The invention discloses a vertical empty container area operation method through self-vehicle sensing of an unmanned container truck, and the method comprises the steps: enabling the unmanned container truck to stop at a coordinate point after entering a container area, starting a laser container line sensing alignment function, starting to recognize the longitudinal distance between the unmanned container truck and a container through self-vehicle sensing, and stopping after recognizing the container line of a first container on the outermost side; and the stacking machine grabs or unloads the box. After the operation is completed, the unmanned container truck senses and confirms the container loading and unloading state through the self-vehicle, and then safely drives away from the operation position in combination with sensing of surrounding conditions. The stacking machine in the non-standard empty container area works in the sequence from the fence inlet to the fence outlet, and the problem that in the non-standard empty container area, unmanned container trucks cannot stop according to the corresponding relation between the storage position numbers and the containers is solved. And meanwhile, the outmost container line is sensed and recognized by the vehicle for automatic parking, so that the parking accuracy is improved.
本发明公开了一种通过无人集卡自车感知的垂直空箱区作业方法,无人集卡是进入箱区后在坐标点停位,开启激光箱线感知对位功能,通过自车感知开始识别与集装箱的纵向距离,识别到最外侧第一个集装箱的箱线后进行停车,由堆高机进行抓箱或卸箱作业。完成作业后,无人集卡通过自车感知确认装卸箱状态,结合感知周围状况,再安全地驶离作业位置。非标准空箱区内堆高机由入栏口到出栏口的顺序进行作业,解决了非标准空箱区中,无人集卡无法通过贝位号和集装箱对应关系进行停位的问题。同时,通过自车感知识别最外侧集装箱箱线进行自主停位,提高了停位的准确性。
Vertical empty container area operation method sensed by self-vehicle of unmanned container truck
一种通过无人集卡自车感知的垂直空箱区作业方法
10.03.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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