CN115817538B - Unmanned integrated card control method, device, equipment and medium - Google Patents
Unmanned integrated card control method, device, equipment and medium Download PDFInfo
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- CN115817538B CN115817538B CN202310024660.2A CN202310024660A CN115817538B CN 115817538 B CN115817538 B CN 115817538B CN 202310024660 A CN202310024660 A CN 202310024660A CN 115817538 B CN115817538 B CN 115817538B
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Abstract
The application provides a control method, a device, equipment and a medium of an unmanned integrated card. In the method, the unmanned truck travels to a container loading and unloading area after receiving a work instruction comprising a target stacker identifier. And sequentially identifying the to-be-matched identifications corresponding to the plurality of stacking machines in the loading and unloading area according to the acquired environmental laser radar point cloud data. When the target stacking machine with the identification identical to the target stacking machine identification to be matched is determined, the target parking position of the unmanned collecting card is determined according to the current position of the target stacking machine, and then the unmanned collecting card is driven to the target parking position. According to the scheme, the unmanned integrated card determines the target parking position according to the laser radar point cloud data and drives to the target parking position in parallel, so that the operation efficiency is effectively improved.
Description
Technical Field
The application relates to the field of automatic driving, in particular to a control method, a device, equipment and a medium of an unmanned integrated card.
Background
With rapid development of technology, unmanned container trucks, abbreviated as unmanned collection cards, have been gradually applied in situations such as ports where automatic horizontal transportation of containers is required. The unmanned collector card needs to work with the stacker in the port to realize the loading and unloading of the container.
In the prior art, when a container needs to be transported horizontally, a stacking machine needs to be used for loading and unloading, so that a worker is required to determine the position of the stacking machine, and then an operation instruction is issued to an unmanned collection card through a wharf operating system (Terminal Operation System, TOS for short), wherein the instruction comprises the position information of the stacking machine. And then the unmanned collecting card runs to the vicinity of the stacking machine according to the position information in the operation instruction, and then a worker controls the unmanned collecting card through TOS, or directly drives the unmanned collecting card to run to a specific parking position. The stacking machine can take or put boxes on the unmanned collection card.
In summary, in the existing control method of the unmanned integrated card, it is necessary to manually determine the position of the stacking machine and manually control the unmanned integrated card to be parked at a specific position, resulting in lower working efficiency.
Disclosure of Invention
The embodiment of the application provides a control method, a device, equipment and a medium for an unmanned integrated card, which are used for solving the problems that the existing unmanned integrated card operation method needs to manually determine the position of a stacking machine and manually control the unmanned integrated card to be parked at a specific position, so that the operation efficiency is lower.
In a first aspect, an embodiment of the present application provides a method for controlling an unmanned integrated card, including:
receiving a job instruction sent by a wharf operating system, wherein the job instruction comprises a target stacker identifier;
according to the operation instruction, controlling the unmanned integrated card to run to a container loading and unloading area, and acquiring environmental laser radar point cloud data acquired by the unmanned integrated card;
sequentially identifying the to-be-matched identifications corresponding to the plurality of stacking machines in the loading and unloading area according to the environmental laser radar point cloud data;
until the target stacking machine with the identification identical to the target stacking machine identification to be matched is determined, determining a target parking position of the unmanned set card according to the current position of the target stacking machine;
and controlling the unmanned integrated card to travel to the target parking position.
In one specific embodiment, a preset side of each stacker is provided with an identification mark; according to the environmental laser radar point cloud data, the identification to be matched corresponding to the plurality of stacking machines in the loading and unloading area is sequentially identified, and the identification to be matched comprises the following steps:
performing obstacle recognition according to the environmental laser radar point cloud data to obtain a recognition result and determining laser radar point cloud data corresponding to the stacker;
determining laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data corresponding to the stacker according to the identification result;
and determining the identification to be matched corresponding to the stacker according to the laser radar point cloud data corresponding to the identification mark.
In a specific embodiment, the boundary of the identification mark is formed by a reflective strip; and determining the point cloud data corresponding to the identification mark from the laser radar point cloud data corresponding to the stacker according to the identification result, wherein the determining comprises the following steps:
determining the posture of the stacker according to the identification result;
determining laser radar point cloud data of the preset side face from the laser radar point cloud data corresponding to the stacker according to the posture of the stacker;
and determining the laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data of the preset side according to a preset reflectivity threshold.
In a specific embodiment, the identification mark is internally provided with a reflecting strip and a low reflecting background strip which are vertically arranged according to a Hamming code formed by the identification mark to be matched, and the widths of the reflecting strip and the low reflecting background strip are the same; the step of determining the identification to be matched corresponding to the stacker according to the laser radar point cloud data corresponding to the identification mark comprises the following steps:
grouping laser radar point cloud data corresponding to the identification mark according to the width of the reflective strip;
for each group of laser radar point cloud data, determining a corresponding binary number according to a preset reflectivity threshold;
generating a Hamming code according to the binary number corresponding to each group of laser radar point cloud data;
and determining the identification to be matched according to the Hamming code.
In a second aspect, an embodiment of the present application provides a control device for an unmanned integrated card, including:
the receiving module is used for receiving a job instruction sent by the wharf operating system, wherein the job instruction comprises a target stacker identifier;
the driving module is used for controlling the unmanned collection card to run to the container loading and unloading area according to the operation instruction;
the acquisition module is used for acquiring the environmental laser radar point cloud data acquired by the unmanned set card;
a processing module for:
sequentially identifying the to-be-matched identifications corresponding to the plurality of stacking machines in the loading and unloading area according to the environmental laser radar point cloud data;
until the target stacking machine with the identification identical to the target stacking machine identification to be matched is determined, determining a target parking position of the unmanned set card according to the current position of the target stacking machine;
and the driving module is also used for controlling the unmanned integrated card to travel to the target parking position.
In one specific embodiment, a preset side of each stacker is provided with an identification mark; the processing module is specifically configured to:
performing obstacle recognition according to the environmental laser radar point cloud data to obtain a recognition result and determining laser radar point cloud data corresponding to the stacker;
determining laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data corresponding to the stacker according to the identification result;
and determining the identification to be matched corresponding to the stacker according to the laser radar point cloud data corresponding to the identification mark.
In a specific embodiment, the boundary of the identification mark is formed by a reflective strip; the processing module is specifically further configured to:
determining the posture of the stacker according to the identification result;
determining laser radar point cloud data of the preset side face from the laser radar point cloud data corresponding to the stacker according to the posture of the stacker;
and determining the laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data of the preset side according to a preset reflectivity threshold.
In a specific embodiment, the identification mark is internally provided with a reflecting strip and a low reflecting background strip which are vertically arranged according to a Hamming code formed by the identification mark to be matched, and the widths of the reflecting strip and the low reflecting background strip are the same; the processing module is specifically further configured to:
grouping laser radar point cloud data corresponding to the identification mark according to the width of the reflective strip;
for each group of laser radar point cloud data, determining a corresponding binary number according to a preset reflectivity threshold;
generating a Hamming code according to the binary number corresponding to each group of laser radar point cloud data;
and determining the identification to be matched according to the Hamming code.
In a third aspect, an embodiment of the present application provides an unmanned integrated card, including:
the system comprises a processor, a memory, a communication interface and a laser radar;
the memory is used for storing executable instructions of the processor;
wherein the processor is configured to execute the method of controlling the drone card of any one of the first aspects via execution of the executable instructions.
In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a computer program is stored, where the computer program when executed by a processor implements the method for controlling an unmanned set card according to any one of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product, including a computer program, which when executed by a processor is configured to implement the method for controlling an unmanned set card according to any of the first aspects.
According to the control method, device, equipment and medium for the unmanned set card, the unmanned set card is driven to a container loading and unloading area after receiving the operation command comprising the target stacker mark. And sequentially identifying the to-be-matched identifications corresponding to the plurality of stacking machines in the loading and unloading area according to the acquired environmental laser radar point cloud data. When the target stacking machine with the identification identical to the target stacking machine identification to be matched is determined, the target parking position of the unmanned collecting card is determined according to the current position of the target stacking machine, and then the unmanned collecting card is driven to the target parking position. According to the scheme, the unmanned integrated card determines the target parking position according to the laser radar point cloud data and drives to the target parking position in parallel, so that the operation efficiency is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic flow chart of a first embodiment of a control method of an unmanned set card provided in the present application;
fig. 2 is a schematic flow chart of a second embodiment of a control method of an unmanned set card provided in the present application;
fig. 3a is a schematic flow chart of a third embodiment of a control method of an unmanned set card provided in the present application;
FIG. 3b is a schematic diagram of a first identification tag according to an embodiment of the present application;
FIG. 3c is a schematic diagram II of a logo recognition mark according to an embodiment of the present application;
FIG. 3d is a schematic diagram III of an identification mark according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of an embodiment of a control device of an unmanned ic card provided in the present application;
fig. 5 is a schematic structural diagram of an unmanned ic card provided in the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which a person of ordinary skill in the art would have, based on the embodiments in this application, come within the scope of protection of this application.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
With rapid development of technology, automatic driving technology is gradually applied to unmanned wharfs in ports. Port handling containers involve several links: on the code head face, the quay crane equipment performs container loading and unloading operation on the quay ship; a horizontal transport device transports containers between a yard and a quay; at the yard, the yard bridge equipment loads and unloads containers. Unmanned container truck, short for unmanned collection card has played indispensable effect in container horizontal transportation, has effectively reduced the cost of labor. When the container needs to be transported horizontally, the stacking machine needs to be used for loading and unloading, so that a worker is required to determine the position of the stacking machine, and then an operation instruction is issued to the unmanned collection card through a wharf operating system (Terminal Operation System, abbreviated as TOS), wherein the instruction comprises the position information of the stacking machine. And then the unmanned collecting card runs to the vicinity of the stacking machine according to the position information in the operation instruction, and then a worker controls the unmanned collecting card through TOS, or directly drives the unmanned collecting card to run to a specific parking position. The stacking machine can take or put boxes on the unmanned collection card.
The existing unmanned integrated card control method needs to manually determine the position of the stacking machine and manually control the unmanned integrated card to be parked at a specific position, so that the problem of low operation efficiency is caused.
In order to solve the problems in the prior art, the inventor finds that in the process of researching the control method of the unmanned integrated card, the unmanned integrated card can determine and drive to the target parking position in order to improve the efficiency. And after receiving the operation instruction sent by the wharf operating system, the unmanned integrated card drives to a container loading and unloading area and acquires environmental laser radar point cloud data. And further, according to the environmental laser radar point cloud data, the identification to be matched corresponding to the stacking machine is sequentially determined. When the target stacking machine with the identification to be matched and the target stacking machine identification in the operation instruction are determined, the target parking position of the unmanned collecting card is determined according to the current position of the target stacking machine, and the unmanned collecting card can travel to the target parking position, so that the operation efficiency is effectively improved. Based on the inventive concept, a control scheme of the unmanned integrated card is designed.
The application scenario of the control method of the unmanned set card provided by the application is explained below.
Illustratively, in this application scenario, a lot of containers exist in the dock that require horizontal transport, the forklift driver drives the forklift to the container handling area, and sends the target forklift identification of the forklift to the dock operating system.
After receiving the target stacker identifier, the dock operating system sends a job instruction comprising the target stacker identifier to the unmanned set card. And the unmanned collecting card runs to a container loading and unloading area according to the operation instruction, and then the laser radar is used for scanning the surrounding environment to acquire the environmental laser radar point cloud data. And carrying out identification processing on the environmental laser radar point cloud data, and determining a to-be-matched identifier corresponding to the stacker according to the environmental laser radar point cloud data when the stacker is identified.
And further judging whether the identification to be matched is the same as the identification of the target stacker, if not, continuing scanning to acquire laser radar point cloud data until the determined identification to be matched is the same as the identification of the target stacker, determining a target parking position according to the current position of the stacker, and driving the unmanned collecting card to the target parking position. The stacking machine driver can take boxes or put boxes on the unmanned collecting card.
It should be noted that the above scenario is only an illustration of an application scenario provided by the embodiment of the present application, and the embodiment of the present application does not limit the actual forms of various devices included in the scenario, nor limit the interaction modes between the devices, and in a specific application of the scheme, the application may be set according to actual requirements.
The following describes the technical scheme of the present application in detail through specific embodiments. It should be noted that the following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.
Fig. 1 is a schematic flow chart of an embodiment of a control method of an unmanned integrated card provided by the application, and the embodiment of the application describes a situation that the unmanned integrated card travels to a container loading and unloading area after receiving an operation instruction, further determines a target parking position and travels to the target parking position. The method in this embodiment may be implemented by software, hardware, or a combination of software and hardware. As shown in fig. 1, the control method of the unmanned integrated card specifically includes the following steps:
s101: and receiving a job instruction sent by the wharf operating system.
When the container is required to be transported horizontally, a stacker driver drives a target stacker to travel to a container loading and unloading area, and then the stacker driver sends a target stacker identifier to a wharf operating system. In order to enable the unmanned collector card to travel to the vicinity of the target stacker, the dock operating system sends a job instruction to the unmanned collector card, wherein the job instruction comprises a target stacker identifier.
In this step, after the dock operating system sends the operation instruction to the unmanned aerial vehicle, the unmanned aerial vehicle can receive the operation instruction, so as to drive according to the instruction subsequently.
S102: and controlling the unmanned aerial vehicle to travel to a container loading and unloading area according to the operation instruction, and acquiring the environmental laser radar point cloud data acquired by the unmanned aerial vehicle.
In this step, after the unmanned deck receives the operation command, the unmanned deck needs to travel to the container loading/unloading area in order to travel to the target parking position, and the unmanned deck presets the position information of the container loading/unloading area, so that the unmanned deck can travel to the container loading/unloading area. And simultaneously starting the laser radar to scan the surrounding environment to acquire the environmental laser radar point cloud data.
S103: and sequentially identifying the to-be-matched identifications corresponding to the plurality of stacking machines in the loading and unloading area according to the environmental laser radar point cloud data.
In this step, in order to determine the target parking position in the container loading and unloading area, it is necessary to determine the position of the target stacking machine first, and then, according to the laser radar point cloud data, identify a plurality of stacking machines in the loading and unloading area, and further, determine the environment to be matched of the stacking machines.
S104: and determining the target parking position of the unmanned set card according to the current position of the target stacker until the target stacker with the identification identical to the target stacker identification to be matched is determined.
In the step, after the unmanned set card determines the to-be-matched identification corresponding to the stacking machine, judging whether the to-be-matched identification is identical to the target stacking machine identification, if the to-be-matched identification is not identical to the target stacking machine identification, the unmanned set card continuously acquires laser radar point cloud data, identifies the stacking machine and determines the to-be-matched identification until the to-be-matched identification is identical to the target stacking machine identification, and then the target stacking machine can be determined. Because the unmanned integrated card is provided with the positioning device, the current position of the target stacker can be determined by combining laser radar point cloud data.
And further determining the target parking position of the unmanned collection card according to the current position of the target stacker. Because the target parking position has a corresponding relation with the current position of the stacking machine, the target parking position of the unmanned collecting card can be determined after the current position of the target stacking machine is determined.
For example, the correspondence between the target parking position and the current position of the stacker may be that the target parking position is 5 meters in front of the stacker head; the target parking position can be 3 meters at the left side or the right side of the stacker; it is also possible that the target parking position is 2 meters behind the tail of the stacker. The embodiment of the application does not limit the corresponding relation between the target parking position and the current position of the stacker, and can be set according to actual conditions.
S105: and controlling the unmanned integrated card to travel to the target parking position.
In the step, after the unmanned integrated card determines the target parking position, the unmanned integrated card can travel to the target parking position. The driver of the stacking machine can take or put the boxes on the unmanned collecting card.
According to the control method of the unmanned aerial vehicle, after the unmanned aerial vehicle receives the operation instruction, the unmanned aerial vehicle drives to the container loading and unloading area, and meanwhile, the environmental laser radar point cloud data is acquired, so that the identification to be matched of the stacking machine is determined. And determining a target stacking machine with the identification to be matched being the same as the target stacking machine identification in the operation instruction, and determining a target parking position of the unmanned integrated card according to the current position of the target stacking machine, wherein the unmanned integrated card can travel to the target parking position. Compared with the prior art that the position of the stacking machine needs to be manually determined and the unmanned set card is manually controlled to be parked at a specific position, the target parking position is determined through the environmental laser point cloud data, the unmanned set card can travel to the target parking position without manual control, the operation efficiency is effectively improved, and in addition, the system is low in transformation cost, independent of a network and a camera and capable of being used at night.
Fig. 2 is a schematic flow chart of a second embodiment of a control method of an unmanned set card provided by the present application, where on the basis of the foregoing embodiment, the present application describes a case where the unmanned set card determines, according to environmental laser radar point cloud data, laser radar point cloud data corresponding to a stacking machine, further determines laser radar point cloud data corresponding to an identification mark on the stacking machine, and determines, according to the laser radar point cloud data corresponding to the identification mark, a to-be-matched mark corresponding to the stacking machine. As shown in fig. 2, the control method of the unmanned integrated card specifically includes the following steps:
s201: and carrying out obstacle recognition according to the environmental laser radar point cloud data to obtain a recognition result and determining the laser radar point cloud data corresponding to the stacker.
In the step, after the unmanned set card acquires the laser radar point cloud data, obstacle recognition is carried out according to the laser radar point cloud data to obtain a recognition result. The method can determine the obstacle near the unmanned collecting card, can also determine whether the obstacle is a stacker, and can determine laser radar point cloud data corresponding to the stacker according to the detection position and the detection angle from the acquired laser radar point cloud data when determining that the obstacle is the stacker.
S202: and determining the laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data corresponding to the stacker according to the identification result.
In this step, since the preset side of each stacking machine is posted with the identification mark, the identification marks are arranged according to the identification to be matched, so that the laser radar point cloud data corresponding to the identification marks are determined, the posture of the stacking machine is determined according to the identification result, and then the laser radar point cloud data corresponding to the identification marks are determined from the laser radar point cloud data corresponding to the stacking machine according to the positions of the identification marks on the stacking machine.
S203: and determining the identification to be matched corresponding to the stacking machine according to the laser radar point cloud data corresponding to the identification mark.
In this step, after the unmanned set card determines the laser radar point cloud data corresponding to the identification mark, because the identification mark is arranged according to the identification mark to be matched, the Hamming code corresponding to the identification mark to be matched can be determined according to the reflectivity in the laser radar point cloud data corresponding to the identification mark, and the identification mark to be matched is further obtained.
According to the unmanned integrated card control method, the obstacle recognition is carried out according to the laser radar point cloud data, so that a recognition result is obtained, the laser radar point cloud data corresponding to the stacking machine are determined, the laser radar point cloud data corresponding to the identification mark is further determined from the laser radar point cloud data corresponding to the stacking machine, the mark to be matched corresponding to the stacking machine is further determined, the accuracy of determining the mark to be matched is effectively improved, and meanwhile, the operation efficiency is also improved.
Fig. 3a is a schematic flow chart of a third embodiment of a control method of an unmanned integrated card provided by the present application, where on the basis of the foregoing embodiment, the present application describes a case that the unmanned integrated card determines laser radar point cloud data of a preset side surface from laser radar point cloud data corresponding to a stacking machine, further determines point cloud data corresponding to an identification mark, and determines a mark to be matched according to a width of a reflective strip and a preset reflective rate threshold. As shown in fig. 3a, the control method of the unmanned integrated card specifically includes the following steps:
s301: and determining the posture of the stacker according to the identification result.
In the step, after the unmanned collecting card identifies the obstacle according to the acquired laser radar point cloud data, the obtained identification result can not only determine whether the obstacle is a stacker, but also determine the posture of the stacker, namely the vehicle body orientation, the vehicle head position, the vehicle tail position and the like of the stacker.
S302: and determining laser radar point cloud data of a preset side face from the laser radar point cloud data corresponding to the stacker according to the posture of the stacker.
In this step, after unmanned integrated card confirms the stack machine gesture, because the preset side of stack machine posts the sign recognition mark, the boundary of sign recognition mark is the reflection of light strip constitution, and the inside of sign recognition mark is the reflection of light strip and the low reflection of light background strip of the vertical placement of sea plain code that forms according to waiting to match the sign, and the width of reflection of light strip and low reflection of light background strip is the same. Therefore, in order to determine the identification to be matched, laser radar point cloud data of a preset side face is determined from the laser radar point cloud data corresponding to the stacker according to the posture of the stacker.
Fig. 3b is a schematic diagram of a first identification mark provided in an embodiment of the present application, as shown in fig. 3b, where the identification mark is rectangular, a white strip is a reflective strip, a black strip is a low reflective background strip, reflective strips are around the identification mark, and a reflective strip and a low reflective background strip are inside the identification mark.
Fig. 3c is a schematic diagram of a second identification mark provided in the embodiment of the present application, as shown in fig. 3c, where the identification mark is rectangular, a white bar is a reflective bar, a black bar is a low reflective background bar, an upper boundary and a lower boundary of the identification mark are reflective bars, and an inner part is the reflective bar and the low reflective background bar.
Fig. 3d is a schematic diagram three of a logo provided in an embodiment of the present application, where, as shown in fig. 3d, the logo is a circle, a white bar is a reflective bar, a black bar is a low reflective background bar, a boundary of the logo is a reflective bar, and an interior is a reflective bar and a low reflective background bar.
It should be noted that, the foregoing examples merely illustrate the identification mark, and the embodiments of the present application do not limit the shape of the identification mark, the positions of the reflective strip and the low reflective background image, and may be determined according to actual situations.
Optionally, after the unmanned set card determines the laser radar point cloud data of the preset side, the abnormal data in the laser radar point cloud data of the preset side can be filtered through a random sampling consensus (random sample consensus, for short, RANSAC) algorithm.
S303: and determining laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data of the preset side according to the preset reflectivity threshold.
In this step, after the unmanned set card determines the laser radar point cloud data of the preset side, since the boundary of the identification mark is composed of the reflective strips, the reflectivity in the laser radar point cloud data corresponding to the reflective strips is higher, so that the laser radar point cloud data corresponding to the identification mark can be determined from the laser radar point cloud data of the preset side according to the preset reflectivity threshold.
The laser radar point cloud data which is larger than the preset reflectivity threshold value can be determined to be the laser radar point cloud data corresponding to the reflective strips, the boundary of the identification mark can be determined, and then the laser radar point cloud data corresponding to the internal position of the identification mark, namely the laser radar point cloud data corresponding to the identification mark, can be determined.
It should be noted that, the preset reflectivity threshold may be 65%, 70% or 80%, which is not limited in the embodiment of the present application, and may be prohibited according to practical situations.
S304: and according to the width of the reflective strip, grouping laser radar point cloud data corresponding to the identification mark.
In this step, after the unmanned set card determines the laser radar point cloud data corresponding to the identification mark, because the widths of the light reflection strip and the low light reflection background strip are the same, the laser radar point cloud data also comprises position data, so that the laser radar point cloud data corresponding to the identification mark are grouped according to the width of the light reflection strip, and each group of laser radar point cloud data corresponds to one light reflection strip or one low light reflection background strip.
S305: and for each group of laser radar point cloud data, determining a corresponding binary number according to a preset reflectivity threshold value.
In this step, after the unmanned set card groups the laser radar point cloud data corresponding to the identification mark, in order to determine the mark to be matched, it is necessary to determine the corresponding binary number for each group of laser radar point cloud data according to the preset reflectivity threshold.
By way of example, the manner in which the binary number is determined may be: in the group of laser radar point cloud data, if the data proportion of the reflectivity larger than the preset reflectivity threshold value is larger than the preset proportion threshold value, the binary number is determined to be 1, otherwise, the binary number is determined to be 0. The preset proportion threshold value can be 60%, 70% or 80%, and the preset proportion threshold value is not limited in the embodiment of the application and can be set according to actual conditions.
Illustratively, the manner in which the binary number is determined may also be: in the group of laser radar point cloud data, if the data proportion of the reflectivity larger than the preset reflectivity threshold value is larger than the preset proportion threshold value and the average value of the reflectivity is larger than the preset reflectivity threshold value, the binary number is determined to be 1, otherwise, the binary number is determined to be 0. The preset ratio threshold may be 60%, 70% or 80%, and the embodiment of the present application does not limit the preset ratio threshold, and may be set according to practical situations.
Illustratively, the manner in which the binary number is determined may also be: in the laser radar point cloud data, if the data proportion of the reflectivity which is larger than the preset reflectivity threshold is larger than the preset proportion threshold, the average value of the reflectivity is larger than the preset reflectivity threshold, the variance of the reflectivity is smaller than the preset variance threshold, the binary number is determined to be 1, and otherwise, the binary number is determined to be 0. The preset proportion threshold value can be 60%, 70% or 80%, and the preset proportion threshold value is not limited in the embodiment of the application and can be set according to actual conditions. The preset variance threshold may be 0.02, 0.03 or 0.05, which is not limited in the embodiment of the present application and may be set according to practical situations.
It should be noted that, the foregoing examples merely illustrate a manner of determining the binary number, and the embodiments of the present application do not limit the manner of determining the binary number, and may be determined according to practical situations.
S306: and generating Hamming codes according to binary numbers corresponding to the laser radar point cloud data of each group.
In the step, after the unmanned set card determines the binary numbers corresponding to each group of laser radar point cloud data, the binary numbers are arranged according to the position sequence of the reflective strips and the low reflective background strips inside the identification mark, and the Hamming code can be obtained.
S307: and determining the identification to be matched according to the Hamming code.
In the step, after the unmanned integrated card generates the Hamming code, as the Hamming code has a verification function, whether each binary number corresponding to the identification to be matched in the Hamming code is correct or not can be determined, and when a certain binary number is incorrect, if the binary number is 0, the binary number is changed into 1; if the binary number is 1, it is changed to 0. And further extracting each binary number corresponding to the identification to be matched from the modified Hamming code or the error-free Hamming code to form a binary code corresponding to the identification to be matched, and performing decimal conversion to obtain the identification to be matched.
According to the unmanned integrated card control method, laser radar point cloud data of the preset side face are determined from laser radar point cloud data corresponding to the stacker, and then laser radar point cloud data corresponding to the identification mark is determined. And then, the laser radar point cloud data corresponding to the identification mark is grouped according to the width of the reflective strip, the binary number corresponding to each group of laser radar point cloud data is determined, the mark to be matched is determined after the Hamming code is generated, the accuracy of determining the mark to be matched is effectively improved, and meanwhile, the operation efficiency is also improved.
The following are device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.
Fig. 4 is a schematic structural diagram of an embodiment of a control device of an unmanned ic card provided in the present application; the device can be integrated in the unmanned set card in the embodiment of the method, and can also be realized by the unmanned set card in the embodiment of the method. As shown in fig. 4, the control device 40 of the unmanned set card includes:
a receiving module 41, configured to receive a job instruction sent by a dock operating system, where the job instruction includes a target stacker identifier;
the driving module 42 is used for controlling the unmanned truck to travel to the container loading and unloading area according to the operation instruction;
the acquiring module 43 is configured to acquire environmental laser radar point cloud data acquired by the unmanned set card;
a processing module 44 for:
sequentially identifying the to-be-matched identifications corresponding to the plurality of stacking machines in the loading and unloading area according to the environmental laser radar point cloud data;
until the target stacking machine with the identification identical to the target stacking machine identification to be matched is determined, determining a target parking position of the unmanned set card according to the current position of the target stacking machine;
the driving module 42 is further configured to control the unmanned cluster card to travel to the target parking position.
Further, a preset side face of each stacker is provided with an identification mark; the processing module 44 is specifically configured to:
performing obstacle recognition according to the environmental laser radar point cloud data to obtain a recognition result and determining laser radar point cloud data corresponding to the stacker;
determining laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data corresponding to the stacker according to the identification result;
and determining the identification to be matched corresponding to the stacker according to the laser radar point cloud data corresponding to the identification mark.
Further, the boundary of the identification mark is formed by a reflective strip; the processing module 44 is specifically further configured to:
determining the posture of the stacker according to the identification result;
determining laser radar point cloud data of the preset side face from the laser radar point cloud data corresponding to the stacker according to the posture of the stacker;
and determining the laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data of the preset side according to a preset reflectivity threshold.
Further, the inside of the identification mark is a reflective strip and a low reflective background strip which are vertically arranged according to a Hamming code formed by the identification mark to be matched, and the widths of the reflective strip and the low reflective background strip are the same; the processing module 44 is specifically further configured to:
grouping laser radar point cloud data corresponding to the identification mark according to the width of the reflective strip;
for each group of laser radar point cloud data, determining a corresponding binary number according to a preset reflectivity threshold;
generating a Hamming code according to the binary number corresponding to each group of laser radar point cloud data;
and determining the identification to be matched according to the Hamming code.
The control device of the unmanned integrated card provided in this embodiment is configured to execute the technical scheme in any one of the foregoing method embodiments, and its implementation principle and technical effect are similar, and are not described herein again.
Fig. 5 is a schematic structural diagram of an unmanned ic card provided in the present application. As shown in fig. 5, the unmanned set card 50 includes:
a processor 51, a memory 52, a communication interface 53, a lidar 54;
the memory 52 is configured to store executable instructions of the processor 51;
wherein the processor 51 is configured to perform the technical solution of any of the method embodiments described above via execution of the executable instructions.
Alternatively, the memory 52 may be separate or integrated with the processor 51.
Optionally, when the memory 52 is a device independent from the processor 51, the drone card 50 may further include:
bus 55, memory 52 and communication interface 53 are coupled to processor 51 via bus 55 and communicate with each other, and communication interface 53 is used to communicate with other devices.
Alternatively, the communication interface 53 may be implemented specifically by a transceiver. The communication interface is used to enable communication between the database access apparatus and other devices (e.g., clients, read-write libraries, and read-only libraries). The memory may comprise random access memory (random access memory, RAM) and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
Bus 55 may be a peripheral component interconnect standard (peripheral component interconnect, PCI) bus or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.
The processor may be a general-purpose processor, including a Central Processing Unit (CPU), a network processor (network processor, NP), etc.; but may also be a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.
The unmanned integrated card is used for executing the technical scheme in any one of the method embodiments, and the implementation principle and the technical effect are similar, and are not repeated here.
The embodiment of the application also provides a readable storage medium, on which a computer program is stored, which when executed by a processor implements the technical solution provided by any of the foregoing method embodiments.
The embodiments of the present application also provide a computer program product, which includes a computer program, where the computer program is used to implement the technical solution provided by any of the foregoing method embodiments when executed by a processor.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features can be replaced equivalently; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (6)
1. The unmanned integrated card control method is characterized by comprising the following steps:
receiving a job instruction sent by a wharf operating system, wherein the job instruction comprises a target stacker identifier;
according to the operation instruction, controlling the unmanned integrated card to run to a container loading and unloading area, and acquiring environmental laser radar point cloud data acquired by the unmanned integrated card;
sequentially identifying the to-be-matched identifications corresponding to the plurality of stacking machines in the loading and unloading area according to the environmental laser radar point cloud data;
until the target stacking machine with the identification identical to the target stacking machine identification to be matched is determined, determining a target parking position of the unmanned set card according to the current position of the target stacking machine;
controlling the unmanned integrated card to travel to the target parking position;
wherein, the preset side face of each stacking machine in the loading and unloading area is provided with an identification mark; the boundary of the identification mark is formed by a reflective strip; according to the environmental laser radar point cloud data, the identification to be matched corresponding to the plurality of stacking machines in the loading and unloading area is sequentially identified, and the identification to be matched comprises the following steps: performing obstacle recognition according to the environmental laser radar point cloud data to obtain a recognition result and determining laser radar point cloud data corresponding to the stacker;
determining the posture of the stacker according to the identification result;
determining laser radar point cloud data of a preset side face from the laser radar point cloud data corresponding to the stacker according to the posture of the stacker;
determining laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data of the preset side according to a preset reflectivity threshold;
and determining the identification to be matched corresponding to the stacker according to the laser radar point cloud data corresponding to the identification mark.
2. The method according to claim 1, wherein the identification mark is internally provided with a light reflecting strip and a low light reflecting background strip which are vertically arranged according to a Hamming code formed by the identification mark to be matched, and the widths of the light reflecting strip and the low light reflecting background strip are the same; the step of determining the identification to be matched corresponding to the stacker according to the laser radar point cloud data corresponding to the identification mark comprises the following steps:
grouping laser radar point cloud data corresponding to the identification mark according to the width of the reflective strip;
for each group of laser radar point cloud data, determining a corresponding binary number according to a preset reflectivity threshold;
generating a Hamming code according to the binary number corresponding to each group of laser radar point cloud data;
and determining the identification to be matched according to the Hamming code.
3. The utility model provides a controlling means of unmanned collection card which characterized in that includes:
the receiving module is used for receiving a job instruction sent by the wharf operating system, wherein the job instruction comprises a target stacker identifier;
the driving module is used for controlling the unmanned collection card to run to the container loading and unloading area according to the operation instruction;
the acquisition module is used for acquiring the environmental laser radar point cloud data acquired by the unmanned set card;
a processing module for:
sequentially identifying the to-be-matched identifications corresponding to the plurality of stacking machines in the loading and unloading area according to the environmental laser radar point cloud data;
until the target stacking machine with the identification identical to the target stacking machine identification to be matched is determined, determining a target parking position of the unmanned set card according to the current position of the target stacking machine;
the driving module is also used for controlling the unmanned integrated card to travel to the target parking position;
the preset side face of each stacking machine is provided with an identification mark; the boundary of the identification mark is formed by a reflective strip; the processing module is specifically configured to:
performing obstacle recognition according to the environmental laser radar point cloud data to obtain a recognition result and determining laser radar point cloud data corresponding to the stacker;
determining the posture of the stacker according to the identification result;
determining laser radar point cloud data of the preset side face from the laser radar point cloud data corresponding to the stacker according to the posture of the stacker;
determining laser radar point cloud data corresponding to the identification mark from the laser radar point cloud data of the preset side according to a preset reflectivity threshold;
and determining the identification to be matched corresponding to the stacker according to the laser radar point cloud data corresponding to the identification mark.
4. A device according to claim 3, wherein the identification mark is internally provided with a light reflecting strip and a low light reflecting background strip which are vertically arranged according to a Hamming code formed by the identification mark to be matched, and the widths of the light reflecting strip and the low light reflecting background strip are the same; the processing module is specifically further configured to:
grouping laser radar point cloud data corresponding to the identification mark according to the width of the reflective strip;
for each group of laser radar point cloud data, determining a corresponding binary number according to a preset reflectivity threshold;
generating a Hamming code according to the binary number corresponding to each group of laser radar point cloud data;
and determining the identification to be matched according to the Hamming code.
5. An unmanned header card, comprising:
the system comprises a processor, a memory, a communication interface and a laser radar;
the memory is used for storing executable instructions of the processor;
wherein the processor is configured to execute the control method of the drone card of any one of claims 1 to 2 via execution of the executable instructions.
6. A readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the method of controlling an unmanned set card according to any of claims 1 to 2.
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| JP4523426B2 (en) * | 2005-01-13 | 2010-08-11 | 三井造船株式会社 | Crane management system |
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| CN110239967B (en) * | 2019-07-01 | 2023-08-18 | 上海海丰智能科技有限公司 | Automatic change container yard |
| CN111115300B (en) * | 2020-03-31 | 2020-06-30 | 上海驭矩信息科技有限公司 | Automatic container loading and unloading device and method |
| CN113837624A (en) * | 2021-09-27 | 2021-12-24 | 北京斯年智驾科技有限公司 | Port scheduling method and information control center equipment |
| CN115564346A (en) * | 2022-09-30 | 2023-01-03 | 东风商用车有限公司 | Container shipment method, device and equipment for unmanned container truck and readable storage medium |
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| WO2021179983A1 (en) * | 2020-03-09 | 2021-09-16 | 长沙智能驾驶研究院有限公司 | Three-dimensional laser-based container truck anti-hoisting detection method and apparatus, and computer device |
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