the deck lid, and any one of the modes B1 to B3 can be specifically implemented, which is not described herein again.
In one example 2, the processing device locally stores the landing position of the deck lid and transmits the landing position of the deck lid to the autonomous vehicle via the first communication device. The autonomous vehicle may obtain a landing position of the deck plate from a deck plate positioning system on each of the load handling devices within the harbor. In this example 2, the first communication device may include a first V2X device, and the processing device transmits the landing position of the deck lid through the first communication device, specifically including: and packaging the landing positions of the deck boards into V2X messages through the first V2X equipment, and sending the V2X messages to a designated air interface. Of course, the first communication device in the aforementioned canopy plate positioning system may further include a first LTE communication device, and the processing device acquires the RTK correction data from the cloud server through the first LTE communication device.
Since one or more on-ground deck boards are required to be mounted on the ship by the loading and unloading equipment after the loading of the ship is completed, the landing positions of the deck boards which are already loaded back on the ship and stored on the loading and unloading equipment need to be deleted in time in order to update the landing positions of the deck boards stored on the loading and unloading equipment in time and ensure the accuracy of information sent to the autonomous vehicle. Thus, in the foregoing embodiment, the processing device is further configured to: when a grabbing instruction for instructing to grab and install the cover plate on the ground to the ship is received, the position of the lifting appliance grabbing hook calculated when the cover plate is grabbed is determined as the grabbing position of the cover plate, and the stored landing position and the landing position of the cover plate corresponding to the grabbing position are deleted.
In the foregoing embodiment, the release instruction and the capture instruction may be instructions remotely sent to the processing device by an operator through a computer. Alternatively, the release command and the grab command may be commands input by an operator at a human-machine interface provided by the processing device. Alternatively, mechanical controls of "releasing the deck plate" and "grabbing the deck plate" may be provided on the handling equipment, and when an operator presses the "releasing deck plate", a releasing instruction represented by a pulse signal or a level signal may be automatically triggered to be sent to the processing equipment, and when the operator presses the "grabbing deck plate", a grabbing instruction represented by a pulse signal or a level signal may be automatically triggered to be sent to the processing equipment. Alternatively, the operator may send the release instruction and the grab instruction to the processing device through a remote control device. The source of the loosening command and the grabbing command is not strictly limited.
Preferably, in order to improve the positioning accuracy of the positioning device, in the embodiment of the present invention, the antenna of the positioning device is directed towards the sky, so that the antenna obtains a very strong positioning signal. In order to reduce the loss of the positioning signal, in the embodiment of the present invention, the positioning device and the antenna thereof may be disposed at the same position, or the positioning device and the antenna thereof may be disposed at a position (for example, within 2 meters) within a certain distance range.
Preferably, in the embodiment of the present invention, to improve the communication success rate of the LTE communication device, the LTE communication device may be disposed on the top of the handling device or at another location where LTE signals are good, and an antenna of the LTE communication device faces the sky.
Preferably, in order to avoid the problem that the power line, the network cable, and the like connected to the LTE communication device are exposed to the outside and damaged, in the embodiment of the present invention, the power line and the network cable of the LTE communication device may be disposed inside the pipe of the handling device.
Preferably, the antenna of the first V2X device may be disposed below the lowest beam of the handling equipment, and the antenna of the first V2X device may be a 9 db-12 db omnidirectional glass fiber reinforced plastic antenna.
Preferably, to further ensure signal quality, the first V2X device may employ a dual antenna redundancy design, i.e., two antennas are provided in parallel. The first V2X device may be located inside a beam of the handling equipment or elsewhere, the first V2X device being located no further than a preset distance threshold (e.g., 3 meters) from its antenna in order to avoid loss of signal received by the antenna of the first V2X device.
Preferably, in order to avoid the problem that the power line, the network cable and the like connected with the first V2X equipment are exposed and damaged, the power line, the network cable and the like of the first V2X equipment can be arranged inside the pipeline of the loading and unloading equipment in the embodiment of the invention.
In the embodiment of the present invention, the processing device may be an industrial personal computer, a computer, or an embedded device, and the present application is not limited strictly.
EXAMPLE III
Based on the same concept of the positioning system provided in the first embodiment, a third embodiment of the present invention provides an automatic driving control system, which includes an acquisition device and a second communication device, wherein:
and the acquisition equipment is used for acquiring the landing position of the deck plate through the second communication equipment and outputting the deck plate and the landing position thereof as a sensing result.
In the embodiment of the present invention, the obtaining device and the second communication device may communicate with each other in a wired or wireless (including infrared, wifi, bluetooth, 4G network, 5G network, 3G network, V2X technology, etc.) conventional communication manner, which is not limited strictly in this application.
Preferably, in an example, the second communication device includes a second LTE communication device, and the acquisition module and the second communication device may be connected through a network cable. The obtaining device obtains the landing position of the deck plate through the second communication device, and specifically includes: and acquiring the landing position of the cabin cover plate from a cloud server through the second LTE communication equipment.
Preferably, in another example, the second communication device includes a second V2X device, and the acquiring device acquires the landing position of the deck lid through the second communication device, and specifically includes: and receiving the V2X message sent by the deck plate positioning system from the designated air interface through the second V2X equipment, and analyzing the landing position of the deck plate from the V2X message.
Preferably, in an example, the automatic steering control system may further include a sensing module, a decision module, and a control module, and the obtaining device may transmit the deck plate and the landing position thereof as a sensing result to the sensing module or the decision module, so that the automatic steering control system can obtain an area of the deck plate on the ground according to the landing position of the deck plate and a preset size of the deck plate, and thus, the deck plate is used as an obstacle to avoid the obstacle. The sensing module, the decision-making module and the control module may be known in the art and are not described herein again.
Preferably, in another example, the autopilot control system may further include a sensing module, a sensing result fusion module, a decision module, and a control module, and the obtaining device may transmit the deck plate and the landing position thereof as a sensing result to the sensing result fusion module, so that the autopilot control system can obtain an area of the deck plate on the ground according to the landing position of the deck plate and a preset size of the deck plate, thereby taking the deck plate as an obstacle to avoid the obstacle. The sensing module, the sensing result fusion module, the decision module and the control module may be known modules in the prior art, and are not described herein again.
In the embodiment of the present invention, the automatic driving control system may be an FPGA, a tablet computer, an industrial computer, a portable computer, an MCU, an ECU, or an embedded device, which is disposed on the automatic driving vehicle, and the present application is not limited strictly.
Example four
A fourth embodiment of the present invention further provides a handling apparatus, where the handling apparatus is provided with a deck plate positioning system as shown in the second embodiment, and the structure of the deck plate positioning system can be seen in details in the second embodiment, and is not described herein again.
EXAMPLE five
The fifth embodiment of the present invention further provides an automatic driving vehicle, wherein the automatic driving control system according to the third embodiment is disposed on the automatic driving vehicle, and the structure of the automatic driving control system can be detailed in the related contents of the third embodiment, which is not described herein again.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (12)
1. A deck lid positioning system comprising positioning means provided on a spreader of a handling apparatus, and processing means and first communication means provided on the handling apparatus, wherein:
the positioning equipment is used for positioning an antenna of the positioning equipment to obtain the position information of the antenna;
the processing equipment is used for calculating the position of the lifting appliance grapple according to the position information of the antenna; when a loosening instruction for indicating that a deck plate grabbed from a ship is loosened is received, determining the position of the lifting appliance grapple obtained by calculation when the deck plate is loosened as a landing position of the deck plate; transmitting the landing position of the deck plate to an automatic driving control system through the first communication equipment;
the method comprises the following steps of calculating the position of a lifting appliance grapple when the deck plate is loosened, and determining the position of the lifting appliance grapple as the landing position of the deck plate, wherein the method specifically comprises the following steps: and pushing forward and backward for a preset time period at the moment of loosening the deck plate to obtain a time period range, and averaging the calculated position of at least one lifting appliance grapple in the time period range to obtain the landing position of the deck plate.
2. The system of claim 1, wherein the first communication device comprises a first LTE communication device; the processing device transmits the landing position of the deck plate through the first communication device, and specifically includes:
transmitting the landing position of the deck plate to a cloud server through the first LTE communication equipment.
3. The system of claim 2, wherein the processing device is further configured to:
when a grabbing instruction for instructing to grab and install a cover plate on the ground to a ship is received, the position of the lifting appliance grab hook calculated when the cover plate is grabbed is determined as the grabbing position of the cover plate, and a deleting instruction for instructing to delete the landing position of the cover plate corresponding to the grabbing position is sent to the cloud server through the first LTE communication device.
4. The system of claim 1, wherein said first communication device comprises a first V2X device; the processing device transmits the landing position of the deck plate through the first communication device, and specifically includes:
and packaging the landing positions of the deck boards into V2X messages through the first V2X equipment, and sending the V2X messages to a designated air interface.
5. The system of claim 4, wherein the processing device is further configured to:
when a grabbing instruction for instructing to grab and install the cover plate on the ground to the ship is received, the position of the lifting appliance grabbing hook calculated when the cover plate is grabbed is determined as the grabbing position of the cover plate, and the stored landing position and the landing position of the cover plate corresponding to the grabbing position are deleted.
6. The system according to any one of claims 1 to 5, wherein the positioning device locates an antenna of the positioning device to obtain the position information of the antenna, specifically comprising:
the positioning equipment receives a positioning signal through the antenna;
and the positioning equipment acquires the RTK correction data and corrects the positioning signal according to the acquired RTK correction data to obtain the position information of the antenna.
7. A handling installation comprising a deck positioning system according to any of claims 1 to 6.
8. An automatic driving control system characterized by comprising an acquisition device and a second communication device, wherein:
the acquisition equipment is used for acquiring the landing position of the hatch cover plate from the hatch cover plate positioning system through the second communication equipment, and outputting the hatch cover plate and the landing position thereof as a sensing result, so that the automatic driving control system can obtain the area of the hatch cover plate on the ground according to the landing position of the hatch cover plate and the preset size of the hatch cover plate; wherein the landing position of the deck plate is obtained by the following method: when a deck plate positioning system receives a loosening instruction for indicating that a deck plate grabbed from a ship is loosened, determining the position of a lifting appliance grapple calculated when the deck plate is loosened as the landing position of the deck plate;
the method comprises the following steps of calculating the position of a lifting appliance grapple when the deck plate is loosened, and determining the position of the lifting appliance grapple as the landing position of the deck plate, wherein the method specifically comprises the following steps: and pushing forward and backward for a preset time period at the moment of loosening the deck plate to obtain a time period range, and averaging the calculated position of at least one lifting appliance grapple in the time period range to obtain the landing position of the deck plate.
9. The system according to claim 8, wherein the second communication device includes a second LTE communication device, and the obtaining device obtains the landing position of the deck lid through the second communication device, specifically including:
and acquiring the landing position of the cabin cover plate from a cloud server through the second LTE communication equipment.
10. The system according to claim 8, wherein the communication device comprises a second V2X device, and the obtaining device obtains the landing position of the deck lid through the second communication device, and specifically comprises:
and receiving the V2X message sent by the deck plate positioning system from the designated air interface through the second V2X equipment, and analyzing the landing position of the deck plate from the V2X message.
11. An autonomous vehicle comprising an autonomous driving control system according to any of claims 8 to 10.
12. A positioning system comprising a deck positioning system mounted on a handling device, an autopilot control system mounted on an autopilot vehicle, wherein the deck positioning system comprises positioning devices provided on a spreader of the handling device and processing devices and first communication devices provided on the handling device; the automatic driving control system comprises an acquisition device and a second communication device;
the positioning equipment is used for positioning an antenna of the positioning equipment to obtain the position information of the antenna;
the processing equipment is used for calculating the position of the lifting appliance grapple according to the position information of the antenna; when a loosening instruction for indicating that a deck plate grabbed from a ship is loosened is received, determining the position of the lifting appliance grapple obtained by calculation when the deck plate is loosened as a landing position of the deck plate; transmitting a landing position of the deck plate through the first communication device;
and the acquisition equipment is used for acquiring the landing position of the deck plate through the second communication equipment and outputting the deck plate and the landing position thereof as a sensing result.
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| 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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| 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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| CN110488321B true CN110488321B (en) | 2021-09-03 |
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