CN-116224396-B - Point cloud-based shore bridge area navigation method, system, equipment and storage medium

CN116224396BCN 116224396 BCN116224396 BCN 116224396BCN-116224396-B

Abstract

The invention provides a point cloud-based shore bridge area navigation method, a point cloud-based shore bridge area navigation system, point cloud-based shore bridge area navigation equipment and a point cloud-based shore bridge area storage medium, wherein the point cloud-based shore bridge area navigation method comprises the following steps that a first navigation path based on GPS positioning data goes to a peripheral area of a shore bridge area; and when the GPS positioning signal does not meet a preset signal strength threshold, generating a second navigation path based on the completed point cloud map data, and carrying out loading and unloading operation based on at least the second navigation path and the quay crane. According to the invention, under the conditions of the quay cargo ship landing and GPS positioning failure, the edge information of the cargo ship is fully utilized, the self-positioning of six degrees of freedom of the vehicle is realized, and the accuracy and safety of alignment of the collector card and the quay bridge are greatly improved.

Inventors

TAN LIMIN
ZHOU XIAOKAI
LI YING

Assignees

上海西井信息科技有限公司

Dates

Publication Date: 20260505
Application Date: 20221116

Claims (10)

1. The shore bridge area navigation method based on the point cloud is characterized by comprising the following steps of: A first navigation path based on GPS positioning data goes to a peripheral area of the quay bridge area; Performing continuous space scanning on at least part of the quay region in the peripheral region, establishing point cloud map data of the cargo ship in the quay region, detecting GPS positioning signals in real time, matching point cloud objects in the point cloud map data with the GPS positioning data, including performing continuous space scanning on at least part of the quay region when entering the peripheral region, establishing or updating the point cloud map data of the cargo ship in the quay region, performing point cloud identification based on the point cloud map data to obtain the point cloud objects; generating a second navigation path based on the completed point cloud map data when the GPS positioning signal does not meet a preset signal strength threshold value, and And carrying out loading and unloading operation with the quay bridge at least based on the second navigation path.
2. The point cloud based quay region navigation method according to claim 1, wherein the first navigation path based on GPS positioning data is directed to a peripheral region of the quay region, comprising Establishing a first navigation path by taking a quay crane area as a destination based on GPS positioning data; based on the first navigation path going to the peripheral area of the quay region, the peripheral area is a range surrounding the quay region with the quay region as the center.
3. The method for point cloud based quay region navigation according to claim 1, wherein the performing continuous spatial scanning on at least a portion of the quay region in the peripheral region, establishing point cloud map data of cargo ships in the quay region, detecting the GPS positioning signals in real time, and matching point cloud objects in the point cloud map data with GPS positioning data, further comprises And interacting with surrounding terminals which have been mapped for the cargo ship, and supplementing the local cargo ship surface characteristic data.
4. The method of claim 1, wherein generating a second navigation path based on the completed point cloud map data when the GPS positioning signal does not meet a preset signal strength threshold comprises: And judging whether the GPS positioning signal meets a preset signal intensity threshold, if so, returning to the step of continuously and spatially scanning at least part of the quay crane region in the peripheral region, and if not, generating a second navigation path based on the surface characteristic data of the cargo ship and a preset loading and unloading target position.
5. The point cloud based quay region navigation method of claim 1, wherein the performing a loading and unloading operation with the quay based at least on the second navigation path comprises: Going to a preset loading and unloading target position based on the second navigation path; and carrying out loading and unloading operation with the shore bridge after reaching the preset loading and unloading target position.
6. The point cloud based quay region navigation method according to claim 1, further comprising the steps of: Continuing space scanning, supplementing point cloud map data, and establishing a third navigation path leaving the quay crane region based on the point cloud map data after loading and unloading operation is completed; And based on the third navigation path, driving away from the quay bridge area, detecting the GPS positioning signal in real time, and switching back to navigation based on at least GPS positioning data when the GPS positioning signal meets a preset signal strength threshold.
7. A point cloud based quay bridge regional navigation system, the system comprising: the first path module is used for leading a first navigation path based on GPS positioning data to the peripheral area of the quay bridge area; The space scanning module is used for carrying out continuous space scanning on at least part of the quay crane region in the peripheral region, establishing point cloud map data of the cargo ship in the quay crane region, detecting GPS positioning signals in real time, matching point cloud objects in the point cloud map data with the GPS positioning data, including carrying out continuous space scanning on at least part of the quay crane region when entering the peripheral region, establishing or updating the point cloud map data of the cargo ship in the quay crane region, carrying out point cloud identification based on the point cloud map data to obtain the point cloud objects; a second path module for generating a second navigation path based on the completed point cloud map data when the GPS positioning signal does not meet a preset signal strength threshold value, and And the loading and unloading navigation module is used for carrying out loading and unloading operation with the shore bridge at least based on the second navigation path.
8. The point cloud based quay area navigation system of claim 7, further comprising: the third path module continues to scan the space and supplements point cloud map data, and when the loading and unloading operation is completed, a third navigation path leaving the quay bridge area is established based on the point cloud map data; And the switching navigation module is used for detecting the GPS positioning signal in real time based on the fact that the third navigation path leaves the quay bridge area, and switching the navigation module back to navigation based on at least GPS positioning data when the GPS positioning signal meets a preset signal strength threshold.
9. A point cloud based quay bridge region navigation device, comprising: A processor; A memory having stored therein executable instructions of the processor; wherein the processor is configured to perform the steps of the point cloud based quay bridge area navigation method of any one of claims 1 to 6 via execution of the executable instructions.
10. A computer-readable storage medium storing a program, characterized in that the program when executed implements the steps of the point cloud based quay bridge area navigation method of any one of claims 1 to 6.

Description

Point cloud-based shore bridge area navigation method, system, equipment and storage medium Technical Field The invention relates to the technical field of navigation and positioning, in particular to a point cloud-based shore bridge area navigation method, a point cloud-based shore bridge area navigation system, point cloud-based shore bridge area navigation equipment and a point cloud storage medium. Background With the development of computer technology, vehicles, automatic container identification, automatic positioning technology and the like are increasingly popular in ports and wharfs in China, so that the labor cost can be greatly reduced, the working efficiency is accelerated, and the working accuracy is improved. The current vehicle positioning technology in common use is based on an onboard GPS device. However, on the shore bridge, due to the shielding of the large ship and/or the crane, the signal strength is insufficient, and the GPS device cannot realize the positioning function, so that the vehicle in the environment cannot be positioned by the positioning method based on the traditional GPS device. Moreover, the lane lines on the quay bridge are different from the lane lines on the common road. For example, the lane line in the quay bridge is yellow in color and different in width from a normal road, and thus, the lane line locating method based on the normal road cannot work normally. How to self-position the vehicle under the shore bridge is always a difficult point, particularly when a large ship is berthed, a high wall of 20 meters is usually formed, and the high wall and the shore bridge form a surrounding for GPS equipment, so that the GPS is not applicable any more. When the lane change, turning and other actions are performed under the shore bridge, the lane lines can appear at the edge of the camera view, and a large observation error can be caused. Even if the lane line is observed sufficiently, the longitudinal direction cannot be restrained for a long time, and the longitudinal positioning is deviated. While the shore is usually not deployed with other static markers than a shore bridge that may be moved at any time. Therefore, the conventional gps+vision approach suffers from performance bottlenecks in the quayside region. In view of the above, the invention provides a point cloud-based quay crane region navigation method, a point cloud-based quay crane region navigation system, point cloud-based quay crane region navigation equipment and a storage medium. It should be noted that the information disclosed in the foregoing background section is only for enhancement of understanding of the background of the invention and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art. Disclosure of Invention Aiming at the problems in the prior art, the invention aims to provide a point cloud-based shore bridge area navigation method, a point cloud-based shore bridge area navigation system, point cloud-based shore bridge area navigation equipment and a point cloud-based shore bridge area navigation storage medium, so that the difficulty in the prior art is overcome, the edge information of a cargo ship can be fully utilized under the conditions of landing of the cargo ship and GPS positioning failure, the self-positioning of a vehicle is realized, and the alignment precision of a collection card and a shore bridge is improved. The embodiment of the invention provides a point cloud-based shore bridge area navigation method, which comprises the following steps of: A first navigation path based on GPS positioning data goes to a peripheral area of the quay bridge area; Continuously scanning the space of at least part of the quay crane region in the peripheral region, establishing point cloud map data of cargo ships in the quay crane region, detecting the GPS positioning signals in real time, and matching point cloud objects in the point cloud map data with GPS positioning data; generating a second navigation path based on the completed point cloud map data when the GPS positioning signal does not meet a preset signal strength threshold value, and And carrying out loading and unloading operation with the quay bridge at least based on the second navigation path. Preferably, the first navigation path based on GPS positioning data goes to the surrounding area of the quay bridge area, including Establishing a first navigation path by taking a quay crane area as a destination based on GPS positioning data; based on the first navigation path going to the peripheral area of the quay region, the peripheral area is a range surrounding the quay region with the quay region as the center. Preferably, the continuous spatial scanning is performed on at least part of the quay region in the peripheral region, point cloud map data of the cargo ship in the quay region is established, the GPS positioning signal is detected in real time, and a point