阅读说明：本技术 定位装置及港口自动化设备 (Positioning device and harbor automatic equipment ) 是由 金晶 李江涛 于 2019-08-29 设计创作，主要内容包括：本发明涉及移动设备定位技术领域,特别涉及一种定位装置及港口自动化设备。定位装置包括用于安装在移动设备上的检测组件和用于固定在移动设备的行驶路径上的定位件；检测组件包括激光雷达和控制器；激光雷达用于对周围的物体进行激光扫描,获取到当前扫描范围内的物体激光信息；控制器用于根据物体激光信息筛选识别出预设的定位件对应的目标物激光信息；根据目标物激光信息确定移动设备的当前位置。本发明提供的定位装置定位过程简单,计算量小,无需对其他物体进行轮廓扫描,也就能够避免受到其他物体的干扰,抗干扰能力强,定位精度高。(The present invention relates to positioning of mobile equipment technical field, in particular to a kind of positioning device and harbor automatic equipment.Positioning device includes for installing the locating piece on detection components on the mobile apparatus and the driving path for being fixed on mobile device；Detection components include laser radar and controller；Laser radar is used to carry out laser scanning to the object of surrounding, gets the object laser intelligence within the scope of Current Scan；Controller is used to identify the corresponding object laser intelligence of preset locating piece according to the screening of object laser intelligence；The current location of mobile device is determined according to object laser intelligence.Positioning device position fixing process provided by the invention is simple, and calculation amount is small, without carrying out profile scan to other objects, also just can be avoided the interference by other objects, strong antijamming capability, positioning accuracy height.)

1. a kind of positioning device characterized by comprising for installing detection components on the mobile apparatus and for being fixed on Locating piece on the driving path of mobile device；

The detection components include laser radar and controller；

The laser radar is used to carry out laser scanning to the object of surrounding, gets the object laser letter within the scope of Current Scan Breath；The controller is used to identify that the corresponding object laser of preset locating piece is believed according to object laser intelligence screening Breath；The current location of mobile device is determined according to the object laser intelligence.

2. positioning device according to claim 1, which is characterized in that the object laser intelligence includes locating piece classification With with the one-to-one laser identification information of the locating piece classification.

3. positioning device according to claim 2, which is characterized in that the locating piece is multiple, multiple locating pieces It is arranged along the driving direction interval of mobile device；Laser identification information corresponding to multiple locating pieces is different.

4. positioning device according to claim 3, which is characterized in that the locating piece includes reflecting plate and is arranged described The form of through-hole on reflecting plate, multiple through-holes is different；The laser identification information includes corresponding to reflecting plate Reflecting plate laser identification information.

5. positioning device according to claim 4, which is characterized in that the through-hole is arranged in long rectangular strip；Each institute Stating locating piece includes multiple through-holes, and multiple through-holes form a sets of vias, and the width of multiple through-holes is respectively not Identical, the interval between the two neighboring through-hole is different, and multiple sets of vias are different.

6. positioning device according to claim 3, which is characterized in that the locating piece includes that locating piece ontology and setting exist Reflecting part on locating piece ontology, the reflecting rate of the reflecting part are different from the reflecting rate of the locating piece ontology；The laser Identification information includes reflecting part laser identification information corresponding to reflecting part.

7. positioning device according to claim 6, which is characterized in that the reflecting rate of the reflecting part is higher than the locating piece The reflecting rate of ontology.

8. positioning device according to claim 7, which is characterized in that the reflecting part includes multiple rectangular reflection items, more The width of a reflection bar is different, and the interval of the two neighboring reflection bar is different.

9. positioning device according to claim 8, which is characterized in that the reflection bar is reflective sheeting.

10. a kind of harbor automatic equipment, which is characterized in that including mobile device, for the driving path of mobile device traveling And positioning device as claimed in any one of claims 1-9 wherein, the detection components in the positioning device are arranged in the shifting In dynamic equipment, the locating piece is fixed on the driving path.

Technical field

The present invention relates to positioning of mobile equipment technical field, in particular to a kind of positioning device and harbor automatic equipment.

Background technique

Harbor automatic becomes a kind of development trend, and harbor automatic can greatly improve conevying efficiency, reduce artificial labor Power.Harbor automatic includes road driving of the mobile device along setting, this just needs to be equipped with positioning device to mobile device, What is generallyd use is to determine relative profile by laser radar scanning surrounding objects to realize positioning, this positioning device is swept It is big compared with long overall calculation amount to retouch the time.

Summary of the invention

The purpose of the present invention is to provide a kind of positioning device and harbor automatic equipment, in the prior art fixed to solve The big technical problem of position device sweep time longer overall calculation amount.

The present invention provides a kind of positioning device, comprising: for installing detection components on the mobile apparatus and for fixing Locating piece on the driving path of mobile device；The detection components include laser radar and controller；The laser radar Laser scanning is carried out for the object to surrounding, gets the object laser intelligence within the scope of Current Scan；The controller is used The corresponding object laser intelligence of preset locating piece is identified in screening according to the object laser intelligence；According to the target Object laser intelligence determines the current location of mobile device.

Further, the object laser intelligence includes locating piece classification and one-to-one with the locating piece classification Laser identification information.

Further, the locating piece is multiple, and multiple locating pieces are arranged along the driving direction interval of mobile device； Laser identification information corresponding to multiple locating pieces is different.

Further, the locating piece includes reflecting plate and the through-hole that is arranged on the reflecting plate, multiple through-holes Form it is different；The laser identification information includes reflecting plate laser identification information corresponding to reflecting plate.

Further, the through-hole is arranged in long rectangular strip；Each locating piece includes multiple through-holes, multiple The through-hole forms a sets of vias, and the width of multiple through-holes is different, between the two neighboring through-hole between Every different, and multiple sets of vias are different.

Further, the locating piece includes locating piece ontology and the reflecting part that is arranged on locating piece ontology, described anti- The reflecting rate for penetrating portion is different from the reflecting rate of the locating piece ontology；The laser identification information includes anti-corresponding to reflecting part Penetrate portion's laser identification information.

Further, the reflecting rate of the reflecting part is higher than the reflecting rate of the locating piece ontology.

Further, the reflecting part includes multiple rectangular reflection items, and the width of multiple reflection bars is different, and The interval of the two neighboring reflection bar is different.

Further, the reflection bar is reflective sheeting.

The present invention provides a kind of harbor automatic equipment, including mobile device, for the driving path of mobile device traveling And above-mentioned positioning device, the detection components setting in the positioning device on the mobile device, fix by the locating piece At the edge of the driving path.

Positioning device provided by the invention have it is following the utility model has the advantages that

The present invention provides a kind of positioning device, including for installing detection components on the mobile apparatus and for being fixed on Locating piece on the driving path of mobile device；Detection components include laser radar and controller；Laser radar is used for surrounding Object carry out laser scanning, get the object laser intelligence within the scope of Current Scan；Controller is used for according to object laser Information sifting identifies the corresponding object laser intelligence of preset locating piece；Mobile device is determined according to object laser intelligence Current location.

Detection components in positioning device provided by the invention are installed in mobile device, locating piece is fixed to movement On the driving path of equipment.Object laser intelligence corresponding with locating piece, object laser letter are stored in controller in advance It ceases after referring to laser radar scanning to locating piece, the receiving end of locating piece reflection laser to laser radar, receiving end is anti-according to this It penetrates laser and generates corresponding signal, which is object laser intelligence.In the process of moving, laser radar is or not mobile device Disconnected scanning surrounding objects, receiving end generates corresponding signal according to the reflection laser received, and all reflection lasers are believed Number it being conveyed to controller, controller once identifies that a certain reflected laser signals are matched with the object laser intelligence prestored, that Just identify that mobile device reaches at locating piece, to position to mobile device.

This position fixing process is simple, without identifying to institute's all objects in mobile device driving process, it is only necessary to screen Whether reflection laser information matches with the object laser intelligence prestored, enormously simplifies calculating process, reduces and calculates Amount also just can be avoided the interference by other objects, strong antijamming capability, positioning accuracy height.

Detailed description of the invention

The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:

Fig. 1 is the structural schematic diagram of positioning device according to an embodiment of the present invention；

Fig. 2 is a kind of structural schematic diagram of locating piece in positioning device shown in FIG. 1；

Fig. 3 is another structural schematic diagram of locating piece in positioning device shown in FIG. 1；

Fig. 4 is another structural schematic diagram of locating piece in positioning device shown in FIG. 1.

In figure: 10- laser scanning end；20- reflects optical receiving end；30- controller；40- locating piece；41- reflection Plate；42- through-hole；43- locating piece ontology；44- reflecting part.

Specific embodiment

It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

As shown in Figure 1, the present invention provides a kind of positioning device, comprising: for installing detection components on the mobile apparatus With the locating piece for being fixed on the driving path of mobile device；Detection components include laser radar and controller；Laser thunder Laser scanning is carried out up to for the object to surrounding, gets the object laser intelligence within the scope of Current Scan；Controller is used for The corresponding object laser intelligence of preset locating piece is identified according to the screening of object laser intelligence；According to object laser intelligence Determine the current location of mobile device.

Specifically, device in the prior art can be used in laser radar.Laser radar includes laser scanning end 10 and reflection Optical receiving end 20, laser scanning end 10 are used for laser scanning surrounding objects, and reflection optical receiving end 20 is used to receive object reflection Laser simultaneously generates corresponding signal, and the signal is conveyed to controller.

Laser radar has certain scanning range, the range can according to laser thunder to concrete model be arranged.

Detection components in positioning device provided in this embodiment are installed in mobile device, locating piece 40 is fixed to On the driving path of mobile device.Object laser intelligence corresponding with locating piece 40 is stored in controller 30 in advance, and Location information of the corresponding locating piece on driving path, after object laser intelligence refers to laser radar scanning to locating piece, Locating piece reflection laser to the receiving end of laser radar, receiving end generates corresponding signal according to the reflection laser, which is For object laser intelligence.In the process of moving, laser radar continually scans for surrounding objects to mobile device, and receiving end is according to reception The reflection laser arrived generates corresponding signal, and all reflected laser signals are conveyed to controller, and controller once identifies A certain reflected laser signals are matched with the object laser intelligence prestored out, then just identifying that mobile device reaches locating piece Place, to be positioned to mobile device.

This position fixing process is simple, without identifying to institute's all objects in mobile device driving process, it is only necessary to screen Whether reflection laser information matches with the object laser intelligence prestored, enormously simplifies calculating process, reduces and calculates Amount also just can be avoided the interference by other objects, strong antijamming capability, positioning accuracy height.

On above-described embodiment basis, further, object laser intelligence includes locating piece classification and and locating piece The one-to-one laser identification information of classification.In the present embodiment, object laser intelligence specifically include locating piece classification and with it is fixed The position one-to-one laser identification information of part classification, the shape of locating piece, of different sizes, then corresponding laser identification information is not Together, it so that the laser identification information an of locating piece be made to be unique, more convenient positioning, is not necessarily to through intermediate computations, it can be straight Connect the position of positioning mobile device.

On above-described embodiment basis, further, locating piece is multiple, traveling of multiple locating pieces along mobile device The setting of direction interval；Laser identification information corresponding to multiple locating pieces is different.

In the present embodiment, the corresponding laser identification information of a locating piece, the corresponding position of a laser identification information Confidence breath, to make the corresponding location information of a locating piece, each locating piece is provided with oneself unique identity.

The one-to-one relationship that multiple locating pieces 40 and multiple location informations can be stored in controller 30 in advance, works as laser When certain positioning piece 40 is arrived in the scanning of scanning end 10, reflection optical receiving end detects reflected light signal and is conveyed to controller 30, controls Device 30 processed is according to the corresponding position signal of the Signal Matching, it will be able to know it is which locating piece 40, also be known that movement The position of equipment.

In the present embodiment, multiple locating pieces 40 can be realized the positioning of multiple positions, to improve the positioning of mobile device Precision constantly can position it in mobile device driving process, be advantageously implemented the automatic running of mobile device.

Wherein, realize that the different structure type of multiple 40 laser identification signals of locating piece can be a variety of.

Such as: as shown in Fig. 2, locating piece 40 be positioning plate, the area of each positioning plate is different, thus make it is each fixed The light quantity of the reflection of position plate is different, and then forms different signals.

Wherein, the shape of positioning plate can be triangle, rectangle, ellipse, operation or combination of various shapes etc..

It is, of course, also possible to which the shape of each positioning plate is different.

For another example: locating piece includes reflecting plate and the through-hole that is arranged on reflecting plate, and the form of multiple through-holes is different；Swash Light identification information includes reflecting plate laser identification information corresponding to reflecting plate, which filters off the laser across through-hole.

In the present embodiment, the form of multiple through-holes 42 is different, then the form of reflecting plate 41 is different.

Specifically, the size of multiple reflecting plates 41 is identical, but the size of multiple through-holes 42 is different or through-hole 42 Shape it is different, thus make reflecting plate 41 residue can reflective surface area size it is different, and then make reflecting plate 41 reflect The model of the formation of light is different.The size specification of this structure, multiple reflecting plates 41 is unified, facilitates processing and manufacturing.

Wherein, the structure type of through-hole 42 can be a variety of, such as: triangle, kidney-shaped, ellipse or circle etc..

Optionally, through-hole 42 is arranged in rectangular slat shape, and compound with regular structure is simple, easy processing.

Alternatively, as shown in figure 3, each locating piece 40 includes multiple through-holes 42, multiple formation of through-hole 42 One sets of vias, and the width of multiple through-holes 42 is different, the interval between two neighboring through-hole 42 is different and multiple The sets of vias of locating piece 40 is different.

An interval is formed in the present embodiment, between two neighboring through-hole 42, the width of multiple through-holes 42 is different, phase Interval between adjacent two through-holes 42 is different, to make multiple intervals be capable of forming bar code, then when laser scanning end 10 When scanning reflecting plate 41, the laser rays of reflection can be identified as binary system positioning signal by reflection optical receiving end 20, to make Controller 30 identifies that this structure, each locating piece 40 corresponding one encodes, thus more convenient positioning to locating piece 40.

For another example: locating piece includes locating piece ontology 43 and the reflecting part 44 that is arranged on locating piece ontology 43, reflecting part 44 Reflecting rate it is different from the reflecting rate of locating piece ontology 43；Laser identification information includes that reflecting part laser corresponding to reflecting part is known Other information.

In the present embodiment, reflecting part 44 is different with the reflecting rate of locating piece ontology 43, by the way that reflecting part 44 is arranged, makes multiple 44 laser identification information of reflecting part is different.

The signal for realizing that the light that multiple reflecting parts 44 reflect is formed is different, and the area of multiple reflecting parts 44 can be set not Together；Equally, the signal for realizing that the light of the second reflecting part 44 reflection is formed is different, and the area of multiple reflecting parts 44 can be set not Together.

Wherein, locating piece ontology 43 is different with the reflecting rate of reflecting part 44, and one in the two can be used strong reflective material Material, another is using one in low reflective material, or both using strong reflective coating, another is using low reflective Coating.

Optionally, the reflecting rate of reflecting part 44 is higher than the reflecting rate of locating piece ontology 43, passes through the reflecting part of high reflecting rate Signal of the laser of reflection as identification locating piece 40, the light of high reflecting rate reflection are easier to be received by reflection optical receiving end 20 Identification, to improve positioning accuracy.

Wherein, the structure type of reflecting part 44 can be a variety of, such as: triangle, kidney-shaped, ellipse or circle etc..

Optionally, reflecting part 44 is arranged in rectangular slat shape, and compound with regular structure is simple, easy processing.

Optionally, as shown in figure 4, reflecting part 44 includes multiple rectangular reflection items, the width of multiple reflection bars is different, And the interval of two neighboring reflection bar is different.

In the present embodiment, the width of multiple reflecting parts 44 is different, and the interval between two neighboring reflecting part 44 is each It is not identical, so that multiple reflecting parts 44 is made enough to form bar code, then when reflecting plate 41 is arrived in the scanning of laser scanning end 10, reflected light The laser rays of reflection can be identified as binary system positioning signal by receiving end 20, so that controller 30 be made to know locating piece 40 Not, this structure, the corresponding coding of each locating piece 40, thus more convenient positioning.

Wherein, reflecting part 44 can be coated in the reflective layer on locating piece 40, and optionally, reflecting part 44 is reflective sheeting, Facilitate installation, is convenient for changing.

The present invention also provides a kind of harbor automatic equipment, including mobile device, for the traveling area of mobile device traveling And above-mentioned positioning device, on the mobile apparatus, locating piece 40 is fixed on traveling area to the detection components setting in positioning device Edge.

In the present embodiment, in the process of moving, laser scanning end 10 constantly launches outward laser to moving device, works as mobile device It reaches near positioning plate, in the Laser emission to locating piece 40 that laser scanning end 10 emits, locating piece 40 can be by laser reflection Extremely, optical receiving end 20 is reflected, optical receiving end 20 is reflected by reflection tube and is converted to electric signal, and the signal is conveyed to controller 30, so that controller 30 be made to judge that mobile device reaches position corresponding with locating piece 40, the letter of this position fixing process according to the signal Single, calculation amount is small, anti-interference without also just can be avoided the interference by other objects to other objects progress profile scan Ability is strong, and positioning accuracy is high.To harbor automatic equipment calculation amount in mobile-device location procedures provided in this embodiment Small, positioning accuracy is high.

The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.

In addition, it will be appreciated by those of skill in the art that although above-mentioned some embodiments include institute in other embodiments Including certain features rather than other feature, but the combination of the feature of different embodiment means in scope of the present application Within and form different embodiments.For example, the one of any of embodiment claimed can be in any combination Mode come using.In addition, the information disclosed in the background technology section is intended only to deepen the general background technology to the application Understanding, and it is known to those skilled in the art to be not construed as recognizing or imply that the information is constituted in any form The prior art.