The invention provides an automatic alignment device for an unmanned container truck and a quay crane, and the device comprises a sensor module which is used for sensing and obtaining the surrounding environment information of the unmanned container truck; the information processing module is used for establishing a vehicle coordinate system taking the central point of the unmanned container truck as an original point according to the mounting position of the sensor module, and unifying the environment information acquired by the sensor module to the vehicle coordinate system; the calculation module is used for calculating the relative position L0 of the unmanned container truck and the front cross beam and the rear cross beam of the quay crane under the vehicle coordinate system so as to facilitate fuzzy alignment, and calculating the longitudinal deviation L of the unmanned container truck and the quay crane according to the function L = (Lfront-Lread)/2 so as to facilitate accurate alignment; and the control module is used for controlling the unmanned container truck to move longitudinally and perform fuzzy alignment according to the relative position L0 output by the calculation module, and then controlling the unmanned container truck to move longitudinally by a corresponding distance according to the longitudinal deviation L output by the calculation module and perform accurate positioning.
本发明提供一种无人集卡与岸桥自动对齐的装置,所述装置包括:传感器模块,用于感知和获取无人集卡周围环境信息;信息处理模块,用于根据传感器模块安装位置,建立以无人集卡中心点为原点的车辆坐标系,并将传感器模块获取的环境信息统一至车辆坐标系下;计算模块,用于计算车辆坐标系下无人集卡与岸桥前后两横梁的相对位置L0,在以便进行模糊对位,根据函数L=(Lfront‑Lrear)/2,计算出无人集卡与岸桥的纵向偏差L,以便进行精确对位;控制模块,用于根据计算模块输出的相对位置L0,控制无人集卡纵向移动,进行模糊对位,再根据计算模块输出的纵向偏差L,控制无人集卡纵向移动相应的距离,进行精确定位。
Device and method for automatically aligning unmanned container truck and quay crane
一种无人集卡与岸桥自动对齐的装置及方法
30.05.2025
Patent
Elektronische Ressource
Chinesisch
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