The invention relates to the technical field of container operation, and discloses a port full-automatic container grabbing and releasing operation method which comprises the steps that an unmanned container truck is driven into a storage yard lane, and the container truck arrives at a preset parking position; according to a comparison result of automatic operation instruction analysis and operation environment perception, starting corresponding automatic operation; according to the current position of the port crane cart and the position information of the target container, an automatic driving plan of the crane cart is automatically calculated, and the crane cart is automatically rectified in the automatic walking process; the RTG trolley is moved to the position over the target container according to the received container number and position information of the target container; and the lifting appliance is aligned with the target container, so that the lifting appliance can smoothly grab the target container or correctly stack the containers on the lifting appliance onto the target container. Full-automatic container grabbing and releasing operation at a port can be achieved, unmanned operation is achieved, and the operation efficiency of the port is improved.

    本发明涉及集装箱作业技术领域,公开了一种港口全自动抓放集装箱作业方法,包括:无人集卡驶入堆场车道,使集卡车辆抵达至预设的停车位置;根据自动化作业指令解析与作业环境感知的比对结果,启动相应的自动化作业;根据港口起重机大车的当前位置和目标集装箱的位置信息,自动计算起重机大车的自动行车计划,且起重机大车在自动行走中进行自动纠偏;根据接收到的目标集装箱箱号及其位置信息,将RTG小车移动至目标集装箱的正上方;将吊具与目标集装箱对齐,以使吊具能顺利抓取目标集装箱或者将吊具上的集装箱正确堆叠至目标集装箱上。本发明可以实现港口全自动抓放集装箱作业,实现无人作业,提升港口的运行效率。


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    Title :

    Full-automatic container grabbing and releasing operation method for port


    Additional title:

    一种港口全自动抓放集装箱作业方法


    Contributors:
    XIONG CHANGCHUN (author) / WANG JINGGUI (author) / LEE GUK-WON (author) / LIU ANG (author) / WU JIANGCHUAN (author) / LI HAILIANG (author) / LIN YIJING (author) / XIONG CHANGYU (author)

    Publication date :

    2025-02-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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