A control device and method based on electronic guide plate

Abstract

The present invention provides a control device and method based on an electronic guide plate, comprising: a first acquisition device, a second acquisition device and a PLC, wherein the first acquisition device and the second acquisition device are arranged in the electronic guide plate; the first acquisition device and the second acquisition device are respectively connected to the PLC; the first acquisition device is used to acquire first point cloud data; the second acquisition device is used to acquire second point cloud data; the PLC is used to obtain first posture data according to the first point cloud data, and to obtain second posture data according to the second point cloud data, to verify the first posture data and / or the second posture data, and to control the lifting or lowering of the hoist according to the verification result; wherein the first acquisition device comprises a point laser rangefinder or a camera, and the second acquisition device comprises a line laser rangefinder, which can accurately detect deviations and can be verified with high reliability.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology, and in particular to a control device and method based on an electronic guide plate. Background Art

[0002] In order to realize the automation and unmanned operation of the terminal yard, the deviation detection and real-time identification of the spreader posture in the yard is particularly important. In the traditional method, mechanical guides are used in the process of aligning boxes. When the mechanical guides are not empty, it is difficult to achieve automatic alignment of the boxes. Manual alignment is required, and the mechanical guides cannot realize the deviation detection function. There are problems such as large impact, high safety risks, and inability to identify deviations and make precise adjustments.

[0003] In order to solve the defects of mechanical guides, the deviation detection is currently mainly carried out through LPS (detection of the attitude angle of the spreader) and TPS (detection of the deviation between the spreader and the target container). The laser structured light source method and the scanner method are usually used in the above detection process. When the automated yard is automatically picking up and releasing containers, it is impossible to quickly and in real time detect the deviation between the spreader and the container, and it is impossible to perform mutual verification, and the reliability is poor.

[0004] In summary, the above method cannot accurately detect deviations or perform redundancy checks, and has poor effectiveness and reliability. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a control device and method based on an electronic guide plate, which can accurately detect deviations and perform verification with high reliability.

[0006] In a first aspect, an embodiment of the present invention provides a control device based on an electronic guide plate, comprising: a first acquisition device, a second acquisition device and a programmable logic controller PLC, wherein the first acquisition device and the second acquisition device are arranged in the electronic guide plate;

[0007] The first acquisition device and the second acquisition device are connected to the PLC respectively;

[0008] The first acquisition device is used to acquire first point cloud data;

[0009] The second acquisition device is used to acquire second point cloud data;

[0010] The PLC is used to obtain first posture data according to the first point cloud data, and obtain second posture data according to the second point cloud data, verify the first posture data and / or the second posture data, and control the lifting or lowering of the hoist according to the verification result;

[0011] Wherein, the first acquisition device includes a point laser rangefinder or a camera, and the second acquisition device includes a line laser rangefinder.

[0012] Furthermore, the point laser rangefinder or the camera is used to collect the first point cloud data;

[0013] The line laser rangefinder is used to collect the second point cloud data.

[0014] Furthermore, the PLC is used to filter the first point cloud data and the second point cloud data to obtain point cloud data that meets preset capture and release conditions; wherein the point cloud data that meets the preset capture and release conditions is the actual distance measured by the point laser or the actual distance measured by the line laser; the actual distance is compared with the first preset distance to obtain the deviation distance; when the deviation distance is less than or equal to the second preset distance, the point laser rangefinder is used to detect and confirm, and the distance deviation in the vertical downward direction is collected; when the deviation distance is greater than the second preset distance, the line laser rangefinder is used to detect and confirm, and the distance deviation in the horizontal direction is collected.

[0015] Further, an angle sensor is also included;

[0016] The angle sensor is used to collect the rotation angle;

[0017] The PLC is used to obtain the first posture data according to the distance deviation in the vertical downward direction collected by the point laser rangefinder, or to obtain the second posture data according to the distance deviation in the horizontal direction and the rotation angle collected by the line laser rangefinder.

[0018] Furthermore, the PLC is used to select posture data that meets the preset grasping and releasing conditions from the first posture data, or to select posture data that meets the preset grasping and releasing conditions from the second posture data, and to control the lifting or lowering of the hoist according to the posture data selected from the first posture data or the posture data selected from the second posture data.

[0019] Furthermore, the PLC is used to determine whether the first posture data and the second posture data are consistent, and if they are consistent, control the hoist to rise or fall.

[0020] Furthermore, the angle deviation between the working plane of the line laser rangefinder and the working plane of the point laser rangefinder is within a first threshold range, and the angle deviation between the scanning plane of the line laser rangefinder and the line beam of the point laser rangefinder is within the first threshold range.

[0021] Furthermore, an angular deviation between a working plane of the line laser rangefinder and a projection plane of the camera is within a second threshold range.

[0022] In a second aspect, an embodiment of the present invention provides a control method based on an electronic guide plate, which is applied to the control device based on the electronic guide plate as described above, and the method includes:

[0023] Collecting first point cloud data and second point cloud data;

[0024] Obtaining first posture data according to the first point cloud data, and obtaining second posture data according to the second point cloud data;

[0025] The first posture data and / or the second posture data are verified, and the lifting or lowering of the spreader is controlled according to the verification result.

[0026] In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor implements the method described above when executing the computer program.

[0027] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having a non-volatile program code executable by a processor, wherein the program code enables the processor to execute the method as described above.

[0028] The embodiment of the present invention provides a control device and method based on an electronic guide plate, comprising: a first acquisition device, a second acquisition device and a PLC, wherein the first acquisition device and the second acquisition device are arranged in the electronic guide plate; the first acquisition device and the second acquisition device are respectively connected to the PLC; the first acquisition device is used to acquire first point cloud data; the second acquisition device is used to acquire second point cloud data; the PLC is used to obtain first posture data according to the first point cloud data, and to obtain second posture data according to the second point cloud data, to verify the first posture data and / or the second posture data, and to control the lifting or lowering of the hoist according to the verification result; wherein the first acquisition device includes a point laser rangefinder or a camera, and the second acquisition device includes a line laser rangefinder, which can accurately detect deviations and can perform verification with high reliability.

[0029] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic diagram of a control device based on an electronic guide plate provided in Embodiment 1 of the present invention;

[0033] Figure 2 A schematic diagram of another control device based on an electronic guide plate provided in Embodiment 1 of the present invention;

[0034] Figure 3 A schematic diagram of another control device based on an electronic guide plate provided in Embodiment 1 of the present invention;

[0035] Figure 4 A schematic diagram of the internal structure of an electron guide plate provided in Embodiment 1 of the present invention;

[0036] Figure 5 A schematic diagram of the internal structure of another electron guide plate provided in the first embodiment of the present invention;

[0037] Figure 6 A schematic diagram of an electronic guide plate installed on an RTG provided in Embodiment 1 of the present invention;

[0038] Figure 7 A flow chart of a control method based on an electronic guide plate provided in Embodiment 2 of the present invention.

[0039] icon:

[0040] 1-first acquisition device; 2-second acquisition device; 3-PLC; 11-point laser rangefinder; 12-line laser rangefinder; 13-camera; 4-trolley; 5-hanging device; 6-electronic guide plate; 7-trolley. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] To facilitate understanding of this embodiment, the embodiment of the present invention is described in detail below.

[0043] Embodiment 1:

[0044] Figure 1 A schematic diagram of a control device based on an electronic guide plate provided in Embodiment 1 of the present invention.

[0045] Reference Figure 1 , the device includes: a first acquisition device 1, a second acquisition device 2 and a PLC (Programmable Logic Controller) 3, the first acquisition device 1 and the second acquisition device 2 are arranged in the electronic guide plate; the electronic guide plate is a metal plate with a thickness of not less than 5mm and has anti-loosening measures. The appearance structure of the electronic guide plate adopts a closed or semi-closed box structure, the width can be about 10mm, the length can be about 30mm, the height can be about 20mm, and one side of the box body is set as a scanning port. Among them, the electronic guide plate can be adjusted by about ±5cm in distance or about ±5° in angle according to different working conditions;

[0046] The first acquisition device 1 and the second acquisition device 2 are respectively connected to the PLC 3;

[0047] A first acquisition device 1, used for acquiring first point cloud data;

[0048] A second acquisition device 2, used for acquiring second point cloud data;

[0049] PLC3 is used to obtain first posture data according to the first point cloud data, and obtain second posture data according to the second point cloud data, verify the first posture data and / or the second posture data, and control the lifting or lowering of the spreader according to the verification result;

[0050] The first acquisition device 1 includes a point laser rangefinder or a camera, and the second acquisition device 2 includes a line laser rangefinder.

[0051] Specifically, refer to Figure 2 The first acquisition device 1 includes a point laser rangefinder 11, and the second acquisition device 2 includes a line laser rangefinder 12. The point laser rangefinder 11 and the line laser rangefinder 12 are respectively connected to the PLC3.

[0052] Further, the point laser rangefinder 11 or the camera 13 is used to collect the first point cloud data;

[0053] The line laser rangefinder 12 is used to collect the second point cloud data.

[0054] Further, PLC3 is used to filter the first point cloud data and the second point cloud data to obtain point cloud data that meets the preset pick-up and release conditions; wherein the point cloud data that meets the preset pick-up and release conditions is the actual distance measured by the point laser or the actual distance measured by the line laser;

[0055] Specifically, the point laser rangefinder 11 collects the first point cloud data, the line laser rangefinder 12 collects the second point cloud data, the point laser rangefinder 11 sends the first point cloud data to PLC3, and the line laser rangefinder 12 sends the second point cloud data to PLC3. PLC3 filters the first point cloud data and the second point cloud data, that is, filters the point cloud data that does not meet the preset capture and release conditions, and obtains the point cloud data that meets the preset capture and release conditions. The point cloud data that meets the preset capture and release conditions is the actual distance measured by the point laser or the actual distance measured by the line laser, wherein the actual distance measured by the point laser includes the distance from the point laser to the container, the distance from the point laser to the ground, and the distance from the point laser to the ground and the edge of the container. The actual distance measured by the line laser includes the distance from the line laser to the container, the distance from the line laser to the ground, and the distance from the line laser to the ground and the edge of the container.

[0056] The actual distance is compared with the first preset distance to obtain the deviation distance; when the deviation distance is less than or equal to the second preset distance, the point laser rangefinder 11 is used to detect and confirm, and the distance deviation in the vertical downward direction is collected; when the deviation distance is greater than the second preset distance, the line laser rangefinder 12 is used to detect and confirm, and the distance deviation in the horizontal direction is collected.

[0057] Specifically, the second preset distance includes but is not limited to 3.5 cm. When the deviation distance is less than or equal to the second preset distance, the point laser rangefinder 11 performs detection and confirmation, and collects the distance deviation in the vertical downward direction; when the deviation distance is greater than the second preset distance, the line laser rangefinder 12 performs detection and confirmation, and collects the distance deviation in the horizontal direction. In this embodiment, by combining the point laser rangefinder 11 and the line laser rangefinder 12, it is possible to perform verification when the deviation distance is in different ranges, improve the reliability of the electronic guide plate, and accurately detect the deviation.

[0058] Further, an angle sensor is also included;

[0059] An angle sensor is used to collect the rotation angle, wherein the angle sensor is connected to the PLC;

[0060] PLC3 is used to obtain first posture data according to the distance deviation in the vertical downward direction collected by the point laser rangefinder 11, or to obtain second posture data according to the distance deviation and rotation angle in the horizontal direction collected by the line laser rangefinder 12.

[0061] Furthermore, PLC3 is used to select posture data that meets preset grasping and releasing conditions from the first posture data, or to select posture data that meets preset grasping and releasing conditions from the second posture data, and to control the lifting or lowering of the hoist according to the posture data selected from the first posture data or the posture data selected from the second posture data.

[0062] Furthermore, PLC3 is used to determine whether the first posture data and the second posture data are consistent. If they are consistent, the PLC3 controls the lifting device to rise or fall.

[0063] Specifically, refer to Figure 3 The camera 13 collects the first point cloud data, the line laser rangefinder 12 collects the second point cloud data, the PLC3 obtains the first posture data according to the first point cloud data, obtains the second posture data according to the second point cloud data, and determines whether the first posture data obtained by the camera 13 collecting the first point cloud data is consistent with the second posture data obtained by the line laser rangefinder 12 collecting the second point cloud data, so as to perform mutual verification, thereby improving reliability. When the first posture data is consistent with the second posture data, the spreader is controlled to rise or fall.

[0064] Further, see Figure 4 The angle deviation between the working plane of the line laser rangefinder and the working plane of the point laser rangefinder is within the first threshold range, and the angle deviation between the scanning surface of the line laser rangefinder and the line beam of the point laser rangefinder is within the first threshold range.

[0065] Here, when the line laser rangefinder is combined with the point laser rangefinder, both the point laser rangefinder and the line laser rangefinder are arranged in the electronic guide plate, and the distance between them can be about 30 mm. The first threshold range can be about ±10°.

[0066] Further, see Figure 5 , the angle deviation between the working plane of the line laser rangefinder and the projection plane of the camera is within the second threshold range.

[0067] Here, when the line laser rangefinder is combined with the camera, the line laser rangefinder and the camera are both arranged in the electronic guide plate, wherein the distance between the line laser rangefinder and the camera is about 30 mm, and the field of view collected by the camera needs to cover the box corner of the target box. The second threshold range can be about ±5°.

[0068] Reference Figure 6 The electronic guide plate 6 is arranged on the sling 5, and the sling 5 is connected to the trolley 4 through a connecting line, and the sling 5 is driven to move left and right by the sliding of the trolley 4. The trolley 4 is arranged on the cart 7, and the cart 7 can rotate in multiple directions through the universal wheels.

[0069] Embodiment 2:

[0070] Figure 7 A flow chart of a control method based on an electronic guide plate provided in an embodiment of the present invention.

[0071] Reference Figure 7, applied to a control device based on an electronic guide plate as described above, the method comprises the following steps:

[0072] Step S1, collecting first point cloud data and second point cloud data;

[0073] Step S2, obtaining first posture data according to the first point cloud data, and obtaining second posture data according to the second point cloud data;

[0074] Step S3, verifying the first posture data and / or the second posture data, and controlling the lifting or lowering of the spreader according to the verification result.

[0075] The embodiment of the present invention provides a control device and method based on an electronic guide plate, comprising: a first acquisition device, a second acquisition device and a PLC, wherein the first acquisition device and the second acquisition device are arranged in the electronic guide plate; the first acquisition device and the second acquisition device are respectively connected to the PLC; the first acquisition device is used to acquire first point cloud data; the second acquisition device is used to acquire second point cloud data; the PLC is used to obtain first posture data according to the first point cloud data, and to obtain second posture data according to the second point cloud data, to verify the first posture data and / or the second posture data, and to control the lifting or lowering of the hoist according to the verification result; wherein the first acquisition device includes a point laser rangefinder or a camera, and the second acquisition device includes a line laser rangefinder, which can accurately detect deviations and can perform verification with high reliability.

[0076] An embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a control method based on an electronic guide plate provided in the above embodiment are implemented.

[0077] An embodiment of the present invention further provides a computer-readable medium having a non-volatile program code executable by a processor, wherein a computer program is stored on the computer-readable medium, and when the computer program is executed by the processor, the steps of a control method based on an electronic guide plate of the above embodiment are executed.

[0078] The computer program product provided in the embodiment of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment and will not be repeated here.

[0079] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0080] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0081] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0082] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0083] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A control device based on an electronic guide plate, characterized in that: include: A first acquisition device, a second acquisition device and a programmable logic controller PLC, wherein the first acquisition device and the second acquisition device are arranged in the electronic guide plate; The first acquisition device and the second acquisition device are connected to the PLC respectively; The first acquisition device is used to acquire first point cloud data; The second acquisition device is used to acquire second point cloud data; The PLC is used to filter the first point cloud data and the second point cloud data to obtain point cloud data that meets the preset pick-and-release conditions; wherein the point cloud data that meets the preset pick-and-release conditions is an actual distance measured by a point laser or an actual distance measured by a line laser, and first posture data is obtained according to the first point cloud data, and second posture data is obtained according to the second point cloud data; Verifying the first posture data and / or the second posture data, and controlling the lifting or lowering of the spreader according to the verification result; Wherein, the first acquisition device includes a point laser rangefinder or a camera, and the second acquisition device includes a line laser rangefinder; The PLC compares the actual distance with the first preset distance to obtain a deviation distance; when the deviation distance is less than or equal to the second preset distance, the point laser rangefinder collects the distance deviation in the vertical downward direction; when the deviation distance is greater than the second preset distance, the line laser rangefinder collects the distance deviation in the horizontal direction; The PLC is used to determine whether the first posture data and the second posture data are consistent, and if they are consistent, control the hoist to rise or fall; The angle deviation between the working plane of the line laser rangefinder and the working plane of the point laser rangefinder is within a first threshold range, and the angle deviation between the scanning plane of the line laser rangefinder and the line beam of the point laser rangefinder is within the first threshold range.

2. A control device based on an electronic guide plate according to claim 1, characterized in that: Also included is an angle sensor; The angle sensor is used to collect the rotation angle; The PLC is used to obtain the first posture data according to the distance deviation in the vertical downward direction collected by the point laser rangefinder, or to obtain the second posture data according to the distance deviation in the horizontal direction and the rotation angle collected by the line laser rangefinder.

3. A control device based on an electronic guide plate according to claim 2, characterized in that: The PLC is used to select posture data that meets the preset grasping and releasing conditions from the first posture data, or to select posture data that meets the preset grasping and releasing conditions from the second posture data, and to control the lifting or lowering of the hoist according to the posture data selected from the first posture data or the posture data selected from the second posture data.

4. A control device based on an electronic guide plate according to claim 1, characterized in that: An angular deviation between a working plane of the line laser rangefinder and a projection plane of the camera is within a second threshold range.

5. A control method based on an electronic guide plate, characterized in that: A control device based on an electronic guide plate as claimed in any one of claims 1 to 4, the method comprising: Collecting first point cloud data and second point cloud data; Obtaining first posture data according to the first point cloud data, and obtaining second posture data according to the second point cloud data; The first posture data and / or the second posture data are verified, and the lifting or lowering of the spreader is controlled according to the verification result.

6. An electronic device comprising a memory and a processor, wherein the memory stores a computer program that can be run on the processor, wherein: When the processor executes the computer program, the method according to claim 5 is implemented.

7. A computer-readable medium having a non-volatile program code executable by a processor, characterized in that: The program code causes the processor to execute the method of claim 5 .

Images