CN114852865A

CN114852865A - IGV and ARMG automatic guiding alignment method and system

Info

Publication number: CN114852865A
Application number: CN202210563256.8A
Authority: CN
Inventors: 王泗文; 于守水; 艾明飞; 高学柳; 于海; 杨玫; 郝为建; 余信强
Original assignee: QINGDAO QIANWAN UNITED CONTAINER TERMINAL CO Ltd; Qingdao Port International Co Ltd
Current assignee: QINGDAO QIANWAN UNITED CONTAINER TERMINAL CO Ltd; Qingdao Port International Co Ltd
Priority date: 2022-05-23
Filing date: 2022-05-23
Publication date: 2022-08-05

Abstract

The invention discloses an IGV and ARMG automatic guiding alignment method and a system, wherein the method comprises the following steps: s1: the IGV air frame or the IGV with the container moves to an ARMG side operation berth; s2: the laser scanner carries out two-dimensional scanning distance measurement on the IGV empty frame or the container on the frame to obtain a point set of polar coordinates; s3: converting the point set into a point set under a three-dimensional coordinate system; s4: acquiring the central position of the empty frame or the container on the frame for the converted point set; s5: acquiring the relative deviation of an empty frame or a container; s6: judging whether the corresponding relative deviation is within the absolute value of the preset allowable deviation range, if so, going to S8, otherwise, going to S7; s7: controlling and guiding IGV to align according to the relative deviation of the empty frame or the container, and returning to S2; s8: and guiding the alignment to be completed. The invention can automatically, effectively and accurately realize the alignment of the IGV and the ARMG.

Description

IGV and ARMG automatic guiding alignment method and system

Technical Field

The invention mainly relates to the technical field of automatic loading and unloading of container loading and unloading machines on the shore of a container terminal and container loading and unloading machines in a storage yard.

Background

Positioning deviations with different accuracies exist in automatic equipment, and closed-loop butt joint can be achieved only when the overall deviation is controlled within a certain range in the equipment interaction process; the alignment interaction of the IGV and the ARMG is an important link of the container loading and unloading operation, and is related to whether the waybill is continuously executed or not, and various safety guarantees of equipment, a container body and the like are concerned. In the actual production operation process, IGV and ARMG have different counterpoint precision, including the hoist swing deviation, whole deviation surpass the hoist and grab the case deviation limit, cause mutual failure between the equipment, be difficult to avoid the collision between hoist, container and the collection card completely simultaneously, cause equipment to damage, have brought a great deal of potential safety hazard.

An FMS (flight Management System) System unified scheduling mode carried by IGV (Intelligent Guided Vehicle) uniformly schedules and manages the whole unmanned equipment, and a new container distribution mode of a port interval is formed by realizing the whole-process closed-loop docking with a wharf production TOS (Terminal Operating System), an ARMG (automatic Rail Mounted Gantry), an entrance and exit service System and an Intelligent air track collection and distribution System (air Rail for short) in a dock production manner.

When the ARMG receives the box, the IGV back box automatically runs to an ARMG side operation base point (error is +/-5 cm) according to an instruction under the dispatching of an FMS system, the ARMG waits for the interaction operation with the ARMG, the ARMG automatically reaches the operation base point (error is +/-6 cm) according to the operation instruction, the ARMG takes the box according to the instruction and places the box on the IGV, the swing error of a lifting appliance is +/-15 cm, the integral error exceeds +25cm, the ARMG box taking failure can be caused, the problems of wrong interaction information of the ARMG and the IGV, network delay and the like exist, the IGV position deviation is large or the IGV does not reach an interaction area, the ARMG lifting appliance cannot normally grab the box, the box receiving failure is caused finally, and the safety risk can also be generated.

Similarly, there is a risk similar to that in the case receiving operation of the ARMG when the ARMG issues the case.

In the prior art, a cloud deck, a laser scanning range finder and a controller are installed under a bridge crane, the controller is used for setting a specified lane by using control, the cloud deck is used for controlling the laser scanner to scan the specified lane, and the deviation of truck driver alignment is reminded.

Disclosure of Invention

In order to solve the above technical problem, embodiments of the present invention provide an IGV and armag automatic guiding alignment method, which automatically guides an IGV to align by calculating a deviation between an IGV position and a standard position in an actual operation process, and realizes accurate alignment of the IGV, thereby realizing reliable interaction between the IGV and the armag.

The invention is realized by adopting the following technical scheme:

the application relates to an IGV and ARMG automatic guiding alignment method, which is characterized by comprising the following steps:

s1: the IGV air frame or the IGV with the container moves to an ARMG side operation berth;

s2: the laser scanner carries out two-dimensional scanning ranging on an IGV empty frame or a container on a frame on a lane below the ARMG towards an operation surface to obtain a point set with polar coordinates;

s3: converting the point set into a point set under a three-dimensional coordinate system which takes the ground vertical line of the center of the lifting appliance as an axis Y, the ground of the lane as an axis X and the direction vertical to the lane as an axis Z;

s4: acquiring the central position of the empty frame or the container on the frame for the converted point set;

s5: acquiring the relative deviation of the empty frame or the container according to the central position of the empty frame or the container and the corresponding standard position;

s6: judging whether the corresponding relative deviation is within the absolute value of the preset allowable deviation range, if so, going to S8, otherwise, going to S7;

s7: controlling and guiding IGV to align according to the relative deviation of the empty frame or the container, and returning to S2;

s8: guiding the alignment to be completed;

the standard position is a preset position, and the central line of the ARMG sling in the direction of the ground vertical line passes through the central position of the empty frame or the container.

In this application, to the point set after the conversion, acquire empty frame or the central point of container on the frame and put, specifically do:

identifying points belonging to the length of an empty frame or the length of a container on the frame for the converted point set;

according to the identified points, the median value of the X coordinates in each point belonging to the length of the empty frame is taken as the central position of the empty frame, and the median value of the X coordinates in each point belonging to the length of the container on the frame is taken as the central position of the container.

In this application, to the point set after the conversion, the data that the discernment belongs to container length on empty frame length or the frame specifically is:

identifying points belonging to the outline of the empty frame in data which is parallel to the ground and is 80cm to 2200cm away from the ground for the converted point set, wherein each continuous point connected into a line segment in the identified points is a point belonging to the length of the empty frame;

for the converted point set, points belonging to the container are identified in data parallel to the ground and spaced from the ground by 3500cm to 4500cm, and each continuous point connected into a line segment among the identified points is a point belonging to the length of the container.

In this application, will the point set converts to the ground perpendicular line that uses the hoist center to be the Y axle, and lane ground is the X axle, and the perpendicular to lane direction is the point set under the coordinate system of Z axle, specifically converts to:

X2=M-cos(a)*L；

Y2=H-L*sin(a)cos(b)；

Z2=T/2-L*sin(a)sin(b)-N；

wherein H is the height at which the laser scanner is mounted; l is the ranging distance of the ith point Ai extracted by the laser scanner; m is the initial deviation between the projection of the laser scanner center on the horizontal lane line and the horizontal projection of the hanger center; n is the vertical distance between the projection of the laser scanner center on the ground and the IGV end surface close to the ARMG side; t is the IGV width; a is an included angle between the ith ranging light and the horizontal plane; b is an included angle between a scanning surface of the laser scanner and a ground perpendicular line; bi (X2, Y2, Z2) is the converted point.

In the present application, the absolute value of the preset allowable deviation range is set to a range (0 mm, 50 mm).

In the present application, the absolute value range of the relative deviation is set to (50 mm, 300 mm).

Compared with the prior art, the IGV and ARMG automatic guiding alignment method provided by the application has the following advantages and beneficial effects:

(1) the guide alignment method can perform alignment data interaction between the IGV and the ARMG before the ARMG performs loading and unloading operation, scans the IGV in real time and guides alignment, ensures reliable and accurate alignment, and effectively ensures the safety of the loading and unloading operation link;

(2) the guiding alignment method can accurately align an IGV empty frame (namely a single vehicle) and an IGV vehicle carrying a container in real time, and ensure the success rate of the single vehicle transportation of the receiving and dispatching box;

(3) the guiding alignment method is simple, effective and accurate to realize, and the interaction time of IGV and ARMG can be completed within 1 minute, so that the loading and unloading operation efficiency is greatly improved;

(4) on hardware, only the laser scanner is added, and the laser scanner and the track crane ECS data interaction interface are added on the interface, so that the transformation process is simple, and the cost investment is low.

The application also provides an IGV and ARMG automated guidance counterpoint system, which is characterized by comprising:

the guiding module comprises a laser scanner, a processing unit and a network communication unit; the laser scanner is used for acquiring data of an IGV empty frame or a container on a frame on a lane below the ARMG; the processing unit is used for receiving the data acquired by the laser scanner and processing the data to acquire the central position of the empty frame or the container on the frame and the relative deviation between the central position of the empty frame or the container and the corresponding standard position;

the track crane ECS is communicated with the guide module through the network communication unit and issues an alignment instruction according to the relative deviation of the empty frame or the container;

and the FMS is used for managing the IGV, is communicated with the track crane ECS, and controls and guides the IGV to align after receiving the aligning instruction until the guiding aligning is finished.

Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a block diagram of a system during IGV and ARMG interactive operations;

fig. 2 is a flowchart of an embodiment of an IGV and ARMG automatic guided alignment method according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention. In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

Referring to FIG. 1, a system block diagram of an IGV during a job is shown.

Referring to fig. 1, a process of the lower IGV and ARMG job interaction is described in detail.

When the TOS has the waybill task, a task notification message is generated through a TMS (Terminal Manager System).

Firstly, TMS obtains IGV vehicle number through FMS according to whether the vehicle is on-line and the number of the vehicle waybill tasks; then, the TMS (Terminal Manager System, dock management System) issues the waybill task carrying the vehicle information to the FMS.

After the FMS analyzes the waybill tasks, the FMS issues the waybill to the designated IGV, and issues the target operation position command to the IGV to execute the tasks.

The IGV generates a global path to the corresponding target working position, and drives to the target working position.

When the vehicle is driven to the ARMG side operation beta point, if the IGV is not guided to be aligned at the time, the IGV is locked after interaction between an ECS (Electrical Control System) and an FMS (Intelligent Control System) of a track crane, and loading and unloading operation is carried out, the problem of interaction failure caused by inaccurate alignment of the IGV can exist, so that the guide alignment method provided by the invention can be involved at the time, the IGV is automatically aligned to the target operation position on the lane, and the precise alignment of the IGV is completed.

The guided alignment referred to in this section will be described below in conjunction with fig. 2.

After the IGV finishes aligning, the track crane ECS informs the FMS to lock the IGV and the ARMG carries out loading and unloading operations.

After the ARMG finishes the loading and unloading operation, the track crane ECS feeds back loading and unloading finishing information to the FMS, and the FMS issues an unlocking and driving-away instruction to the IGV.

If the FMS has a new command (e.g., an in-place back box command or other location load/unload box command), the FMS sends an in-place box connect command or other location load/unload box command to the IGV, and the IGV waits in-place or travels to the new command location.

If the FMS has no new command, the FMS sends a parking command back to the IGV, and the IGV drives back to the parking space.

In the present application, the guided alignment is performed for both the case of an IGV empty frame (i.e., a bicycle, without any container), and the case of an IGV back (e.g., case 20 back, case 40 back), wherein the case is located in the center of the empty frame.

In the present application, the IGV and ARMG automatic guided alignment method (hereinafter referred to as a guided alignment method) is implemented based on an automatic guided alignment system (hereinafter referred to as a guided alignment system).

Therefore, the guiding alignment method shown in fig. 2 is described in conjunction with an automatic guiding alignment system, where the guiding alignment system includes a guiding module, a gantry crane ECS, an FMS, and an IGV, and the FMS controls the IGV and the ARMG to be aligned accurately through command transmission between the guiding module and the gantry crane ECS, so as to achieve reliable and accurate interaction between the IGV and the ARMG.

Referring to FIG. 2, a flow chart of a pilot position method is shown.

S1: the IGV empty carriage or the IGV with the container moves to the ARMG side operation bay.

When the ARMG sends/receives box operation, the IGV/IGV back box automatically runs to the ARMG side operation stall according to the instruction under the scheduling of the FMS system, and waits for the operation interaction with the ARMG.

S2: the laser scanner carries out two-dimensional scanning ranging on an IGV empty frame or a container on a frame on a lane below the ARMG towards an operation surface to obtain a point set with polar coordinates.

The guiding module comprises a laser scanner, a processing unit and a network communication module.

The laser scanner is a sine 2D LIDAR sensor, and is used for emitting laser beams to detect characteristic quantities such as the contour, the position and the like of a target; and acquiring the corresponding outline of the object according to the point cloud data acquired by the laser scanner.

This laser scanner installs in this application and locates at track side ladder frame apart from the position of 12 meters on ground, and its working face is towards the operation face, and the mounted position is to the no obscuration of operation face scanning.

The acquired set of points is sent to a processing unit.

The processing unit is connected with the laser scanner through an Ethernet interface, TCP connection is established through an interface protocol provided by the laser scanner, a reading command is sent, real-time scanning data of the laser scanner is obtained, the scanning data structure of the laser scanner is that the distance of a reflection point is measured by laser scanning at each scanning angle (0.125 or 0.25 degree interval) in a period, and a point set of polar coordinates is formed.

Where the laser scanner would scan in real time on an IGV empty rack or a container on an IGV empty rack.

S3: and converting the point set into a point set in a three-dimensional coordinate system which takes the ground vertical line of the center of the lifting appliance as an axis Y, the ground of the lane as an axis X and the direction vertical to the lane as an axis Z.

In order to facilitate the processing of the set of points in polar coordinates, the set of points in polar coordinates is transformed, which transformation is performed by the processing unit.

Specifically, the conversion of the point set may be performed in the following manner.

X2=M-cos(a)*L；

Y2=H-L*sin(a)cos(b)；

Z2=T/2-L*sin(a)sin(b)-N；

Wherein H is the height at which the laser scanner is mounted; l is the distance measurement distance of the ith point Ai extracted by the laser scanner; m is the initial deviation between the projection of the laser scanner center on the horizontal lane line and the horizontal projection of the hanger center; n is the vertical distance between the projection of the laser scanner center on the ground and the IGV end surface close to the ARMG side; t is the IGV width; a is an included angle between the ith ranging light and the horizontal plane; b is an included angle between a scanning surface of the laser scanner and a ground perpendicular line; bi (X2, Y2, Z2) is the converted point.

Thus, the point sets in the polar coordinates are all converted into three-dimensional point sets in a three-dimensional coordinate system.

In the present application, the position of the IGV empty carriage or the IGV back box is focused on the X coordinate in the lane line direction, and the IGV guide alignment is also performed by adjusting the IGV position according to the X coordinate.

S4: and acquiring the central position of the empty frame or the container on the frame for the converted point set.

And acquiring the central position of the IGV empty frame aiming at the IGV empty frame, wherein the central position only concerns the X coordinate at the central position.

For containers on the frame, whether 20 or 40 containers are placed on the empty frame in the middle, and at the moment, the central position of the container is obtained, and the central position only concerns the X coordinate at the central position.

The following description is made for two cases of acquiring the center positions of the empty frame and the container on the frame of the IGV, respectively.

(1) IGV empty frame: firstly, obtaining points belonging to the outline of the empty frame, obtaining the length of the empty frame, and secondly, according to a plurality of points (recorded as a point set SetA) belonging to the length of the empty frame, taking the median value of X coordinates of each point in the point set SetA as the central position of the empty frame.

For the converted point set, in the data parallel to the ground and at a distance of 80cm to 2200cm from the ground, IGV vehicle specific characteristic related data, mainly for the chassis length, the chassis width, the IGV front and rear end guide outline characteristics (for example, the width, the height of the upper end of the guide from the ground, and the like), are kept and stored in the processing unit to identify points belonging to the outline of the empty frame, and each continuous point (i.e., the point set SetA) connecting line segments among the identified points is a point belonging to the length of the empty frame.

The median of the X coordinates of each point in this point set SetA is taken as the center position of the empty vehicle frame.

In order to facilitate subsequent alignment guidance, the central position of the empty carriage is marked as I1.

(2) Assembling a container on the frame: firstly, obtaining points belonging to the contour of the container, obtaining the length of the container, and secondly, according to a plurality of points (recorded as a point set SetB/SetB ') belonging to the length of the container, using the median of X coordinates of each point in the point set SetB/SetB' as the central position of the container.

The container here can mean a 20-foot container or a 40-foot container, and when the 20-foot container is carried, the 20-foot container should be placed on the frame in the middle.

For a container of 40 feet back, of the data parallel to and from 3500cm to 4500cm from the ground, the main container top profile feature related data remains stored in the processing unit to identify points belonging to the container outline, each successive point (i.e., set of points SetB) of the identified points that are connected into a line segment being a point belonging to the container length.

The median of the X coordinates of each point in this set SetB is set as the center position of the box back 40.

For the convenience of subsequent alignment guidance, the central position of the back 40 ruler box is marked as J1.

For a container of 20 feet back, the data relating to the main container top profile features, among the data parallel to and from 3500cm to 4500cm from the ground, remain stored in the processing unit to identify the points belonging to the container outline, each successive point of the identified points (i.e. set of points SetB') connected as a line segment being the point belonging to the container length.

The median of the X coordinates of each point in this set SetB' is taken as the center position of the container with 20 feet back.

For the convenience of subsequent alignment guidance, the center position of the container with 20 feet back is recorded as H1.

The above-mentioned acquisition of the center position I1 of the empty rack, the center position J1 of the container back 40 feet and the center position H1 of the container back 20 feet is realized by the processing unit.

S5: and acquiring the relative deviation of the empty frame or the container according to the central position and the corresponding standard position of the empty frame or the container.

For the IGV empty frame and the container on the frame, a standard position is set in advance before the guide corresponding is performed, and the standard position is used as a reference position for guiding the alignment.

Namely, a standard position I0 is set for an IGV empty frame; a standard position J0 is set for a container with 40 feet back; for a 20-foot container, a standard position H0 is provided.

The standard position I0, the standard position J0, and the standard position H0 are also obtained by obtaining the standard position I1, the standard position J1, and the standard position H1 as described above, and are not described herein again.

The acquisition of the standard position I0, the standard position J0, and the standard position H0 sets the standard position I0, the standard position J0, and the standard position H0 in the processing unit as reference positions.

Before the standard position I0 is obtained, the IGV needs to be located at the standard position I0, that is, the center line of the armag spreader in the direction of the ground perpendicular line passes through the center position of the IGV empty carriage, and at this position, the laser scanner is used to collect data of the IGV empty carriage, and the data processing process is consistent with the manner of obtaining the center position I1 of the IGV empty carriage, which is not described herein again.

Before the quasi-position J0 is obtained, the IGV of the 40-foot container needs to be located at the standard position J0, that is, the center line of the armag spreader in the direction of the ground perpendicular line passes through the center position of the IGV (that is, the center position of the 40-foot container), and at this position, the 40-foot container is subjected to data acquisition by using the laser scanner, and the data processing process is consistent with the mode of obtaining the center position J1 of the 40-foot container, which is not described herein again.

Before the quasi-position H0 is obtained, the IGV of the container with 20 feet back needs to be located at the standard position H0, that is, the center line of the armag spreader in the ground perpendicular direction passes through the center position of the IGV (that is, the center position of the container with 20 feet), at this position, the container with 20 feet is subjected to data acquisition by using the laser scanner, and the data processing process is consistent with the manner of obtaining the center position H1 of the container with 20 feet back, which is not described herein again.

As described above, the standard position I0, the standard position J0, and the standard position H0 can be obtained only by one data acquisition of the laser scanner.

The processing unit calculates the corresponding relative deviation according to the center position I1, the center position J1, and the center position H1 acquired in S4, and the standard position I0, the standard position J0, and the standard position H0 as described above.

The relative deviation Δ E1= I0-I1 for the IGV air frame.

The relative deviation Δ E2= J0-J1 for a 40-foot container.

The relative deviation Δ E3= H0-H1 for a 20-foot container.

The relative deviation Δ E1/. DELTA.E 2/. DELTA.E 3 can be positive or negative.

S6: and judging whether the corresponding relative deviation is within the absolute value of the preset allowable deviation range, if so, performing S8, and if not, performing S7.

And when the relative deviation delta E1/delta E2/delta E3 is within the absolute value of the preset allowable deviation range (namely, when the IGV empty frame is used, the relative deviation delta E1 is within the absolute value of the preset allowable deviation range, when the IGV empty frame is used, the relative deviation delta E2 is within the preset allowable deviation range, when the IGV empty frame is used, the relative deviation delta E3 is within the absolute value of the preset allowable deviation range, and when the IGV empty frame is used, the guided alignment is completed.

After the guiding alignment is finished, the track crane ECS sends a vehicle locking command to the FMS, the IGV completes vehicle locking and informs the FMS, and the FMS feeds back a vehicle locking completion signal to the track crane ECS.

If the relative deviation delta E1/. DELTA.E 2/. DELTA.E 3 is not within the absolute value of the preset allowable deviation range, it indicates that the IGV needs to be controlled to move and align until the relative deviation delta E1/. DELTA.E 2/. DELTA.E 3 is within the absolute value of the preset allowable deviation range.

In the present application, the absolute value of the preset allowable deviation range is set to (0 mm, 50 mm).

To ensure data validity, the absolute value range of the relative deviation Δ E1/. DELTA.E 2/. DELTA.E 3 is set to (50 mm, 300 mm).

When the absolute value of the relative deviation delta E1/delta E2/delta E3 is smaller than 50mm (namely, the relative deviation delta E1/delta E2/delta E3 is within the absolute value of the preset allowable deviation range), the guiding alignment is finished or no guiding is performed by default.

When the absolute value of the relative deviation delta E1/delta E2/delta E3 is larger than 300mm, the relative deviation is regarded as invalid, and the positioning is not guided according to the relative deviation, so that the data needs to be returned to S2 for data acquisition and processing again.

S7: and controlling and guiding the IGV to align according to the relative deviation of the empty carriage or the container, and returning to the S2.

The track crane ECS is communicated with the guide module in real time through the network communication unit, and issues an alignment instruction in real time according to the relative deviation delta E1/delta E2/delta E3.

After receiving an alignment instruction sent by the ECS, the FMS controls the IGV alignment guide, and in the process of the IGV alignment guide, the FMS returns to S2 for data acquisition and processing, and calculates the relative deviation delta E1/delta E2/delta E3.

When the relative deviation delta E1/delta E2/delta E3 is within the absolute value of the preset allowable deviation range, the track crane ECS does not issue the alignment instruction to the FMS any more, at this time, the alignment is completed, otherwise, the process continues to return to S2 until the relative deviation delta E1/delta E2/delta E3 is determined to be within the preset allowable deviation range in S6, and the process proceeds to S8.

S8: and guiding the alignment to be completed.

When ARMG box collection operation is finished, after guiding alignment is finished, the track crane ECS sends a vehicle locking command to the FMS, the IGV completes vehicle locking and informs the FMS, and the FMS feeds back a vehicle locking completion signal to the track crane ECS.

At the moment, the IGV of the back box finishes guiding and aligning, so that the ARMG can accurately take the box and place the box on a storage yard, and the problems that the ARMG cannot collect the box and the corresponding safety is caused because the IGV has larger position deviation or does not reach an interaction area are solved.

When ARMG sends the case operation, after guiding the counterpoint to finish, the track hangs ECS sends the lock car order to FMS, IGV finishes locking the car and tells FMS, FMS feedbacks the lock car to the track hangs ECS and finishes the signal.

At the moment, the empty IGV frame is already guided and aligned, so that the ARMG can accurately place the box on the IGV, and the problems that the ARMG cannot send the box and the corresponding safety problem are solved because the IGV has larger position deviation or does not reach an interaction area.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. An IGV and ARMG automatic guiding alignment method is characterized by comprising the following steps:

s8: guiding the alignment to be completed;

2. The IGV and ARMG automatic guiding alignment method according to claim 1, wherein the center position of the empty frame or the container on the frame is obtained for the converted point set, specifically:

3. The IGV and armag automated guided alignment method of claim 2, wherein the data pertaining to the length of an empty frame or the length of a container on a frame is identified for the converted point set, specifically:

4. The IGV and armag automated guided alignment method according to claim 1, wherein the point set is transformed to a point set in a coordinate system with a vertical ground line of the center of the spreader as a Y-axis, a ground of the lane as an X-axis, and a direction perpendicular to the lane as a Z-axis, specifically:

X2=M-cos(a)*L；

Y2=H-L*sin(a)cos(b)；

Z2=T/2-L*sin(a)sin(b)-N；

5. The IGV and ARMG automated guided alignment method according to claim 1, wherein the absolute value of the preset allowable deviation range is set to a range (0 mm, 50 mm).

6. The IGV and ARMG automated guided alignment method of claim 5, wherein the absolute range of relative deviation is set to (50 mm, 300 mm).

7. An IGV and ARMG automatic guidance alignment system, comprising:

8. The IGV and ARMG automated guided alignment system of claim 5,

the absolute value of the preset allowable deviation range is set to a range (0 mm, 50 mm).

9. The IGV and ARMG automated guided alignment system of claim 8,

the absolute value range of the relative deviation was set to (50 mm, 300 mm).