The invention relates to an automatic crabbing escape method for a port unmanned container truck in a collection and distribution dual-purpose wharf box area, and the method comprises the steps: receiving task information issued by a dispatching system through an AIV, and enabling the unmanned container truck to run in the box area according to the position information of an operation terminal point in the task information; whether the AIV crabs or not is determined according to the road obstacle condition screened out by the vehicle or whether the AIV enters the rough parking stage, if the AIV needs to crab, the AIV crabs are controlled, the AIV walks along the adjusted offset line, and transverse reset adjustment is conducted after the reset condition is met. By the adoption of the method, the AIV crabs to avoid the characteristic obstacles in the box area, when the AIV recognizes operation equipment such as a tire crane, the AIV can conduct transverse distance adjustment through simultaneous steering of all wheels and under the condition that a vehicle body is straightened, the passing rate is greatly increased, drifting caused by turning in the past is avoided, and the operation efficiency is improved. And the risk that the sensor at the rear part of the AIV is damaged due to drifting is reduced.
本发明涉及一种港口无人集卡在集散两用码头箱区自动蟹行的脱困方法,包括:AIV收到调度系统下发的任务信息,根据任务信息中作业终点的贝位信息在箱区内行驶;根据自车筛选出的道路障碍物情况或AIV是否进入粗停车阶段,决定AIV是否蟹行,若AIV需要蟹行,控制AIV蟹行,AIV沿着调整后的偏移线路巡线行驶,满足复位条件后进行横向复位调整。采用本发明的方法,AIV在箱区内蟹行避让特征障碍物,可使AIV在识别轮胎吊等作业设备时,通过全部车轮同时转向,在车身摆正的情况下做一个横向距离的调整,大大提高了通过率,避免了以往转弯时会造成的甩尾,进而降低了甩尾所导致的AIV后部传感器损坏的风险。
Method for automatically releasing crabs from harbor unmanned container truck in collection and distribution dual-purpose wharf container area
一种港口无人集卡在集散两用码头箱区自动蟹行的脱困方法
28.05.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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