CN-121979218-A - Precise alignment auxiliary system and method for crane end vehicle of shore bridge

CN121979218ACN 121979218 ACN121979218 ACN 121979218ACN-121979218-A

Abstract

The application belongs to the technical field of port equipment, and discloses a precise alignment auxiliary system and a precise alignment auxiliary method for a crane end vehicle of a shore bridge, wherein the precise alignment auxiliary system for the crane end vehicle of the shore bridge comprises an end angle light source projection unit, a central light source projection unit and a ranging identification unit which are arranged at the bottom of the crane of the shore bridge; the system comprises an end angle light source projection unit, a central light source projection unit, a distance measurement identification unit and a control unit, wherein the end angle light source projection unit is used for projecting four end angle identifications of unmanned vehicles on the ground, the four end angle identifications are used for forming rectangular parking spaces by taking the four end angle identifications as four angles, the central light source projection unit is used for projecting cross-shaped reference identifications used for identifying the unmanned vehicles on the ground, the center of the cross-shaped reference identifications coincides with the center of the rectangular parking spaces, and the distance measurement identification unit is used for detecting and acquiring deviation information of the unmanned vehicles relative to the center reference of a shore bridge crane in the parking process from the unmanned vehicles approaching the end angle identifications and sending the deviation information to the unmanned vehicles. The alignment precision and alignment efficiency of the unmanned vehicle and the quay crane lifting appliance can be improved.

Inventors

HUANG ZHIWEI
KANG HONGYI
ZHAO BIN
Zou Haozhong

Assignees

上海振华重工集团科技有限公司
上海振华重工(集团)股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260205

Claims (10)

1. The accurate alignment auxiliary system for the crane end vehicle of the shore bridge is characterized by comprising an end angle light source projection unit, a central light source projection unit and a ranging identification unit which are arranged at the bottom of the crane of the shore bridge; The terminal angle light source projection unit is used for projecting four terminal angle marks recognized by the unmanned vehicle on the ground, the four terminal angle marks are used as four angle-shaped rectangular parking spaces, and the centers of the rectangular parking spaces correspond to the centers of the quay crane lifting appliances; The central light source projection unit is used for projecting a cross-shaped reference mark for the unmanned vehicle recognition on the ground, and the center of the cross-shaped reference mark coincides with the center of the rectangular parking space; The distance measurement identification unit is used for detecting and acquiring deviation information of the unmanned vehicle relative to the center reference of the shore bridge crane in the process that the unmanned vehicle approaches to the end angle identification and parks, and sending the deviation information to the unmanned vehicle.
2. The precise alignment auxiliary system for the crane end vehicle according to claim 1, wherein the horizontal section of the crane sling is rectangular, the end angle light source projection unit comprises four groups of point light source projection devices, and the four groups of point light source projection devices are correspondingly arranged at four end angles of the crane bottom.
3. The auxiliary system for accurate alignment of crane end vehicles according to claim 2, wherein the point light source projection device is a laser point projector or a light emitting diode lattice projector.
4. The quay crane end vehicle precise alignment auxiliary system according to claim 1, wherein the central light source projection unit is positioned at the bottom center of the quay crane lifting appliance, and the central light source projection unit is a light source cross projector.
5. The quay crane hoist end vehicle precision alignment assistance system of claim 1, wherein the ranging identification unit includes: the laser radars are arranged on the outer sides of the periphery of the bottom of the quay crane lifting appliance and are used for detecting the distance between the top surface of the unmanned vehicle and the periphery edge of the unmanned vehicle relative to the quay crane lifting appliance; and the signal processing module is used for receiving and processing the detection information of each laser radar so as to acquire the deviation information and sending the acquired deviation information to the unmanned vehicle.
6. The quay crane hoist end vehicle precision alignment assistance system of claim 5, characterized in that the lidar comprises: the distance measuring module is used for detecting the distance between the top surface of the unmanned vehicle and the quay crane lifting appliance; and the imaging module is used for scanning and identifying the peripheral edges of the top surface of the unmanned aerial vehicle so as to obtain the distance between the peripheral edges of the top surface of the unmanned aerial vehicle and the quay crane lifting appliance.
7. The precise alignment auxiliary system for a crane-end vehicle of claim 5, wherein the ranging identification unit further comprises a light-reflecting identification assembly for identifying a light-reflecting identification strip provided on the unmanned vehicle.
8. The quay crane end vehicle precision alignment assistance system of claim 1, wherein the deviation information includes lateral deviation information, longitudinal deviation information, and angular deviation information.
9. The quay crane end vehicle precise alignment auxiliary system according to claim 1, wherein the ranging identification unit is further configured to transmit the deviation information to a control system of the quay crane, so that the control system of the quay crane fine-adjusts the position of the quay crane spreader.
10. A method for assisting accurate alignment of a crane-end vehicle of a shore bridge, which is applied to the accurate alignment assisting system of a crane-end vehicle of a shore bridge according to any one of claims 1 to 9, comprising the steps of: adjusting the crane of the shore bridge to a safe height; The method comprises the steps that an end angle light source projection unit projects four end angle marks of a rectangular parking space for unmanned vehicle identification on the ground, the four end angle marks are used as four angle marks of the rectangular parking space, a center light source projection unit projects a cross-shaped reference mark for unmanned vehicle identification on the ground, the center of the rectangular parking space corresponds to the center of a quay crane lifting appliance, and the center of the cross-shaped reference mark coincides with the center of the rectangular parking space; when the unmanned vehicle enters the operation area of the shore bridge, the recognition device of the unmanned vehicle recognizes four end angle marks and the cross-shaped reference mark, determines the parking boundary and the parking center reference of the unmanned vehicle, and guides the unmanned vehicle to travel towards the center of the cross-shaped reference mark; And in the process that the unmanned aerial vehicle approaches the rectangular parking space to park, the ranging identification unit detects and acquires deviation information of the unmanned aerial vehicle relative to the center reference of the shore bridge crane in real time, and sends the deviation information to the unmanned aerial vehicle, and the unmanned aerial vehicle carries out error correction based on the deviation information until the unmanned aerial vehicle parks to the rectangular parking space.

Description

Precise alignment auxiliary system and method for crane end vehicle of shore bridge Technical Field The application relates to the technical field of port equipment, in particular to a precise alignment auxiliary system and method for a crane end vehicle of a shore bridge. Background Along with the extensive construction of automatic container wharf, the realization of efficient and accurate container loading and unloading docking of horizontal transportation equipment under a quay bridge becomes a key link for improving the operation efficiency. At present, unmanned vehicles such as automatic guided vehicles (Automated Guided Vehicle, AGVs) or intelligent unmanned vehicles (INTELLIGENT GUIDED VEHICLE, IGVs) are commonly adopted for wharfs to execute container connection tasks under a quay bridge. In the existing operation flow, the unmanned vehicle usually drives into a quay crane operation area according to a target parking position issued by a container terminal dispatching system (Chassis Positioning System, CPS), and waits for loading and unloading below a preset lifting appliance box-falling position, for example, a container on the unmanned vehicle is lifted to a corresponding ship. However, the conventional quay crane lifting appliance is aligned with unmanned vehicles such as AGVs or IGVs, and the unmanned vehicles can only rely on self navigation to approach the target point as much as possible within the positioning error range when parking. When the actual positions of the unmanned vehicle and the lifting appliance deviate, the automatic parking system can only be corrected by repeatedly adjusting the parking space by the unmanned vehicle, repeatedly moving back and forth or transversely, and manually remotely controlling the lifting appliance to finely adjust the lifting appliance up and down, back and forth, left and right so as to adapt to the final parking position of the vehicle. However, this method is inconvenient to operate, takes a long time, and has low alignment accuracy and low efficiency. In addition, along with the continuous promotion of pier degree of automation, also have some to utilize unmanned vehicles such as AGV or IGV to take recognition device such as laser radar, depth perception camera from the area, discern characteristics such as bank bridge steel construction, guide slot, realize the autonomous accurate counterpoint of certain degree "vehicle end. However, in actual operation, due to the problems of complex structure, more shielding, reflection intensity of a steel structure, scarcity of visual characteristics and the like under the shore bridge, alignment is carried out only by means of the recognition device of the unmanned vehicle, and transverse, longitudinal and angle deviations still occur frequently, so that the alignment precision of the unmanned vehicle is difficult to ensure, and the problems of reduced loading and unloading efficiency, increased lifting appliance waiting time, increased manual intervention rate and the like are caused. Disclosure of Invention The application aims to provide a precise alignment auxiliary system for a crane end vehicle of a shore bridge, which improves alignment precision and alignment efficiency of an unmanned vehicle and a crane lifting tool. In order to solve at least one of the technical problems, the application adopts the following technical scheme: According to the first aspect of the application, an accurate alignment auxiliary system for a crane end vehicle of a crane comprises an end angle light source projection unit, a central light source projection unit and a ranging identification unit which are arranged at the bottom of the crane, wherein the end angle light source projection unit is used for projecting four end angle identifications of unmanned vehicles on the ground, the four end angle identifications are used as rectangular parking spaces, the center of each rectangular parking space corresponds to the center of the crane lifting tool of the crane, the central light source projection unit is used for projecting cross-shaped reference identifications of the unmanned vehicles on the ground, the center of each cross-shaped reference identification coincides with the center of each rectangular parking space, and the ranging identification unit is used for detecting and acquiring deviation information of the unmanned vehicles relative to the center reference of the crane in the process of parking when the unmanned vehicles approach the end angle identifications and sending the deviation information to the unmanned vehicles. In a possible implementation manner of the first aspect, the horizontal section of the crane lifting appliance is rectangular, and the end angle light source projection unit includes four groups of point light source projection devices, where the four groups of point light source projection devices are correspondingly disposed at four end angles of the bottom of the crane lifting appliance.