Unmanned vehicle navigation method for port container horizontal handling

Abstract

The invention relates to a navigation method of an unmanned vehicle for horizontally carrying port containers. The navigation method includes the following steps that initial location information and target location information are obtained; the traveling direction is obtained, wherein location information of a first turning limit point is obtained; according to the traveling direction and the target location information, location information of a second turning limit point is obtained; an unoccupied navigation carriageway is selected; location information of two intersections of the navigation carriageway is obtained, the initial location information is connected with the intersection location which is the nearest to the initial location information to form a first traveling path, the target location information is connected with the intersection location which is the nearest to the target location information to form a second traveling path, and the first traveling path, the navigation carriageway and the second traveling path are connected to form a navigation path. By the adoption of the navigation method of the unmanned vehicle for horizontally carrying the port containers, it can be simple and convenient to obtain an optimal path, conflict is reduced, and the traveling efficiency is ensured.

Description

technical field [0001] The invention relates to the field of navigation, in particular to a navigation method for an unmanned vehicle for horizontally transporting containers in a port. Background technique [0002] In the port environment, it is conventional to manually drive the truck to move the container back and forth, which is inefficient and often leads to waiting in line, resulting in waste of resources; the existing automatic container handling vehicle obtains real-time acquisition through the combination of magnetic nails and inertial navigation Position and posture, so as to reach the target position and reduce human intervention, but in practice, the effect is not very ideal. It often happens that the transport vehicle conflicts with the path of other vehicles in the process of path identification and planning, resulting in sudden emergency stop and damage to the container. The goods are damaged, and at the same time, the route is lost, and the problem of re-plan...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing navigation method is complex and prone to path conflicts, the present invention provides a navigation method for the unmanned vehicle for the horizontal handling of the port container. The working environment of the unmanned vehicle for the horizontal handling of the port container includes a loading area and area, a navigation area is set between the loading area and the unloading area, the navigation area includes a plurality of parallel navigation lines, adjacent navigation lines form a navigation lane, and the port container in the navigation lane The driving direction of the unmanned vehicle for horizontal handling is perpendicular to the driving direction of the unmanned vehicle for horizontal handling of port containers in the loading area, and the driving direction of the unmanned vehicle for horizontal handling of port containers in the unloading area is the same as that in the loading area. The driving directions of the unmanned vehicles for port container horizontal handling are parallel to each other, and the navigation method includes the following steps:

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