基于随动式激光雷达的港区无人驾驶集卡控制算法研究  

Research on control algorithm of unmanned container truck in port area based on follow-up lidar

作　　者：张翰林[1] 李紫丹 徐佳 ZHANG Han-lin;LI Zi-dan;XU Jia(Tianjin Research Institute for Water Transport Engineering,M.O.T.,Tianjin 300456,China;Tianjin Port International Logistics Development Co.Ltd.,Tianjin 300461,China;Tianjin Jingang Infrastructure Maintenance and Operation Engineering Management Co.Ltd.,Tianjin 300456,China)

机构地区：[1]交通运输部天津水运工程科学研究所,天津300456 [2]天津港国际物流发展有限公司,天津300461 [3]天津津港基础设施养护运营工程管理有限公司,天津300456

出　　处：《水道港口》2022年第6期826-832,共7页Journal of Waterway and Harbor

基　　金：中央级公益性科研院所科研创新基金项目(TKS20210301)。

摘　　要：我国已有多个港口建设了无人化港区,实现了车辆的自主调动。无人化港口建设的主流技术是以提前埋设磁钉或磁条作为车辆的导航感应系统,这种方式定位精度高且技术相对成熟,但适用于新建港口且成本相对较高,而对于生产作业繁忙的老旧港口并不适用。传统港口一般使用集装箱卡车作为船侧与岸侧之间的转运交通工具。文章设计了将随动式激光雷达应用于港口无人驾驶集卡上,通过分析车辆运行规律,确定该方案的可行性。针对此类集卡提出了优化调度算法,结合实际数据进行对比,在实现安全生产的同时,进一步降低设备成本,实现高效的运营效率,为智慧港口建设港区车辆调度提供了一种新的解决方法。Currently, the unmanned port area has been constructed in a number of China′s ports, making it possible for vehicles to be operated freely and independently. The practice of burying magnetic nails or magnetic strips in advance as the vehicle navigation system is the predominant technique utilized in the building of unmanned ports at the present time. This technique has a high degree of positional precision. However, the cost of utilizing this technology for the development of new ports is rather expensive, and it cannot be utilized for the creation of congested older ports. Container trucks are typically used for both ship-side and shore-side transfer at conventional ports. In this paper, the application of follow-up lidar for an autonomous container truck that will operate in a port has been developed. Analyzing the vehicle operating law was the first step in determining the feasibility of this method. In order to realize efficient operation efficiency and provide a new solution for vehicle scheduling in the port area of smart port construction, an optimal scheduling algorithm has been proposed for this container truck. The algorithm combined with actual data is able to further reduce equipment costs while simultaneously achieving safe production.

关 键 词：无人驾驶集卡 随动式激光雷达 传统码头改造 智慧港口 

分 类 号：U651[交通运输工程—港口、海岸及近海工程]