CN117775945A - Container loading and unloading alignment method and device applied to unmanned integrated card - Google Patents
Container loading and unloading alignment method and device applied to unmanned integrated card Download PDFInfo
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Abstract
The invention provides a container loading and unloading alignment method applied to an unmanned integrated card, which comprises the following steps: step 1: the vision sensor and the distance sensor are arranged at the center of the side surface of the lifting appliance so as to ensure that the sensor can sense the whole vehicle or the container; step 2: unifying the vision sensor and the distance sensor to the same coordinate system; step 3: the vehicle or the container to be aligned is subjected to information processing through a visual sensor and a distance sensor; step 4: calculating the deviation L of the side center of the lifting appliance from the longitudinal direction of the center of the target vehicle or container through the processed vehicle or container information; step 5: the container information and the deviation L are transmitted to the vehicle so that the vehicle moves a corresponding distance such that the longitudinal center of the container coincides with the spreader side center. The technical scheme can solve the technical problems of low alignment precision, long alignment time, low operation efficiency and the like in the prior art.
Description
Technical Field
The application relates to the technical field of unmanned integrated cards, in particular to a container loading and unloading alignment method and device applied to an unmanned integrated card.
Background
Along with the rapid development of port intellectualization, more and more ports are creating unmanned intelligent operation scenes, and an important ring for realizing the unmanned container truck operation of the port unmanned intelligent scenes is the unmanned container truck. Unmanned container truck, short unmanned collection card, through with other port machine equipment interaction, realize unmanned operation. In order to realize unmanned operation of a port, the container loading and unloading scene exists in the unmanned container collecting operation process, so that the accurate alignment of the container and the port machine lifting appliance or the accurate alignment of the unmanned container collecting card and the port machine equipment is required to be realized when the container is loaded and unloaded, the port machine equipment can conveniently and accurately grab or place the container standard at the center of the unmanned container collecting truck, the container alignment time or the human intervention is reduced, and the operation efficiency is improved. The accurate counterpoint mode of port bridge mainly has at present: firstly, a vehicle end radar scans a beam of a shore bridge to obtain the distance between two beams of the shore bridge, and the deviation between the center of the vehicle end and the center of the beam of the shore bridge is calculated and input to the vehicle end to enable the vehicle to run to a position where the two centers coincide; the second is to scan the crane lifting appliance through the radar at the vehicle end, calculate the lifting appliance center, and make the vehicle move by comparing the positions of the vehicle center and the lifting appliance center, so that the lifting appliance center and the vehicle center coincide, and further realize accurate alignment. At present, the two modes are all to sense through a vehicle-end radar, and certain limitations exist, so that alignment errors are large, and the operation efficiency is affected.
Disclosure of Invention
In view of the above, the invention provides a container loading and unloading alignment method and device applied to an unmanned integrated card, which are used for solving the technical problems of low alignment precision, long alignment time, low operation efficiency and the like in the prior art.
The invention provides a container loading and unloading alignment method applied to an unmanned integrated card, which comprises the following steps: step 1: the vision sensor and the distance sensor are arranged at the center of the side surface of the lifting appliance so as to ensure that the sensor can sense the whole vehicle or the container; step 2: unifying the vision sensor and the distance sensor to the same coordinate system; step 3: the vehicle or the container to be aligned is subjected to information processing through a visual sensor and a distance sensor; step 4: calculating the deviation L of the side center of the lifting appliance from the longitudinal direction of the center of the target vehicle or container through the processed vehicle or container information; step 5: the container information and the deviation L are transmitted to the vehicle so that the vehicle moves a corresponding distance such that the longitudinal center of the container coincides with the spreader side center.
Further, the vision sensor is a camera, and the distance sensor is a laser radar.
Further, the step 3 includes: step 31: turning to step 32 when boxing, turning to step 34 when unloading; step 32: recognizing the boundary of the head and tail two limiting beams of the vehicle through a radar and a camera; step 33: calculating the distance between the front limit beam and the rear limit beam, comparing the center position of the limit beam with the center point position of the side surface of the lifting appliance, and turning to the step 4; step 34: the front and rear boundaries of the container to be aligned are identified through a radar and a camera; step 35: calculating the position of the center point of the container, comparing the center point of the container with the center point of the side surface of the lifting appliance, and turning to the step 4.
Further, the step 4 includes: step 41: when the lifting appliance is packaged, the deviation between the center position of the limiting beam and the center point position of the side surface of the lifting appliance is L; step 42: when the container is unloaded, the deviation between the center point of the container and the center point of the side surface of the lifting appliance is L.
Further, the same coordinate system is a camera coordinate system, a radar coordinate system or a vehicle coordinate system.
Further, the method further comprises: step 6: and the vehicle moves corresponding distances according to the deviation L so as to realize the accurate alignment of the container.
The invention also provides a container loading and unloading alignment device applied to the unmanned collection card, which comprises: the sensor module comprises a visual sensor and a distance sensor, is arranged at the center of the side surface of the lifting appliance and is used for sensing vehicles and containers; the lifting appliance is used for loading and unloading the container; the data processing module is connected with the sensor module and is used for unifying the vision sensor and the distance sensor to the same coordinate system; the deviation calculating module is connected with the data processing module and is used for carrying out information processing on the vehicle or the container to be aligned and calculating the longitudinal deviation L between the side center of the lifting appliance and the center of the target vehicle or the container; and the data transmission module is connected with the deviation calculation module and is used for transmitting the container information and the deviation L to the vehicle so that the vehicle moves by a corresponding distance, and the longitudinal center of the container is overlapped with the side center of the lifting appliance.
Further, the vision sensor is a camera, and the distance sensor is a laser radar.
Further, the same coordinate system is a camera coordinate system, a radar coordinate system or a vehicle coordinate system.
The invention provides a container loading and unloading alignment method and device applied to an unmanned integrated circuit card, the technical scheme is that the central position information of a vehicle or a container is obtained through a camera and a laser radar, a sensor is arranged at the central position of the side surface of a lifting appliance, the position is taken as a 0 point position, the central position of the vehicle or the container is compared with the 0 point position, a real deviation value can be obtained, and the alignment precision is further improved; when the lifting appliance is used for grabbing a container, the sensor is closer to the center of the container or the vehicle, the measurement accuracy is higher, the deviation existing when the vehicle-end radar scans the container or the lifting appliance can be effectively avoided, the alignment accuracy is further improved, the alignment time is reduced, and the operation efficiency is improved.
Drawings
FIG. 1 is a flow chart of a container handling alignment method for an unmanned header card provided by the invention;
FIG. 2 is a flow chart of a method for information processing by a sensor provided by the invention;
FIG. 3 is a schematic illustration of the alignment of an unmanned container provided by the present invention;
fig. 4 is a schematic diagram of alignment of an unmanned header unloading box provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Method item embodiment:
the invention provides a container loading and unloading alignment method applied to an unmanned collecting card, which calculates longitudinal deviation L between the side center of a lifting appliance and the center position of a target vehicle or a container through a visual sensor and a distance sensor, and comprises the following steps as shown in figure 1.
Step 1: the vision sensor and the distance sensor are arranged at the center of the side surface of the lifting appliance so as to ensure that the sensor can sense the whole vehicle or the container;
according to the technical scheme provided by the invention, the sensor is arranged at the center of the side surface of the lifting appliance, and compared with the prior art that the sensor is used for sensing through the vehicle end sensor, the true value of the position of the container or the vehicle can be accurately obtained, so that the alignment precision is improved, the alignment time is reduced, and the operation efficiency is improved.
When the lifting appliance is provided with a plurality of side surfaces, the sensor can be installed at the center position of one of the side surfaces according to the size of the lifting appliance, and the installation position of the sensor needs to be ensured to be scanned to the whole vehicle or the container.
Step 2: unifying the vision sensor and the distance sensor to the same coordinate system;
in order to calculate the distance deviation in the later stage, the sensing data needs to be unified into one coordinate system. The visual sensor is a camera, and the distance sensor is a laser radar. Since the data output from each sensor is generally output by setting up a coordinate system with the sensor itself as the origin, for example, the image data acquired by the camera is generally output by setting up a camera coordinate system with the camera as the origin. Therefore, the output data of the vision sensor and the distance sensor are required to be combined into one coordinate system for later calculation. The system can be under the coordinate system of the camera, the radar coordinate system and the vehicle coordinate system, and a user can adjust according to actual conditions.
Step 3: the vehicle or the container to be aligned is subjected to information processing through a visual sensor and a distance sensor;
the process of information processing by the vision sensor and the distance sensor for a vehicle or container to be aligned is shown in fig. 2.
Step 31: turning to step 32 when boxing, turning to step 34 when unloading;
because there is not the container on the vehicle when the vanning, need wait the hoist to hoist the container from depositing the place, put on the appointed position of unmanned integrated circuit card again for the container is neatly put things in good order on the vehicle, and the furthest utilizes vehicle storage space, and then makes vehicle utilization ratio maximum, and operating efficiency is the highest. However, in case of unloading, the container on the vehicle needs to be placed at other positions from the vehicle by the spreader, and in order for the spreader to hoist the container faster, the spreader needs to be aligned with the container. Therefore, the alignment is needed for both boxing and box unloading, but the alignment targets of the lifting appliance are different due to different boxing and box unloading conditions, so that the two cases of boxing and box unloading are needed to be described.
Step 32: recognizing the boundary of the head and tail two limiting beams of the vehicle through a radar and a camera;
as shown in fig. 3, during boxing, the sensors installed at the center of the side surfaces of the lifting appliance, namely the radar and the camera, identify the boundaries of the head and the tail limiting beams of the unmanned truck. The stop beams are generally installed at the front and rear of the carriage of a large freight vehicle, and are mainly used for limiting the height of the loaded goods so as not to cause dangers in the transportation process of the goods due to the superelevation.
Step 33: calculating the distance between the front limit beam and the rear limit beam, comparing the center position of the limit beam with the center point position of the side surface of the lifting appliance, and turning to the step 4;
and (3) identifying the head and tail limiting beams, and calculating the distance between the two limiting beams, wherein the center position between the two limiting beams is the center position of the carriage of the vehicle. At this time, the center position of the limiting beam is compared with the center point position of the side surface of the lifting appliance, and the distance between the center position of the limiting beam and the center point position of the side surface of the lifting appliance, namely the deviation, is calculated, as shown in fig. 3.
Step 34: the front and rear boundaries of the container to be aligned are identified through a radar and a camera;
when the container is unloaded, the radar and the camera are used for identifying the front and rear boundaries of the container loaded by the vehicle, so that the central position of the container is calculated, and the central point of the container is compared with the central point of the side surface of the lifting appliance.
Step 35: calculating the position of the center point of the container, comparing the center point of the container with the center point of the side surface of the lifting appliance, and turning to the step 4.
As described above, the camera and the radar are identical to each other in one coordinate system and output data, and if the camera and the radar are identical to each other in the radar coordinate system, the point where the radar is located is zero, that is, the origin of the coordinate system.
Step 4: calculating the deviation L of the side center of the lifting appliance from the longitudinal direction of the center of the target vehicle or container through the processed vehicle or container information;
as can be seen from the foregoing, before calculating the deviation L, it is necessary to determine whether the current situation is loading or unloading. The specific steps are as follows.
Step 41: when the lifting appliance is packaged, the deviation between the center position of the limiting beam and the center point position of the side surface of the lifting appliance is L;
step 42: when the container is unloaded, the deviation between the center point of the container and the center point of the side surface of the lifting appliance is L.
Assuming that the center point of the lifting appliance is O, the center point of the front and rear limit beams of the vehicle (the center of the vehicle) is P, and the center point of the container is Q. When the vehicle is in a box, the center point O of the lifting appliance needs to be overlapped with the center point P of the vehicle limiting beam, and if the two center points do not overlap when the vehicle is parked, the point deviation value of the two center points is the distance that the vehicle needs to travel; when the container is unloaded, the center point of the container is required to be overlapped with the center point of the lifting appliance, and if the two center points are not overlapped when the vehicle is parked, the point deviation value of the two center points is the distance that the vehicle needs to travel.
Step 5: the container information and the deviation L are transmitted to the vehicle so that the vehicle moves a corresponding distance such that the longitudinal center of the container coincides with the spreader side center.
Step 6: and the vehicle moves corresponding distances according to the deviation L so as to realize the accurate alignment of the container.
Device item embodiment:
the invention provides a container loading and unloading alignment device applied to an unmanned integrated circuit card.
The sensor module comprises a visual sensor and a distance sensor, is arranged at the center of the side surface of the lifting appliance and is used for sensing vehicles and containers. The vision sensor is a camera, and the distance sensor is a laser radar.
And the lifting appliance is used for loading and unloading the container. The spreader referred to herein is typically provided on a harbour site.
The data processing module is connected with the sensor module and is used for unifying the vision sensor and the distance sensor to the same coordinate system;
the deviation calculating module is connected with the data processing module and is used for carrying out information processing on the vehicle or the container to be aligned and calculating the longitudinal deviation L between the side center of the lifting appliance and the center of the target vehicle or the container;
and the data transmission module is connected with the deviation calculation module and is used for transmitting the container information and the deviation L to the vehicle so that the vehicle moves by a corresponding distance, and the longitudinal center of the container is overlapped with the side center of the lifting appliance.
The operation process of the above component modules is the same as that of the above embodiment of the method, so that the description thereof will not be repeated.
The technical scheme provides a container loading and unloading alignment device applied to an unmanned collecting card, and a zero-degree position is obtained through the installation of a sensor assembly; then, a data processing module, a deviation calculating module and a data transmission module are used for processing and calculating data to obtain a deviation L; and finally, transmitting the deviation L and related position information to the unmanned collection card so that the vehicle can move to realize accurate alignment of the container.
In summary, the embodiment of the invention obtains the central position information of the vehicle or the container through the camera and the laser radar, and simultaneously installs the sensor at the central position of the side surface of the lifting appliance, takes the position as the zero point position, compares the central position of the vehicle or the container with the zero point position, and can obtain the real deviation value, thereby improving the alignment precision; when the lifting appliance is used for grabbing a container, the sensor is closer to the center of the container or the vehicle, the measurement accuracy is higher, the deviation existing when the vehicle-end radar scans the container or the lifting appliance can be effectively avoided, the alignment accuracy is further improved, the alignment time is reduced, and the operation efficiency is improved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (9)
1. The container loading and unloading alignment method applied to the unmanned integrated card is characterized by comprising the following steps of:
step 1: the vision sensor and the distance sensor are arranged at the center of the side surface of the lifting appliance so as to ensure that the sensor can sense the whole vehicle or the container;
step 2: unifying the vision sensor and the distance sensor to the same coordinate system;
step 3: the vehicle or the container to be aligned is subjected to information processing through a visual sensor and a distance sensor;
step 4: calculating the deviation L of the side center of the lifting appliance from the longitudinal direction of the center of the target vehicle or container through the processed vehicle or container information;
step 5: the container information and the deviation L are transmitted to the vehicle so that the vehicle moves a corresponding distance such that the longitudinal center of the container coincides with the spreader side center.
2. The container handling alignment method applied to the unmanned integrated card according to claim 1, wherein the vision sensor is a camera and the distance sensor is a laser radar.
3. The container handling alignment method applied to the unmanned integrated card according to claim 2, wherein the step 3 comprises:
step 31: turning to step 32 when boxing, turning to step 34 when unloading;
step 32: recognizing the boundary of the head and tail two limiting beams of the vehicle through a radar and a camera;
step 33: calculating the distance between the front limit beam and the rear limit beam, comparing the center position of the limit beam with the center point position of the side surface of the lifting appliance, and turning to the step 4;
step 34: the front and rear boundaries of the container to be aligned are identified through a radar and a camera;
step 35: calculating the position of the center point of the container, comparing the center point of the container with the center point of the side surface of the lifting appliance, and turning to the step 4.
4. The method for aligning container handling for an unmanned ic card according to claim 3, wherein the step 4 comprises:
step 41: when the lifting appliance is packaged, the deviation between the center position of the limiting beam and the center point position of the side surface of the lifting appliance is L;
step 42: when the container is unloaded, the deviation between the center point of the container and the center point of the side surface of the lifting appliance is L.
5. The container handling alignment method for an unmanned ic card according to claim 1, wherein the same coordinate system is a camera coordinate system, a radar coordinate system, or a vehicle coordinate system.
6. The method for aligning container handling for an unmanned header card according to claim 1, further comprising:
step 6: and the vehicle moves corresponding distances according to the deviation L so as to realize the accurate alignment of the container.
7. An apparatus for implementing the container handling alignment method for an unmanned header card according to claims 1-6, said apparatus comprising:
the sensor module comprises a visual sensor and a distance sensor, is arranged at the center of the side surface of the lifting appliance and is used for sensing vehicles and containers;
the lifting appliance is used for loading and unloading the container;
the data processing module is connected with the sensor module and is used for unifying the vision sensor and the distance sensor to the same coordinate system;
the deviation calculating module is connected with the data processing module and is used for carrying out information processing on the vehicle or the container to be aligned and calculating the longitudinal deviation L between the side center of the lifting appliance and the center of the target vehicle or the container;
and the data transmission module is connected with the deviation calculation module and is used for transmitting the container information and the deviation L to the vehicle so that the vehicle moves by a corresponding distance, and the longitudinal center of the container is overlapped with the side center of the lifting appliance.
8. The container handling alignment device for an unmanned header card of claim 7, wherein the vision sensor is a camera and the distance sensor is a lidar.
9. The container handling alignment device for an unmanned ic card of claim 7, wherein the same coordinate system is a camera coordinate system, or a radar coordinate system, or a vehicle coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410091798.9A CN117775945A (en) | 2024-01-23 | 2024-01-23 | Container loading and unloading alignment method and device applied to unmanned integrated card |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410091798.9A CN117775945A (en) | 2024-01-23 | 2024-01-23 | Container loading and unloading alignment method and device applied to unmanned integrated card |
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| CN117775945A true CN117775945A (en) | 2024-03-29 |
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| CN202410091798.9A Pending CN117775945A (en) | 2024-01-23 | 2024-01-23 | Container loading and unloading alignment method and device applied to unmanned integrated card |
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