CN117590373A - Port unmanned integrated card alignment method, storage medium and electronic equipment - Google Patents
Port unmanned integrated card alignment method, storage medium and electronic equipment Download PDFInfo
- Publication number
- CN117590373A CN117590373A CN202311544425.4A CN202311544425A CN117590373A CN 117590373 A CN117590373 A CN 117590373A CN 202311544425 A CN202311544425 A CN 202311544425A CN 117590373 A CN117590373 A CN 117590373A
- Authority
- CN
- China
- Prior art keywords
- card
- point cloud
- area
- bridge
- collector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000003860 storage Methods 0.000 title claims abstract description 25
- 239000011159 matrix material Substances 0.000 claims abstract description 24
- 230000009466 transformation Effects 0.000 claims abstract description 21
- 238000012216 screening Methods 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims description 21
- 230000011218 segmentation Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 8
- 230000002159 abnormal effect Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000003708 edge detection Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
- G01S7/022—Road traffic radar detectors
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The disclosure provides a port unmanned integrated card alignment method, a storage medium and electronic equipment, and relates to the technical field of integrated card positioning. Judging whether the collector card enters a quay bridge area according to the positioning information of the collector card and a target position on the quay bridge; if the collector card enters the bank bridge area, determining an initial point selection area of the laser point cloud according to the heading information of the collector card; screening a ground point cloud area according to the initial point selection area; determining a rotation matrix of the laser point cloud coordinate system relative to a ground plane according to the ground point cloud region; performing rotation transformation on the initial point selection area according to the rotation matrix to obtain an end point cloud area; determining the position of a cross beam of the shore bridge according to the final point cloud area; and acquiring the relative position relation between the shore bridge and the collector card according to the position of the cross beam, so that the collector card adjusts alignment according to the relative position relation. High-precision alignment of the unmanned integrated circuit card and the shore bridge is realized, and the operation efficiency is improved.
Description
Technical Field
The disclosure relates to the technical field of positioning of integrated cards, and in particular relates to an unmanned integrated card alignment method for a port, a storage medium and electronic equipment.
Background
Ports serve as transportation hubs and play a significant role in facilitating international trade and regional development, and about 90% of the global trade is carried by sea, so that the operation efficiency is critical to ports. At present, the unmanned collection cards are introduced into the automatic transformation process for operation of a plurality of ports, so that the port operation efficiency is greatly improved, and the labor cost is saved. The lifting appliance for the operation on the shore is a core operation machine of a specialized container terminal, and the operation efficiency and the safe production of the lifting appliance directly influence the loading and unloading speed of a ship. The dock completes the transportation of the container through the equipment such as the bridge crane, the portal crane and the like, and the container is transferred through the collecting card, so that the interaction between the unmanned collecting card and the transportation equipment is unavoidable in the automatic transformation process.
At present, the bridge crane equipment realizes the grabbing of the container through the mechanical grippers, and the mechanical grippers can only realize the operation with one degree of freedom, so that the collector card is required to be accurately aligned to the position, and the grippers can smoothly pass through the lock hole on the container to realize the grabbing. The traditional method requires a collector driver to repeatedly move the collector back and forth to finish alignment of the collector and the lifting appliance; the bridge crane driver repeatedly operates and adjusts the position of the lifting appliance to align the lifting appliance with the lock hole of the container or align the lifted container with the truck collecting flat car. The traditional method has lower container loading and unloading efficiency and great operation difficulty.
In addition, in the prior art, a cradle head and a laser scanner are installed under a bridge crane, and when a set card enters a set lane, the cradle head controls the laser scanner to scan the set lane. The laser scanner judges the position of the collecting card from the parking spot according to the received data, and displays the distance information on a display screen, so as to achieve the purposes of indicating a driver to adjust the collecting card position and parking alignment. However, in the prior art, equipment needs to be additionally arranged on the bridge crane and the device is mainly aimed at the manned collector card, and the popularization of the unmanned collector card in different ports is not facilitated.
In the prior art, alignment of the integrated circuit card and the hanging bridge is required to be manually adjusted, and the efficiency and the accuracy are low, so that a method capable of accurately and efficiently realizing accurate alignment of the unmanned integrated circuit card and the hanging bridge equipment is needed.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The disclosure aims to provide a port unmanned integrated card alignment method, a storage medium and electronic equipment, which at least overcome the problems of low loading and unloading alignment efficiency and poor accuracy of the unmanned integrated card in the port in the related art to a certain extent.
Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.
According to one aspect of the present disclosure, there is provided a method for aligning unmanned collector cards in a port, wherein the collector cards are provided with radars, comprising:
judging whether the collector card enters a quay bridge area according to the positioning information of the collector card and a target position on the quay bridge;
if the collector card enters the bank bridge area, determining an initial point selection area of the laser point cloud according to heading information of the collector card;
screening a ground point cloud area according to the initial point selection area;
determining a rotation matrix of the laser point cloud coordinate system relative to a ground plane according to the ground point cloud region;
performing rotation transformation on the initial point selection area according to the rotation matrix to obtain an end point cloud area;
determining the position of a cross beam of the shore bridge according to the final point cloud area;
and acquiring the relative position relation between the shore bridge and the collector card according to the position of the cross beam, so that the collector card adjusts alignment according to the relative position relation.
In an embodiment of the present disclosure, if the header enters the quayside container area, determining an initial point selection area of the laser point cloud according to the header heading information includes:
Judging whether the heading of the collector card is consistent with the direction of an operation road or not;
if the direction of the operation road is inconsistent with the direction of the operation road, selecting a default selected area as the initial selected point area;
if the direction of the collection card is consistent with the direction of the operation road, calculating the linear distance between the collection card and the target position, and judging whether the linear distance is smaller than or equal to a preset distance;
if the linear distance is smaller than or equal to the preset distance, calculating the initial point selection area according to the linear distance and the target position;
and if the linear distance is greater than the preset distance, selecting the default selected area as the initial selected point area.
The range expression of the initial point selection area is as follows:
[-(D1-d_x+1),D2+d_x+1]；
wherein d_x is the straight line distance, and D1 and D2 are the distances between the target position and the edges of the front and rear beams of the quay bridge.
In one embodiment of the present disclosure, the screening the ground point cloud area according to the initial point selection area includes:
and screening point clouds with coordinates meeting preset conditions from the initial point selection area to obtain the ground point cloud area, wherein the preset conditions relate to radar installation positions and a collector card advancing direction, and the ground point cloud area is arranged below the radar installation positions.
In one embodiment of the present disclosure, the determining a rotation matrix of the laser point cloud coordinate system relative to a ground plane according to the ground point cloud region includes:
performing plane segmentation on the ground point cloud area by adopting a RANSAC method to obtain a plane equation;
and calculating a rotation matrix between the plane equation and the plane of the laser point cloud coordinate system.
In one embodiment of the present disclosure, the performing rotation transformation on the initial point selection area according to the rotation matrix to obtain an end point cloud area includes:
performing point cloud screening on the initial point selection area after rotation transformation according to the height of the cross beam of the shore bridge to obtain a cross beam point cloud area;
judging whether the number of the point clouds in the cross beam point cloud area is larger than zero or not;
and if the number of the point clouds is greater than zero, taking the cross beam point cloud area as an ending point cloud area.
In one embodiment of the present disclosure, the determining the beam position of the quay bridge according to the final point cloud area includes:
selecting a preset number of beam edge points in the final point cloud area, wherein the beam edge points are point clouds on the bottom edges of front and rear beams of the shore bridge;
Judging whether the slope of the cross beam of the shore bridge is reliable or not according to the edge points of the cross beam;
and if the beam slope of the shore bridge is reliable, determining the position of the beam edge point as the beam position.
In one embodiment of the present disclosure, the determining whether the beam slope of the quay bridge is reliable according to the beam edge point includes:
fitting according to the edge points of the cross beam by adopting a least square method to obtain each edge straight line;
calculating a first distance from each edge straight line to the radar;
converting the edge straight lines into a UTM coordinate system;
judging whether the slope deviation between the actual slope of each edge line under the UTM coordinate system and the original slope of the quay bridge beam is within a preset deviation range or not;
if the slope deviation is within the preset deviation range, judging whether each edge straight line is reliable or not, and obtaining a reliable value of each edge straight line;
and if at least one of the edge straight lines is reliable, determining that the slope of the cross beam of the quay bridge is reliable.
In an embodiment of the present disclosure, the obtaining, according to the beam position, a relative positional relationship between the quay bridge and the header card, so that the header card adjusts alignment according to the relative positional relationship, includes:
Calculating a second distance between the radar and a front side beam of the shore bridge according to beam parameters;
and calculating the relative position relation between the collector card and the shore bridge according to the second distance, the fixed transformation relation between the installation position of the radar and the origin of the vehicle body coordinate system of the collector card.
Wherein the second distance is calculated as:
w1 is the width of the bottom surface of the cross beam, W2 is the distance between the two cross beams, d 11 、d 12 、d 21 、d 22 Respectively the first distance, flag, between the straight lines of the edges and the radar 11 、flag 12 、flag 21 And a flag 22 And respectively reliably taking the values of the edge straight lines, wherein the reliable value is 0 or 1.
According to still another aspect of the present disclosure, there is provided an electronic apparatus including:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the harbor drone card alignment method of any one of the above via execution of the executable instructions.
According to another aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the harbor unmanned set card alignment method of any one of the above.
According to the port unmanned integrated card alignment method provided by the embodiment of the disclosure, the radar is arranged on the integrated card, other auxiliary equipment is not required to be added, the wireless signal transmission is not relied on, and the data transmission is stable and delay-free. Judging whether the integrated card enters the quay bridge area according to the positioning information of the integrated card and the target position on the quay bridge, and starting to perform subsequent alignment judgment when the integrated card enters the quay bridge area. If the collector card enters the bank bridge area, determining an initial point selection area of the laser point cloud according to the heading information of the collector card, wherein the initial point selection area can cover two beam edges of the bank bridge so as to facilitate point cloud extraction and detection of the beam edges of the bank bridge. And then screening a ground point cloud area according to the initial point selection area, wherein the ground point cloud area is a position below the radar installation position and close to the ground, and the ground point cloud is used as a reference to facilitate real-time ground detection, so that the laser point cloud is corrected. Determining a rotation matrix of a laser point cloud coordinate system relative to a ground plane according to a ground point cloud area, carrying out rotation transformation on the initial point selection area according to the rotation matrix to obtain an end point cloud area, and correcting the initial point selection area in a laser power supply coordinate system of the radar after the ground point cloud is used for detecting the ground, so that accuracy of detection data is effectively improved, wherein the radar installation position, vehicle bump and shake and different load conditions can influence detection of the radar, measurement deviation can be caused. And then, the beam position of the shore bridge can be determined according to the final point cloud area obtained after correction, so that the beam edge detection of the shore bridge is realized. Finally, the relative position relation between the bank bridge and the collector card can be obtained according to the position of the cross beam, so that the collector card is adjusted to be aligned according to the relative position relation, high-precision alignment of the collector card vehicle and the bank bridge is realized, the method is applicable to unmanned collector cards, and the problem of accurate alignment of the unmanned collector cards during loading and unloading of ports is solved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
Fig. 1 illustrates a schematic diagram of a harbor unmanned header card operation scenario in an embodiment of the present disclosure;
FIG. 2 illustrates a flowchart of a harbor unmanned set card alignment method according to an embodiment of the present disclosure;
FIG. 3 is a block diagram illustrating a method for aligning unmanned port cards according to one embodiment of the present disclosure;
FIG. 4 is a schematic flow chart of a method for aligning unmanned port cards according to another embodiment of the disclosure;
fig. 5 is a block diagram illustrating a determination method of aligning a port unmanned header card according to another embodiment of the disclosure;
fig. 6 is a block diagram illustrating a determination method of aligning a port unmanned set card according to another embodiment of the disclosure;
FIG. 7 illustrates a schematic view of a point cloud on a bridge beam aligned with an unmanned header in a port in an embodiment of the disclosure;
fig. 8 is a schematic flow chart of a method for aligning a port unmanned header card according to another embodiment of the disclosure; and
fig. 9 shows a block diagram of an electronic device in an embodiment of the disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
In an embodiment of the disclosure, a method for aligning an unmanned header card of a port is provided, referring to a schematic diagram of an operation scene of the unmanned header card of the port shown in fig. 1, a radar 210 is provided on the unmanned header card 200, and a radar device is additionally installed on the top end of a vehicle of the unmanned header card 200, wherein the radar 210 is preferably a multi-line laser radar, so that the port environment is not required to be modified, wireless signal transmission is not required, portability among different ports is high, and data transmission through the radar 210 is stable and delay-free. The unmanned truck 200 runs into the region of the shore bridge 100, the front beam 110 and the rear beam 120 of the shore bridge 100 are detected by the radar 210, the front beam 110 and the rear beam 120 are identified, and therefore the relative distance between the shore bridge 100 and the unmanned truck 200 is calculated, and accurate alignment of the truck and the shore bridge is achieved. The laser radar at the top of the unmanned aerial vehicle collecting card 200 is installed to scan and detect the cross beam of the shore bridge 100, other auxiliary equipment devices are not required to be additionally installed on the shore bridge 100, the cost is reduced, and the unmanned aerial vehicle collecting card 200 is efficient and accurate in alignment.
Specifically, referring to fig. 2, a flow chart of a method for aligning an unmanned set card in a port, the method includes:
Step S201, judging whether the collector card enters a shore bridge area according to the positioning information of the collector card and a target position on the shore bridge;
specifically, vehicle positioning information of the collector card is obtained in real time, and then the collector card is compared with a target position on the quay crane to judge whether the collector card enters the region of the target quay crane. The target position on the shore bridge is preset at a designated position on the shore bridge, the target position needs to be accessed when the collector card finishes alignment, and optionally, the target position can be set as the center position of the shore bridge, and in addition, the target position can also be set according to the actual operation scene requirement. And pre-storing the coordinate information of the shore bridge in the operation information of the integrated card so as to facilitate comparison and calculation.
Step S202, if the collector card enters the bank bridge area, determining an initial point selection area of the laser point cloud according to heading information of the collector card;
the radar emits laser point cloud, the initial point selection area is an area selection area of a laser point cloud coordinate system established by taking the position of the radar as an origin, and the laser point cloud coordinate system shown in fig. 1 is a right-hand coordinate system taking the advancing direction of the collector card as an x-axis and taking the left side as a y-axis. After the collector enters the quay bridge area, it is necessary to determine whether the heading of the collector is consistent with the heading of the lane, that is, whether the collector is correctly driven in the direction of the working road of the quay bridge. And if the navigation direction of the vehicle is not abnormal, the laser point cloud can be screened according to the heading information of the vehicle. The heading information comprises a heading direction of the positioning of the collector card, the positioning, the orientation of a lane, the position of a target quay bridge and the like. And screening the laser point cloud after ensuring that the collector card is close to the target position on the shore bridge. The laser point cloud in the initial point selection area obtained by screening can be ensured to cover two cross beams of the quay bridge, and the subsequent edge detection of the cross beams of the quay bridge is facilitated.
Step S203, screening a ground point cloud area according to the initial point selection area;
the ground point cloud area is located below the horizontal plane where the origin radar is located in the laser point cloud coordinate system, and is close to the ground plane. Specifically, according to the height of point clouds in an initial point selection area, the point clouds, close to the ground, below the radar in front of the vehicle head are selected as ground point cloud areas according to the installation position of the radar in the advancing direction of the collector card. The radar equipment can shake due to road bump, brake and the like in the running process of the integrated card, and the laser scanning angle is deviated to different degrees under different loading conditions, so that the measured deviation can be brought, and the error is generated in the detection of the relative distance between the laser and the quay bridge. Therefore, the ground plane model can be conveniently determined through the ground point cloud area, so that a laser point cloud coordinate system is corrected, and errors are reduced.
Step S204, determining a rotation matrix of the laser point cloud coordinate system relative to a ground plane according to the ground point cloud region;
specifically, plane segmentation can be performed according to point clouds in a ground point cloud area, a ground plane equation can be obtained after plane segmentation by adopting a RANSAC method, and then a rotation matrix between an xoy plane of a laser point cloud coordinate system of a radar relative to the ground plane can be obtained, so that point cloud coordinates in the laser point cloud coordinate system can be corrected.
Step S205, performing rotation transformation on the initial point selection area according to the rotation matrix to obtain an end point cloud area;
specifically, the method optimizes the conditions of different degree deviation of laser scanning angles caused by shaking of vehicles and sensor equipment during bumping and braking of the ground and different loading conditions of the vehicle and the sensor equipment, calculates a rotation matrix of the point cloud by taking the ground point cloud as a reference frame by frame to calibrate the point cloud, corrects the point cloud of an initial point selection area through rotation transformation, effectively improves the stability of real-time detection data, and can reduce detection errors. In addition, the point cloud is selected from the rotated initial point selecting area, point cloud data with the height close to that of the cross beam of the shore bridge is selected according to the height of the cross beam of the shore bridge, the point cloud data is used as a final point cloud area, and the subsequent relative distance is calculated.
Step S206, determining the beam position of the shore bridge according to the final point cloud area;
the final point cloud area is obtained after the processing in the step S205, and is a point cloud set which is close to the cross beam of the shore bridge and can realize the detection and calculation of the relative distance between the collector card and the shore bridge. And then, selecting point clouds in the final point cloud area, wherein the selected point clouds can represent the edge position of the cross beam of the shore bridge, so that the position of the cross beam of the shore bridge can be determined, the position of the cross beam is determined, and the position of the cross beam is taken as a reference object, so that the subsequent accurate alignment can be realized.
And S207, acquiring the relative position relation between the shore bridge and the collector card according to the position of the cross beam, so that the collector card is aligned according to the relative position relation.
Specifically, after the position of the cross beam of the quay is detected and determined, the relative position relationship between the vehicle and the quay can be calculated according to the fixed transformation relationship between the radar installation position and the origin of the vehicle body coordinate system. And the vehicle performs forward and reverse alignment according to the output relative position relation until the detected longitudinal relative position is stabilized within 5cm, which indicates that the alignment of the vehicle and the bridge crane is completed and meets the requirements of the gantry crane box loading and unloading operation. Accurate alignment ranging, and the measurement accuracy error is +/-1 cm when the vehicle is stationary. According to the calculation of the relative distance between the roof radar of the collector card and the shore bridge in the horizontal direction, the relative distance between the collector card and the alignment shore bridge is measured, the accuracy is high, and the alignment accuracy of the unmanned vehicle is improved. Besides, an optimization method for calibrating the rotation matrix frame by the laser radar point cloud aiming at equipment shake is also provided.
According to the port unmanned integrated card alignment method provided by the embodiment, the radar is arranged on the integrated card, other auxiliary equipment is not required to be added, the wireless signal transmission is not relied on, and the data transmission is stable and delay-free. Judging whether the integrated card enters the quay bridge area according to the positioning information of the integrated card and the target position on the quay bridge, and starting to perform subsequent alignment judgment when the integrated card enters the quay bridge area. If the collector card enters the bank bridge area, determining an initial point selection area of the laser point cloud according to the heading information of the collector card, wherein the initial point selection area can cover two beam edges of the bank bridge so as to facilitate point cloud extraction and detection of the beam edges of the bank bridge. And then screening a ground point cloud area according to the initial point selection area, wherein the ground point cloud area is a position below the radar installation position and close to the ground, and the ground point cloud is used as a reference to facilitate real-time ground detection, so that the laser point cloud is corrected. Determining a rotation matrix of a laser point cloud coordinate system relative to a ground plane according to a ground point cloud area, carrying out rotation transformation on the initial point selection area according to the rotation matrix to obtain an end point cloud area, and correcting the initial point selection area in a laser power supply coordinate system of the radar after the ground point cloud is used for detecting the ground, so that accuracy of detection data is effectively improved, wherein the radar installation position, vehicle bump and shake and different load conditions can influence detection of the radar, measurement deviation can be caused. And then, the beam position of the shore bridge can be determined according to the final point cloud area obtained after correction, so that the beam edge detection of the shore bridge is realized. Finally, the relative position relation between the bank bridge and the collector card can be obtained according to the position of the cross beam, so that the collector card is adjusted to be aligned according to the relative position relation, high-precision alignment of the collector card vehicle and the bank bridge is realized, the method is applicable to unmanned collector cards, and the problem of accurate alignment of the unmanned collector cards during loading and unloading of ports is solved.
Referring to the decision block diagram of the alignment method of the unmanned port card shown in fig. 3, in a specific example, the step S202 includes:
step S301, judging whether the heading of the set card is consistent with the direction of a working road;
specifically, after the collector card enters the quay bridge area, it is required to determine whether the heading of the collector card is consistent with the heading of the lane, that is, whether the collector card is correctly driven in the direction of the operation road of the quay bridge. If it is determined that the direction of the working road is not consistent with the direction of the working road, step S302 is performed. If the direction is consistent with the direction of the working road, step S303 is executed.
Step S302, if the direction of the operation road is inconsistent with that of the operation road, selecting a default selected area as the initial selected point area;
specifically, if the heading of the collector card is inconsistent with the direction of the operation road, the heading of the collector card is considered to be abnormal, so that a default selected area is adopted as an initial selected point area, wherein the range value of the default selected area depends on the actual span of two cross beams of the shore bridge, and the default selected area is ensured to cover point clouds at the front cross beam and the rear cross beam of the shore bridge. For example, the span of two cross beams of the shore bridge is 30m, the value of the default selective area range can be set to be [ -20,20], and the default selective area range can be set according to the application requirements of actual operation scenes.
Step S303, if the direction of the working road is consistent with that of the working road, calculating the linear distance between the collector card and the target position, and judging whether the linear distance is smaller than or equal to a preset distance;
specifically, information such as heading, positioning information, and a target position on the quay is acquired, wherein the target position is set on the quay, and for example, center coordinate information of the quay can be determined as the target position. The preset distance is determined by the distance between the two beams of the shore bridge, and in a specific example, according to the span of the shore bridge being 30m, the preset distance can be 15m, 25m, etc. Judging whether the collector card approaches the target position, and calculating the linear distance between the collector card and the target position. After the linear distance is calculated, whether the integrated card approaches the target position can be judged according to the linear distance, the linear distance is compared with the preset distance, and if the linear distance is smaller than the preset distance, the integrated card approaches the target position, so that the coverage of laser scanning can be ensured to cover the position to be detected, and the step S304 is executed. If the linear distance is greater than the preset distance, the step S305 is executed if the set card is not close to the target position.
The operation information generally includes coordinate information of the quay and its target position. If the initial selection point area does not contain the default selection point area, the default selection point area can be directly selected as the initial selection point area if the initial selection point area does not contain the default selection point area.
Step S304, if the linear distance is smaller than or equal to the preset distance, calculating the initial point selection area according to the linear distance and the target position;
in an alternative embodiment, the preset distance is 25m, and the distance between the collector card and the target is smaller than 25m or equal to 25m, so that the radar laser scanning range can cover the detection range.
The range expression of the initial point selection area is as follows:
[ - (D1-d_x+1), d2+d_x+1] formula (1)
Wherein d_x is the straight line distance, and D1 and D2 are the distances between the target position and the edges of the front and rear beams of the quay bridge.
The range interval value of the initial selected point area can be calculated according to the linear distance d_x and the distance between the target position and the edges of the front and rear cross beams of the shore bridge, and the range value refers to the value range on the x axis.
Step S305, if the linear distance is greater than the preset distance, selecting the default selection area as the initial selection area.
For example, if the preset distance is 25m, the distance between the set card and the target position is greater than 25m, and the default selection area is selected by default.
In one example, the screening the ground point cloud area according to the initial setpoint area includes:
And screening point clouds with coordinates meeting preset conditions from the initial point selection area to obtain the ground point cloud area, wherein the preset conditions relate to radar installation positions and a collector card advancing direction, and the ground point cloud area is arranged below the radar installation positions.
Specifically, the radar installation position includes an installation angle, an installation height, and the like. And determining preset conditions for screening the point cloud coordinates according to the advancing direction of the set card and the parameters.
The ground point cloud area is obtained after screening the coordinate value range of the point cloud, and as can be seen from the above-mentioned known formula 2, the point clouds in the ground point cloud area are all on the negative half axis of the z-axis, and are all below the radar installation position and are closer to the ground.
In one example, referring to fig. 4, step S204 includes:
step S401, carrying out plane segmentation on the ground point cloud area by adopting a RANSAC method to obtain a plane equation;
specifically, the RANSAC method is adopted to perform plane segmentation on the ground points to obtain parameters of a plane model, namely four parameters in a general formula of a plane equation, wherein a random sample consensus algorithm (Random Sample Consensus, RANSAC) is an iterative method for estimating mathematical model parameters from a group of observation data containing abnormal values, and can eliminate the influence of noise and abnormal values on a result aiming at the data with noise or abnormal values, and a reasonable result is obtained with a larger probability under a certain iteration number.
Step S402, calculating a rotation matrix between the plane equation and the plane of the laser point cloud coordinate system.
The plane equation vector (A, B, C) can be converted into a rotation matrix R:
wherein,
through ground plane detection, optimize to the vehicle and sensor equipment shake when ground jolts and brakes, and the laser scanning angle different degree deviation circumstances that bring under different load circumstances, calculate the rotation matrix of point cloud and carry out the demarcation of point cloud by frame with the ground point cloud as the reference, the point cloud in initial selection point region corrects through rotation transformation, effectively improves the stability of real-time detection data, can reduce the error of detection. In addition, the point cloud is selected from the rotated initial point selecting area, point cloud data with the height close to that of the cross beam of the shore bridge is selected according to the height of the cross beam of the shore bridge, the point cloud data is used as a final point cloud area, and the subsequent relative distance is calculated.
In one example, referring to fig. 5, step S205 includes:
step S501, carrying out point cloud screening on the initial point selection area after rotation transformation according to the height of the cross beam of the shore bridge to obtain a cross beam point cloud area;
for example, the height of the bottom surface of the cross beam of the shore bridge from the ground is about 9m, so that the point cloud with the selected point cloud height in the range of [8, 10.5] can be set, the point cloud obtained after screening is close to the position of the cross beam, and the cross beam point cloud area can be obtained.
Step S502, judging whether the number of point clouds in the cross beam point cloud area is larger than zero;
and then determining whether point clouds meeting the conditions exist in the screened cross beam point cloud area. Specifically, the number of point clouds P in the cross beam point cloud area is determined num Judgment of P num Whether the value of (a) is larger than zero, namely, the point cloud meeting the condition exists in the cross beam point cloud area. And if the point cloud data meeting the conditions are not available, the relative distance between the set card and the quay bridge cannot be output.
And step S503, if the number of the point clouds is greater than zero, taking the cross beam point cloud area as an ending point cloud area.
If the number of the point clouds is larger than zero and the point cloud data meeting the conditions exist, the cross beam point cloud area can be used as the final point cloud area, and the detection calculation of the relative distance between the collector card and the quay bridge is realized. Optionally, the point clouds in the final point cloud area may be arranged in ascending order according to the value of x, so as to facilitate subsequent calculation. If the point cloud data meeting the condition does not exist, P num The value of (1) is zero, and the judgment is directly finished, so that the relative distance between the set card and the quay bridge cannot be output.
In one example, referring to fig. 6, step S206 includes:
step S601, selecting a preset number of beam edge points in the final point cloud area, wherein the beam edge points are point clouds on the bottom edges of front and rear beams of the shore bridge;
Referring to fig. 7, which is a schematic diagram of a structure of two beams, and referring to fig. 1 and 7, point clouds on edges of bottom surfaces of the two beams perpendicular to the advancing direction of the quay bridge are selected, four groups of point clouds are selected, and P is defined as 11 、P 12 、P 21 、P 22 . FIG. 7 is a schematic view from obliquely below and looking up at the cross beam, P 11 、P 12 The point clouds on two edge lines of the bottom surface of the front cross beam can be respectively the cross beam vertical to the advancing direction of the collector card and P 11 To be close to the inner edge line of the collecting card, P 12 To be far away from the outer edge line of the collector card, P 21 、P 22 Two edge lines which can be respectively the bottom surface of the rear cross beamPoint cloud on, P 21 Is close to the inner edge line of the collecting card, P 22 Is far from the outer edge line of the collector. In the four sets of point clouds, each set of point clouds represents an edge line, and the number of point clouds in each set of point clouds may be multiple, for example, if 16-line lidar is used, there are at most 16 laser point clouds on each edge line.
Step S602, judging whether the slope of the cross beam of the shore bridge is reliable or not according to the edge points of the cross beam;
and fitting straight lines by adopting a least square method to the selected 4 groups of point clouds respectively, correspondingly fitting four straight lines by the four groups of point clouds, judging whether the slope of the fitted straight lines is close to the slope of the bridge cross beam, if so, considering that the straight lines are reliable, and otherwise, considering that the straight lines are unreliable.
And step S603, if the beam slope of the shore bridge is reliable, determining the position of the beam edge point as the beam position.
At least one slope of the four straight lines is reliable, the slope of the cross beam of the shore bridge can be considered to be reliable, the slope of the cross beam of the shore bridge is very close to the slope of the shore bridge, and the position of the edge point of the cross beam can be proved to represent the position of the cross beam.
According to the scheme provided by the embodiment, under the condition of medium and small rain, the accuracy of ranging in the rainy days of the laser radar can be effectively improved through the slope constraint of the cross beam, and the influence of rainy days on the ranging result on interference of laser radar equipment is avoided to a certain extent.
In a specific example, referring to step S603 shown in fig. 8, the method includes:
step S801, fitting to obtain each edge straight line by adopting a least square method according to the edge points of the cross beam;
specifically, the beam edge points include four groups of point clouds, the 4 groups of point clouds taken out respectively fit straight lines by adopting a least square method, and 4 fitted straight lines are respectively obtained and are edge straight lines respectively representing 4 beam edges.
Step S802, calculating a first distance from each edge straight line to the radar;
each edge straight line is connected with the collecting card The distance between each edge straight line and the radar is calculated to be the first distance. For example, in connection with P shown in FIG. 7 11 、P 12 、P 21 、P 22 The four groups of point clouds respectively correspond to a first distance d 11 、d 12 、d 21 、d 22 。
Step S803, converting each edge line into a UTM coordinate system;
the slope from radar coordinate system through vehicle course conversion to UTM coordinate system, UTM coordinate system is a plane rectangular coordinate, such coordinate grid system and its projection based on has been widely used for topography as reference grid for satellite image and natural resource database and other applications requiring accurate positioning.
Step S804, judging whether the slope deviation between the actual slope of each edge line under the UTM coordinate system and the original slope of the quay bridge beam is within a preset deviation range;
the method comprises the steps of obtaining an original slope of a bridge beam per se under a UTM coordinate system, comparing the detected actual slope with the original slope, and judging whether the slope is close or not after comparison, wherein a preset deviation range can be set according to the actual slope.
Step S805, if the slope deviation is within the preset deviation range, determining whether each edge line is reliable, and obtaining a reliable value of each edge line;
And if the slope deviation is within the preset deviation range, the actual slope is proved to be very close to the original slope, the slope of the edge straight line is proved to be reliable, and alternatively, a reliable value is given to each edge straight line, for example, if the slope deviation is close to the original slope, the edge straight line is considered to be reliable, the flag of the corresponding edge straight line is set to be 1, otherwise, the slope deviation is unreliable, and the flag of the corresponding edge straight line is set to be 0. The value of the flag is the reliable value.
Step S806, if at least one of the edge lines is reliable, determining that the beam slope of the quay bridge is reliable.
Specifically, if the reliable value of the four edge lines is not uniform to 0, the slope of the cross beam of the quay bridge can be considered to be reliable. If the reliable values of the four edge lines are all 0, the abnormal situation is considered, and the subsequent output of the relative distance cannot be performed.
Specifically, the distance of the straight line obtained by fitting to the radar is calculated, and the slope of the straight line is converted from the radar coordinate system to the UTM coordinate system through the heading of the vehicle
In one example, step S207 includes:
calculating a second distance between the radar and a front side beam of the shore bridge according to beam parameters;
in particular, the second distance may be a distance of the radar from a front side of the quay beam, in particular a distance to a side edge line of the front beam in the vehicle forward direction, which is close to the header card.
Wherein the second distance is calculated as:
wherein W1 is the width of the bottom surface of the cross beam, W2 is the distance between the two cross beams, d 11 、d 12 、d 21 、d 22 Respectively the first distance, flag, between the straight lines of the edges and the radar 11 、flag 12 、flag 21 And a flag 22 And respectively reliably taking the values of the edge straight lines, wherein the reliable value is 0 or 1.
And calculating the relative position relation between the collector card and the shore bridge according to the second distance, the fixed transformation relation between the installation position of the radar and the origin of the vehicle body coordinate system of the collector card.
Specifically, a fixed transformation relation between the radar installation position and the origin of the vehicle body coordinate system is obtained, and after the second distance is obtained, the relative position relation between the vehicle and the quay bridge can be calculated according to the fixed transformation relation between the radar installation position and the origin of the vehicle body coordinate system. And carrying out forward and reverse alignment on the collector card according to the output relative position relation until the detected longitudinal relative position is stabilized within 5cm, so that the alignment of the vehicle and the bridge crane is finished, and the operation of loading and unloading the gantry crane is satisfied. Accurate alignment ranging, small measurement accuracy error of about 1cm when the vehicle is stationary. The laser radar installed at the top of the vehicle performs scanning detection on the cross beam of the shore bridge, other auxiliary equipment devices are not required to be additionally installed on the bridge crane, the port environment is not required to be modified, wireless signal transmission is not required, portability among different ports is high, and data transmission is stable and delay-free.
In yet another embodiment, an electronic device is provided, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the harbor drone card alignment method of any one of the above via execution of the executable instructions.
The electronic device of the embodiment can implement the method for aligning the unmanned port card, and specific implementation manners can be referred to the method embodiment and will not be described herein.
An electronic device 900 according to such an embodiment of the invention is described below with reference to fig. 9. The electronic device 900 shown in fig. 9 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 9, the electronic device 900 is embodied in the form of a general purpose computing device. Components of electronic device 900 may include, but are not limited to: the at least one processing unit 910, the at least one storage unit 920, and a bus 930 connecting the different system components (including the storage unit 920 and the processing unit 910).
Wherein the storage unit stores program code that is executable by the processing unit 910 such that the processing unit 910 performs steps according to various exemplary embodiments of the present invention described in the above-described "exemplary methods" section of the present specification. For example, the processing unit 910 may perform the harbor unmanned header card alignment method as shown in fig. 1.
The storage unit 920 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 9201 and/or cache memory 9202, and may further include Read Only Memory (ROM) 9203.
The storage unit 920 may also include a program/utility 9204 having a set (at least one) of program modules 9205, such program modules 9205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The bus 930 may be one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 900 may also communicate with one or more external devices 1000 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 900, and/or with any device (e.g., router, modem, etc.) that enables the electronic device 900 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 950. Also, electronic device 900 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 960. As shown, the network adapter 960 communicates with other modules of the electronic device 900 over the bus 930. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 900, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
In another embodiment, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the harbor unmanned set card alignment method of any one of the above.
The present embodiment provides a computer-readable storage medium on which a program product capable of implementing the method described in the present specification is stored. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
A program product for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read-only memory (CD-ROM) and comprise program code and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Furthermore, although the steps of the methods in the present disclosure are depicted in a particular order in the drawings, this does not require or imply that the steps must be performed in that particular order or that all illustrated steps be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. The unmanned collection card alignment method for the port is characterized in that a radar is arranged on the collection card, and the method comprises the following steps:
judging whether the collector card enters a quay bridge area according to the positioning information of the collector card and a target position on the quay bridge;
if the collector card enters the bank bridge area, determining an initial point selection area of the laser point cloud according to heading information of the collector card;
screening a ground point cloud area according to the initial point selection area;
determining a rotation matrix of the laser point cloud coordinate system relative to a ground plane according to the ground point cloud region;
performing rotation transformation on the initial point selection area according to the rotation matrix to obtain an end point cloud area;
Determining the position of a cross beam of the shore bridge according to the final point cloud area;
and acquiring the relative position relation between the shore bridge and the collector card according to the position of the cross beam, so that the collector card adjusts alignment according to the relative position relation.
2. The method for aligning an unmanned hub card in a port according to claim 1, wherein if the hub card enters the quay bridge area, determining an initial point selection area of a laser point cloud according to heading information of the hub card comprises:
judging whether the heading of the collector card is consistent with the direction of an operation road or not;
if the direction of the operation road is inconsistent with the direction of the operation road, selecting a default selected area as the initial selected point area;
if the direction of the collection card is consistent with the direction of the operation road, calculating the linear distance between the collection card and the target position, and judging whether the linear distance is smaller than or equal to a preset distance;
if the linear distance is smaller than or equal to the preset distance, calculating the initial point selection area according to the linear distance and the target position;
and if the linear distance is greater than the preset distance, selecting the default selected area as the initial selected point area.
The range expression of the initial point selection area is as follows:
[-(D1-d_x+1),D2+d_x+1]；
Wherein d_x is the straight line distance, and D1 and D2 are the distances between the target position and the edges of the front and rear beams of the quay bridge.
3. The method for aligning an unmanned harbor collector card according to claim 1, wherein the screening the ground point cloud area according to the initial point selection area comprises:
and screening point clouds with coordinates meeting preset conditions from the initial point selection area to obtain the ground point cloud area, wherein the preset conditions relate to radar installation positions and a collector card advancing direction, and the ground point cloud area is arranged below the radar installation positions.
4. The method for aligning an unmanned harbor collector card according to claim 1, wherein the determining a rotation matrix of the laser point cloud coordinate system with respect to a ground plane according to the ground point cloud region comprises:
performing plane segmentation on the ground point cloud area by adopting a RANSAC method to obtain a plane equation;
and calculating a rotation matrix between the plane equation and the plane of the laser point cloud coordinate system.
5. The method for aligning a port unmanned set card according to claim 1, wherein the performing rotation transformation on the initial point selection area according to the rotation matrix to obtain a final point cloud area comprises:
Performing point cloud screening on the initial point selection area after rotation transformation according to the height of the cross beam of the shore bridge to obtain a cross beam point cloud area;
judging whether the number of the point clouds in the cross beam point cloud area is larger than zero or not;
and if the number of the point clouds is greater than zero, taking the cross beam point cloud area as an ending point cloud area.
6. The method for aligning an unmanned harbor collector card according to claim 1, wherein the determining the beam position of the quay bridge according to the final cloud region comprises:
selecting a preset number of beam edge points in the final point cloud area, wherein the beam edge points are point clouds on the bottom edges of front and rear beams of the shore bridge;
judging whether the slope of the cross beam of the shore bridge is reliable or not according to the edge points of the cross beam;
and if the beam slope of the shore bridge is reliable, determining the position of the beam edge point as the beam position.
7. The method for aligning an unmanned port card according to claim 6, wherein the step of determining whether the beam slope of the quay bridge is reliable according to the beam edge point comprises:
fitting according to the edge points of the cross beam by adopting a least square method to obtain each edge straight line;
Calculating a first distance from each edge straight line to the radar;
converting the edge straight lines into a UTM coordinate system;
judging whether the slope deviation between the actual slope of each edge line under the UTM coordinate system and the original slope of the quay bridge beam is within a preset deviation range or not;
if the slope deviation is within the preset deviation range, judging whether each edge straight line is reliable or not, and obtaining a reliable value of each edge straight line;
and if at least one of the edge straight lines is reliable, determining that the slope of the cross beam of the quay bridge is reliable.
8. The method for aligning an unmanned port card according to claim 7, wherein the step of obtaining the relative positional relationship between the bridge and the card according to the beam position so that the card can be aligned according to the relative positional relationship comprises:
calculating a second distance between the radar and a front side beam of the shore bridge according to beam parameters;
and calculating the relative position relation between the collector card and the shore bridge according to the second distance, the fixed transformation relation between the installation position of the radar and the origin of the vehicle body coordinate system of the collector card.
Wherein the second distance is calculated as:
w1 is the width of the bottom surface of the cross beam, W2 is the distance between the two cross beams, d 11 、d 12 、d 21 、d 22 Respectively the first distance, flag, between the straight lines of the edges and the radar 11 、flag 12 、flag 21 And a flag 22 And respectively reliably taking the values of the edge straight lines, wherein the reliable value is 0 or 1.
9. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the harbor drone card alignment method of any one of claims 1 to 8 via execution of the executable instructions.
10. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the harbor unmanned header card alignment method of any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311544425.4A CN117590373A (en) | 2023-11-17 | 2023-11-17 | Port unmanned integrated card alignment method, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311544425.4A CN117590373A (en) | 2023-11-17 | 2023-11-17 | Port unmanned integrated card alignment method, storage medium and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117590373A true CN117590373A (en) | 2024-02-23 |
Family
ID=89909272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311544425.4A Pending CN117590373A (en) | 2023-11-17 | 2023-11-17 | Port unmanned integrated card alignment method, storage medium and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117590373A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118092459A (en) * | 2024-04-28 | 2024-05-28 | 厦门中科星晨科技有限公司 | Unmanned vehicle field bridge alignment control method and equipment suitable for multiple scenes |
-
2023
- 2023-11-17 CN CN202311544425.4A patent/CN117590373A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118092459A (en) * | 2024-04-28 | 2024-05-28 | 厦门中科星晨科技有限公司 | Unmanned vehicle field bridge alignment control method and equipment suitable for multiple scenes |
| CN118092459B (en) * | 2024-04-28 | 2024-07-05 | 厦门中科星晨科技有限公司 | Unmanned vehicle field bridge alignment control method and equipment suitable for multiple scenes |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11262759B2 (en) | Method and system for localization of an autonomous vehicle in real time | |
| US20200103249A1 (en) | Method for calibrating relative pose, device and medium | |
| US11506769B2 (en) | Method and device for detecting precision of internal parameter of laser radar | |
| CN113657224B (en) | Method, device and equipment for determining object state in vehicle-road coordination | |
| WO2022160896A1 (en) | Method for aligning container truck and crane, and related device | |
| CN110889808B (en) | Positioning method, device, equipment and storage medium | |
| CN111435163B (en) | Ground point cloud data filtering method, device, detection system and storage medium | |
| CN114994684B (en) | Method and system for detecting obstacle in dust scene of multi-radar data fusion | |
| CN117590373A (en) | Port unmanned integrated card alignment method, storage medium and electronic equipment | |
| CN110766761B (en) | Method, apparatus, device and storage medium for camera calibration | |
| CN112782721A (en) | Passable area detection method and device, electronic equipment and storage medium | |
| CN113213340B (en) | Method, system, equipment and storage medium for unloading collection card based on lockhole identification | |
| US20180012519A1 (en) | Method and apparatus for editing a digital map of a transport vehicle for transporting vehicles | |
| WO2016157428A1 (en) | Measurement device, measurement method, and program | |
| CN115575976A (en) | Edgewise path planning method and device, computer readable medium and electronic equipment | |
| CN115755097A (en) | Weather condition detection method, device, equipment and storage medium | |
| CN114890280A (en) | Detection alignment method and device for lifting appliance | |
| WO2024104190A1 (en) | Point-cloud-based method, system and device for navigation in quay crane area, and storage medium | |
| US20230095552A1 (en) | Map construction method, robot and medium | |
| CN115855026A (en) | Large-scale scene primitive map switching method, system and device and storage medium | |
| CN116002529A (en) | Alignment method, system, equipment and storage medium based on lifting equipment characteristics | |
| CN115267812A (en) | Positioning method, device, medium and robot based on highlight area | |
| CN114353780B (en) | Gesture optimization method and device | |
| WO2024034335A1 (en) | Self-position estimation system | |
| CN115372981A (en) | Vehicle positioning method, device, equipment and medium based on laser radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication |