The invention relates to a wharf mobile locking station alignment parking passing method, which comprises the following steps that S1, an AIV receives an operation instruction and plans a path under the guidance of a wharf automation system; s2, the AIV navigates to an operation lane where a specified lock station is located according to a preset path; s3, the sensing module uses laser to carry out station locking scene recognition; when the planning module enters a lock station scene, a safe collision threshold value with a point cloud is reduced, and the speed is limited to 5kph; s4, when the station locking obstacle information meets the station locking operation scene constraint, the AIV starts to limit the speed and calculates a parking point; s5, after the container is loaded and unloaded, the AIV unlocks and leaves the locking station area according to a system instruction; and the AIV goes to the next operation point or returns to the standby area. According to the method, through intelligent management, unnecessary stopping is reduced, and the operation efficiency is improved.
一种码头流动锁站对位停车通行方法,包括如下步骤,步骤S1、AIV在码头自动化系统的指导下,接收作业指令并计划路径;步骤S2、AIV根据预设的路径导航至指定锁站所在的作业车道;步骤S3、感知模块使用激光进行锁站场景识别;规划模块在进入锁站场景时,缩小与点云的安全碰撞阈值,限速至5kph;步骤S4、当锁站障碍物信息满足锁站作业场景约束时,AIV开始限速并计算停车点;步骤S5、集装箱装卸完成后,AIV根据系统指令,解除锁定并离开锁站区域;AIV前往下一作业点或返回待命区。该方法通过智能化管理,减少不必要的停靠,提高作业效率。
Wharf mobile locking station alignment parking passing method
一种码头流动锁站对位停车通行方法
2024-10-25
Patent
Electronic Resource
Chinese
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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