A container transport vehicle anti-lifting method, device and crane

Abstract

The present application discloses a method, device and crane for preventing container transport vehicles from being lifted, wherein the method for preventing container transport vehicles from being lifted includes determining the characteristics of the container transport vehicle according to the real-time point cloud of the container transport vehicle; wherein the characteristics of the container transport vehicle include the length of the marker of the container transport vehicle; determining the type of the container transport vehicle according to the characteristics of the container transport vehicle; wherein the types of the container transport vehicle include a first container transport vehicle and a second container transport vehicle; wherein the first container transport vehicle and the second container transport vehicle are vehicles operating outside the yard and inside the yard, respectively; and when the characteristic of the container transport vehicle is the presence of a side guide plate, determining the type of the container transport vehicle as the second container transport vehicle. The present application can solve the problem of false alarm of lifting due to the recognition of the side guide plate on the frame of the inner container transport vehicle.

Description

Technical Field

[0001] The present application relates to the field of port technology, and in particular to a method and device for preventing a container transport vehicle from lifting, and a crane. Background Art

[0002] During the crane unloading operation from the container transport vehicle, the container transport vehicle locking pin is not completely unlocked, and the lifting device lifts the container together with the container transport vehicle or lifts half of it, which will cause an accident of the container transport vehicle. Therefore, setting up a container transport vehicle anti-lifting system in the crane is one of the necessary safety subsystems. However, the terminal yard often has two different types of container transport vehicles mixed, and the frame of the inner container transport vehicle has a side guide plate, which is easily mistaken by the anti-lifting system as the outer container transport vehicle is not unlocked. Therefore, the anti-lifting system is prone to false lock alarms for the inner container transport vehicle, thereby affecting the unloading efficiency. Summary of the invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a container transport vehicle anti-lifting method, device and crane, which can solve the problem of false lifting alarm caused by identifying the side guide plate on the frame of the inner container transport vehicle.

[0004] According to one aspect of the present application, a method for preventing container transport vehicles from being lifted is provided, comprising: determining the characteristics of the container transport vehicle based on a real-time point cloud of the container transport vehicle; wherein the characteristics of the container transport vehicle include the length of a marker of the container transport vehicle; determining the type of the container transport vehicle based on the characteristics of the container transport vehicle; wherein the types of the container transport vehicles include a first container transport vehicle and a second container transport vehicle; wherein the first container transport vehicle and the second container transport vehicle are vehicles operating outside and inside a storage yard, respectively; and when the characteristic of the container transport vehicle is the presence of a side guide plate, determining the type of the container transport vehicle to be the second container transport vehicle.

[0005] In one embodiment, determining the characteristics of the container transport vehicle based on the real-time point cloud of the container transport vehicle includes: clustering the real-time point cloud to obtain multiple point cloud subsets; fitting each of the point cloud subsets to obtain multiple point cloud lengths; and comparing the multiple point cloud lengths with a preset length to determine the characteristics of the container transport vehicle.

[0006] In one embodiment, comparing the lengths of the multiple point clouds with a preset length to determine the characteristics of the container transport vehicle includes: when the difference between the length of each segment of the point cloud and a first preset length is greater than the first preset difference, comparing the lengths of the multiple point clouds with a second preset length to obtain a comparison result; wherein the first preset length is greater than the second preset length; and when the comparison result indicates that the difference between the lengths of the multiple point clouds and the second preset length is less than the second preset difference, determining that the characteristic of the container transport vehicle is the presence of the side guide.

[0007] In one embodiment, comparing the multi-segment point cloud length with a preset length to determine the characteristic of the container transport vehicle includes: when a difference between the point cloud length and the first preset length in the multi-segment point cloud length is less than a first preset difference, determining that the characteristic of the container transport vehicle is the presence of a container length.

[0008] In one embodiment, determining the type of the container transport vehicle according to the characteristics of the container transport vehicle includes: when the characteristic of the container transport vehicle is the presence of the container length, determining the type of the container transport vehicle to be the first container transport vehicle; wherein, after determining the type of the container transport vehicle according to the characteristics of the container transport vehicle, the container transport vehicle anti-lifting method further includes: when the type of the container transport vehicle is the first container transport vehicle, performing lifting determination work normally.

[0009] In one embodiment, comparing the length of the multi-segment point cloud with a preset length to determine the characteristics of the container transport vehicle includes: when the difference between the length of the multi-segment point cloud and a first preset length is greater than the first preset difference, comparing the length of the multi-segment point cloud with a second preset length to obtain a comparison result; when the comparison result indicates that the difference between the length of the multi-segment point cloud and the second preset length is greater than the second preset difference, determining that the point cloud of the container transport vehicle is abnormal.

[0010] In one embodiment, after determining the type of the container transport vehicle according to the characteristics of the container transport vehicle, the container transport vehicle anti-lifting method further includes: when the characteristics of the container transport vehicle indicate that the point cloud of the container transport vehicle is abnormal, stopping the lifting work and issuing a warning signal.

[0011] In one embodiment, clustering the real-time point clouds to obtain multiple point cloud subsets includes: calculating the adjacent distances between adjacent real-time point clouds; when the adjacent distances are less than a preset distance, determining that the adjacent real-time point clouds are continuous point clouds; and dividing the continuous point clouds into the same point cloud subset.

[0012] According to another aspect of the present application, a container transport vehicle anti-lifting device is provided, comprising: a feature determination module, used to determine the features of the container transport vehicle according to the real-time point cloud of the container transport vehicle; wherein the features of the container transport vehicle represent the length of the marker of the container transport vehicle; a type determination module, used to determine the type of the container transport vehicle according to the features of the container transport vehicle; wherein the types of the container transport vehicles include a first container transport vehicle and a second container transport vehicle; wherein the first container transport vehicle and the second container transport vehicle are vehicles operating outside and inside the yard, respectively; and a vehicle determination module, used to determine the type of the container transport vehicle as the second container transport vehicle when the feature of the container transport vehicle is the presence of a side guide plate.

[0013] According to another aspect of the present application, a crane is provided, comprising: a crane body; a scanner, the scanner being mounted on the crane body, the scanner being used to horizontally scan a container transport vehicle and obtain a real-time point cloud of the container transport vehicle; and a container transport vehicle lifting device, the container transport vehicle lifting device being communicatively connected to the scanner, the container transport vehicle lifting device being mounted on the crane body, the container transport vehicle lifting device being used to execute the container transport vehicle anti-lifting method described in any one of the above-mentioned embodiments.

[0014] The container transport vehicle anti-lifting method, device and crane provided in the present application can identify the type of container transport vehicle by the different lengths of the point cloud, thereby preventing false alarms from being generated by detecting situations similar to being locked but not locked, reducing the possibility of false alarms, improving the work efficiency of loading and unloading containers, and improving the safety of loading and unloading containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a structural schematic diagram of a crane provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a flow chart of a method for preventing a container transport vehicle from lifting provided by an exemplary embodiment of the present application.

[0018] Figure 3It is a schematic structural diagram of a side guide plate of a second container transport vehicle provided by an exemplary embodiment of the present application.

[0019] Figure 4 It is a schematic structural diagram of a point cloud of a first container transport vehicle provided by an exemplary embodiment of the present application.

[0020] Figure 5 It is a flow chart of a method for preventing a container transport vehicle from lifting provided by another exemplary embodiment of the present application.

[0021] Figure 6 It is a schematic diagram of the principle of a method for preventing a container transport vehicle from lifting provided by an exemplary embodiment of the present application.

[0022] Figure 7 It is a structural schematic diagram of an anti-lifting device for a container transport vehicle provided by an exemplary embodiment of the present application.

[0023] Figure 8 It is a structural schematic diagram of an anti-lifting device for a container transport vehicle provided by another exemplary embodiment of the present application.

[0024] Fig. 9 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0025] Explanation of the accompanying drawings: 1. Crane body; 2. Scanner; 3. Container transport vehicle; 4. Lifting device of container transport vehicle; 5. Side guide plate; 6. Side guide plate point cloud; 7. Container point cloud. DETAILED DESCRIPTION

[0026] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0027] Example crane

[0028] Figure 1 is a structural schematic diagram of a crane provided by an exemplary embodiment of the present application, such as Figure 1 As shown, the crane includes: a crane body 1; a scanner 2, which is installed on the crane body 1 and is used to horizontally scan a container transport vehicle 3 and obtain a real-time point cloud of the container transport vehicle 3; and a container transport vehicle lifting device 4, which is communicatively connected to the scanner 2 and is installed on the crane body 1, and is used to execute the container transport vehicle anti-lifting method provided in the present application.

[0029] The scanner 2 includes a horizontal scanner 2, which can horizontally scan the point cloud features of the container transport vehicle 3. The features of different container transport vehicles 3 have different lengths when expressed using point clouds. Therefore, by identifying the point cloud features, the features of the container transport vehicle 3 can be obtained, thereby distinguishing the type of the container transport vehicle 3.

[0030] The crane provided in the present application can effectively identify the type of container transport vehicle 3 currently in operation, prevent the container transport vehicle lifting device 4 from generating false alarms, improve the efficiency of unloading containers, and improve the safety of unloading containers.

[0031] Exemplary Methods

[0032] Figure 2 FIG. 1 is a flow chart of a method for preventing a container transport vehicle from lifting provided by an exemplary embodiment of the present application. Figure 2 As shown, the container transport vehicle anti-lifting method includes:

[0033] Step 100: Determine the characteristics of the container transport vehicle according to the real-time point cloud of the container transport vehicle.

[0034] Among them, the characteristics of the container transport vehicle include the length of the marker of the container transport vehicle.

[0035] Scan the container transport vehicle horizontally through a horizontal scanner to obtain the horizontal feature point cloud of the container transport vehicle. There are usually two different types of container transport vehicles mixed in the terminal yard, including the first container transport vehicle and the second container transport vehicle. The second container transport vehicle is usually transported inside the terminal, and the first container transport vehicle will leave the terminal for external transportation. Therefore, the first container transport vehicle is also called the external container transport vehicle, and the second container transport vehicle is also called the internal container transport vehicle. There are structural differences between the second container transport vehicle and the first container transport vehicle. There are multiple side guides on the left and right sides of the second container transport vehicle. The side guide point cloud that appears when the second container transport vehicle is horizontally scanned has the characteristics of uniformity and consistent length, and there is a certain gap between the side guide and the container point cloud. Since the first container transport vehicle has no side guide, the point cloud scanned horizontally should be the feature point cloud of the container. Therefore, the point cloud has the characteristics of a long length and continuous point cloud in this length. The second container transport vehicle is characterized by having multiple side guides, and the first container transport vehicle is characterized by the presence of a point cloud of the length of the container. The side guide of the second container transport vehicle is different from the point cloud length of the first container transport vehicle directly scanning the container. The characteristics of the container transport vehicle can be determined by the length of the point cloud.

[0036] Step 200: Determine the type of the container transport vehicle according to the characteristics of the container transport vehicle.

[0037] Among them, the types of container transport vehicles include a first container transport vehicle and a second container transport vehicle; wherein the first container transport vehicle and the second container transport vehicle are vehicles operating outside the yard and inside the yard respectively.

[0038] There are structural differences between the second container transport vehicle and the first container transport vehicle. The second container transport vehicle is provided with multiple side guides on the left and right sides. The side guide point cloud that appears when the second container transport vehicle is horizontally scanned has the characteristics of uniformity and consistent length, and there is a certain gap between the side guide and the container point cloud. The container point cloud of the first container transport vehicle scanned horizontally has the characteristics of a long length and continuous point cloud within the length. Therefore, the second container transport vehicle is characterized by the presence of multiple side guides, and the first container transport vehicle is characterized by the presence of a point cloud of the length of the container. The side guides of the second container transport vehicle are different from the point cloud length of the first container transport vehicle directly scanning the container, and the characteristics of the container transport vehicle can be determined by the length of the point cloud.

[0039] Step 300: When the characteristic of the container transport vehicle is the presence of a side guide, determining that the type of the container transport vehicle is a second container transport vehicle.

[0040] If there are side guides on the second container transport vehicle, and there is no container locking on the second container transport vehicle, the container on the second container transport vehicle can be directly lifted. Therefore, the first container transport vehicle does not have side guides, and it is necessary to determine whether the container on the first container transport vehicle is locked, so as to determine whether to continue lifting or to prompt to unlock. Therefore, the type of container transport vehicle can be determined by judging whether there are side guides, so as to determine the subsequent workflow. When the type of container transport vehicle is the second container transport vehicle, that is, the point cloud obtained by the horizontal scan is the side guide point cloud, and there is no locking situation. Therefore, the lifting work can continue for the container on the second container transport vehicle without slowing down, stopping and issuing a warning.

[0041] Figure 3 : is a schematic structural diagram of a side guide plate of a second container transport vehicle provided by an exemplary embodiment of the present application, such as Figure 3 As shown, a plurality of side guides 5 are provided on the left and right sides of the second container transport vehicle. After the side guides 5 are scanned, a side guide point cloud 6 is presented. Figure 4 is a schematic diagram of a point cloud structure of a second container transport vehicle provided by an exemplary embodiment of the present application, such as Figure 4 As shown, the side guide point cloud 6 that appears when horizontally scanning the second container transport vehicle has the characteristics of being uniform and having a consistent length, and there is a certain gap between the side guide and the container point cloud 7.

[0042] The container transport vehicle anti-lifting method provided in the present application can identify the type of container transport vehicle by the different lengths of the point cloud, thereby preventing false alarms from being generated by detecting situations similar to being locked but not locked, reducing the possibility of false alarms, improving the work efficiency of loading and unloading containers, and improving the safety of loading and unloading containers.

[0043] Figure 5 FIG. 1 is a flow chart of a method for preventing a container transport vehicle from lifting provided by another exemplary embodiment of the present application. Figure 5 As shown, the above step 100 may include:

[0044] Step 110: Cluster the real-time point cloud to obtain multiple point cloud subsets.

[0045] Considering that the recognition of objects by 2D point clouds is linear, the point clouds obtained are first clustered by searching for adjacent points with a smaller distance, that is, the distance between adjacent points is calculated, and the real-time point cloud is classified by the distance between adjacent points. When the distance between adjacent points is less than the preset distance, they can be classified into the same point cloud subset. When the distance between adjacent points is greater than the preset distance, they can be separated from here, and the next point cloud is recalculated and classified as a new point cloud subset.

[0046] Step 120: Fit each point cloud subset separately to obtain the lengths of multiple point clouds.

[0047] Since the point cloud subsets are all linearized, each point cloud subset is selected for linear fitting, and the length of each subset point cloud is calculated to obtain the length of multiple point cloud segments.

[0048] Step 130: Compare the lengths of the multiple point clouds with a preset length to determine the characteristics of the container transport vehicle.

[0049] The multiple side guides on the left and right sides of the second container transport vehicle have a certain length, and the first container transport vehicle also has a certain length when the container is scanned. Therefore, the point cloud length is compared with the length of the side guide or the length of the container of the first container transport vehicle to determine which container transport vehicle's characteristics the point cloud length reflects.

[0050] For example, a point cloud may include P 1 , P 2 , P 3 , P 4 , P 5 …P N, cluster the point cloud, and after clustering, several different point cloud subsets are obtained: {a1, a2, a3...}, {b1, b2, b3...}, {c1, c2, c3...}, etc. Calculate the length of each point cloud subset {L1, L2, L3,...}, and find out whether there is a value close to the standard container length in the length set, where the error can be taken as ±5cm. The standard container length can refer to 20-foot container: 605.8cm, 40-foot container: 1219.2cm and 45-foot container: 1371.6cm. If there is a value close to the standard container length, it is determined that the feature of the container transport vehicle is the existence of the container length. At this time, the point cloud reflects the entire standard container length, and the container transport vehicle at this time is the first container transport vehicle. If not, then find out whether there are multiple segments (greater than or equal to 3) in the length set that are close to the guide plate length (the guide plate length can be 40cm), and the error between the point cloud length and the guide plate length is taken as an approximate error of ±5cm. If so, then determine that the current point cloud length reflects the guide plate length, and the container transport vehicle at this time is the second container transport vehicle. If the error between the point cloud length and the guide plate length is greater than 5cm, then give a point cloud abnormality judgment.

[0051] In one embodiment, the above step 130 may include: when the difference between the length of each point cloud segment and the first preset length is greater than the first preset difference, comparing the lengths of multiple point clouds and the second preset length to obtain a comparison result; wherein the first preset length is greater than the second preset length; and when the comparison result indicates that the difference between the lengths of multiple point clouds and the second preset length is less than the second preset difference, determining that the characteristic of the container transport vehicle is the presence of a side guide.

[0052] The first preset length may include the standard container length. Find out whether there is a value close to the standard container length in the point cloud length. The first preset difference may be 5 cm. When the error between the point cloud length and the first preset length is outside 5 cm, it can be determined that the point cloud length does not meet the standard container length, that is, the point cloud length at this time does not have a value similar to the standard container length. The point cloud length at this time indicates that the container transport vehicle at this time is not the first container transport vehicle. When it is determined that the point cloud length does not represent the first container transport vehicle, the point cloud length is compared with the second preset length. The second preset difference may be 5 cm. When the error between the point cloud length and the second preset length is within 5 cm, it can be determined that the scanned point cloud at this time represents the side guide. The length of the point cloud is close to the length of the side guide. Therefore, after determining that the point cloud represents the side guide, it can be determined that the type of the container transport vehicle is the second container transport vehicle.

[0053] Among them, the number of point clouds with lengths close to the length of the side guide plate must be greater than a preset number (the preset number can be 3) to determine that the point cloud at this time represents the side guide plate. Setting the preset number can prevent the misjudgment of point cloud features and improve the accuracy of the final type obtained.

[0054] In one embodiment, the step 130 may include: when a difference between a point cloud length in the plurality of point cloud lengths and a first preset length is less than the first preset difference, determining that the feature of the container transport vehicle is that a container length exists.

[0055] The first preset length may include the standard container length. Whether there is a value close to the standard container length in the point cloud length is found. The first preset difference may be 5 cm. When there is a point cloud length whose error with the first preset length is within 5 cm, it can be determined that the characteristic of the container transport vehicle at this time is the existence of the container length, that is, the point cloud scanned at this time reflects that the container transport vehicle at this time is an external container transport vehicle, and the point cloud length at this time is the length of the container scanned for the external container transport vehicle.

[0056] In one embodiment, the above step 200 may include: when the characteristic of the container transport vehicle is the presence of container length, determining that the type of the container transport vehicle is a first container transport vehicle; correspondingly, after the above step 200, the above container transport vehicle anti-lifting method may further include: when the type of the container transport vehicle is the first container transport vehicle, performing the lifting determination work normally.

[0057] When the characteristic of the container transport vehicle is the existence of the container length, it can be determined that the type of the container transport vehicle is the first container transport vehicle. Only when the first container transport vehicle is scanned with a container will the length be close to the standard container length. Therefore, it can be determined that in this case, the type of the scanned container transport vehicle is the first container transport vehicle. When the type of the container transport vehicle is the first container transport vehicle, the lifting determination work of the first container transport vehicle can be continued. The container on the first container transport vehicle may be locked with the container transport vehicle and not unlocked. If the container is continued to be lifted at this time, an accident will occur. Therefore, when the type of the container transport vehicle is identified as the first container transport vehicle, it is necessary to continue the lifting determination work to determine whether the container can be lifted.

[0058] In one embodiment, the above step 130 may include: when the difference between the length of the multi-segment point cloud and the first preset length is greater than the first preset difference, comparing the length of the multi-segment point cloud and the second preset length to obtain a comparison result; when the comparison result indicates that the difference between the length of the multi-segment point cloud and the second preset length is greater than the second preset difference, determining that the point cloud of the container transport vehicle is abnormal.

[0059] The first preset length may include the standard container length. Find out whether there is a value close to the standard container length in the point cloud length. The first preset difference may be 5 cm. When the error between the point cloud length and the first preset length is outside 5 cm, it can be determined that the point cloud length does not meet the standard container length, that is, the point cloud length at this time does not have a value similar to the standard container length. The point cloud length at this time indicates that the container transport vehicle at this time is not the first container transport vehicle.

[0060] When it is determined that the point cloud length does not represent the first container transport vehicle, the point cloud length is compared with the second preset length. The second preset difference can be 5 cm. When the errors between multiple point cloud lengths and the second preset length are outside 5 cm, that is, there is no preset number of point cloud lengths with errors within 5 cm from the second preset length, it can be determined that the point cloud does not reflect the length of the side guide plate. When the point cloud length does not match both preset lengths, it can be determined that an abnormality has occurred in the point cloud and manual intervention is required for inspection.

[0061] In one embodiment, after the above step 200, the above container transport vehicle anti-lifting method may further include: when the characteristics of the container transport vehicle indicate that the point cloud of the container transport vehicle is abnormal, issuing a warning signal.

[0062] When the point cloud is confirmed to be abnormal and the characteristics and type of the container transport vehicle cannot be determined through the point cloud, a warning signal needs to be issued to prompt the staff to intervene and conduct maintenance. If the lifting is not canceled when the point cloud is abnormal, the container may be lifted without being unlocked, resulting in a container transport vehicle accident. Therefore, issuing a warning signal in time when the point cloud is abnormal and conducting a manual inspection of the on-site situation can ensure the safety of loading and unloading work.

[0063] In one embodiment, the above step 110 may include: calculating the adjacent distance between adjacent real-time point clouds; when the adjacent distance is less than a preset distance, determining that the adjacent real-time point clouds are continuous point clouds; and dividing the continuous point clouds into the same point cloud subset.

[0064] Considering that 2D point clouds are linear for object recognition, the point clouds obtained are first clustered by searching for adjacent points with a small distance; the point cloud can include P 1 , P 2 , P 3 , P 4 , P 5 …P N , from P 1Start calculating the distance between adjacent points. If the distance between adjacent points is less than the preset distance σ (which can be taken as 5cm), the two adjacent points are considered continuous points. If the distance between adjacent points is greater than the preset distance, the two adjacent points are considered discontinuous, and the point set is disconnected from there. The points that are closer to each other in the previous order are a continuous point set. The subsequent point sets continue to recalculate the distance and separate multiple point cloud subsets. After clustering, the point cloud will obtain several different point cloud subsets: {a1, a2, a3...}, {b1, b2, b3...}, {c1, c2, c3...}, etc.

[0065] Figure 6 FIG. 1 is a schematic diagram of a method for preventing a container transport vehicle from lifting provided by an exemplary embodiment of the present application. Figure 6 As shown, after scanning and identifying the container transport vehicle, point cloud clustering is first performed (step 91), and then each set of point clouds is linearly fitted and the length of each set is calculated (step 92). The length of each set is compared with the length of the standard container to find out whether there is a point set similar to the length of the standard container (step 93). If so, the currently identified container transport vehicle is determined to be the first container transport vehicle (step 94), and the subsequent determination process is performed normally. If not, continue to find whether there are multiple segments of point sets with similar lengths (step 95), and compare the multiple segment point sets with the preset guide plate point set to see if they are similar. If so, it can be determined as the second container transport vehicle (step 96), and continue to perform the lifting. If not, it is determined that the point cloud at this time is abnormal (step 97), and it can neither be determined as the second container transport vehicle nor the first container transport vehicle, and human intervention and maintenance are required.

[0066] Exemplary Devices

[0067] Figure 7 FIG. 1 is a schematic diagram of a structure of an anti-lifting device for a container transport vehicle provided by an exemplary embodiment of the present application. Figure 7 As shown, the container transport vehicle anti-lifting device 8 includes: a feature determination module 81, which is used to determine the features of the container transport vehicle according to the real-time point cloud of the container transport vehicle; wherein the features of the container transport vehicle represent the length of the marker of the container transport vehicle; a type determination module 82, which is used to determine the type of the container transport vehicle according to the features of the container transport vehicle; wherein the types of the container transport vehicles include a first container transport vehicle and a second container transport vehicle; the first container transport vehicle and the second container transport vehicle are vehicles operating outside the yard and inside the yard, respectively; and a vehicle determination module 83, which is used to determine the type of the container transport vehicle as the second container transport vehicle when the feature of the container transport vehicle is the presence of a side guide plate.

[0068] Figure 8FIG. 1 is a schematic diagram of a structure of an anti-lifting device for a container transport vehicle provided by another exemplary embodiment of the present application. Figure 8 As shown, the above-mentioned feature determination module 81 may include: a subset unit 811, used to cluster the real-time point cloud to obtain multiple point cloud subsets; a fitting unit 812, used to fit each point cloud subset separately to obtain multiple point cloud lengths; a comparison unit 813, used to compare the multiple point cloud lengths with the preset length to determine the characteristics of the container transport vehicle.

[0069] In one embodiment, the comparison unit 813 may be configured as follows: when the difference between the length of each point cloud segment and the first preset length is greater than the first preset difference, the lengths of the multiple point clouds are compared with the second preset length to obtain a comparison result; wherein the first preset length is greater than the second preset length; and when the comparison result indicates that the difference between the lengths of the multiple point clouds and the second preset length is less than the second preset difference, it is determined that the characteristic of the container transport vehicle is the presence of a side guide.

[0070] In one embodiment, the comparison unit 813 may also be configured to: when the difference between a point cloud length in the multiple point cloud lengths and a first preset length is less than the first preset difference, determine that the feature of the container transport vehicle is the presence of a container length.

[0071] In one embodiment, the type determination module 82 may be configured as follows: when the characteristic of the container transport vehicle is the presence of a container length, determining the type of the container transport vehicle as a first container transport vehicle; correspondingly, after the step 200, the container transport vehicle anti-lifting method may further include: when the type of the container transport vehicle is the first container transport vehicle, performing the lifting determination work normally.

[0072] In one embodiment, the comparison unit 813 can also be configured as follows: when the difference between the length of a multi-segment point cloud and a first preset length is greater than the first preset difference, the length of the multi-segment point cloud is compared with the second preset length to obtain a comparison result; when the comparison result indicates that the difference between the length of the multi-segment point cloud and the second preset length is greater than the second preset difference, the point cloud of the container transport vehicle is determined to be abnormal.

[0073] In one embodiment, the container transport vehicle anti-lifting device 8 may also be configured to send out a warning signal when the characteristics of the container transport vehicle indicate that the point cloud of the container transport vehicle is abnormal.

[0074] In one embodiment, the subset unit 811 may be configured to: calculate the adjacent distance between adjacent real-time point clouds; when the adjacent distance is less than a preset distance, determine that the adjacent real-time point clouds are continuous point clouds; and divide the continuous point clouds into the same point cloud subset.

[0075] Exemplary Electronic Devices

[0076] Below, reference Fig. 9 The electronic device according to the embodiment of the present application is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signal from them.

[0077] Fig. 9 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0078] like Fig. 9 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0079] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0080] The memory 12 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the container transport vehicle anti-lifting method of each embodiment of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0081] In one example, the electronic device 10 may further include: an input device 13 and an output device 14, and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0082] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, which is used to receive the collected input signals from the first device and the second device.

[0083] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0084] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0085] Of course, to simplify, Fig. 9 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0086] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user computing device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0087] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0088] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for preventing a container transport vehicle from lifting, characterized in that: include: Determine the characteristics of the container transport vehicle according to the real-time point cloud of the container transport vehicle; wherein the characteristics of the container transport vehicle include the length of the marker of the container transport vehicle; Determine the type of the container transport vehicle according to the characteristics of the container transport vehicle; wherein the type of the container transport vehicle includes a first container transport vehicle and a second container transport vehicle; wherein the first container transport vehicle and the second container transport vehicle are vehicles operating outside the yard and inside the yard, respectively; and When the characteristic of the container transport vehicle is the presence of a side guide, determining the type of the container transport vehicle to be the second container transport vehicle; Determining the characteristics of the container transport vehicle according to the real-time point cloud of the container transport vehicle includes: Clustering the real-time point cloud to obtain multiple point cloud subsets; Fitting each of the point cloud subsets separately to obtain multiple point cloud lengths; and The lengths of the multiple point clouds are compared with a preset length to determine the characteristics of the container transport vehicle.

2. The container transport vehicle anti-lifting method according to claim 1, characterized in that: The step of comparing the lengths of the multiple point clouds with a preset length to determine the characteristics of the container transport vehicle includes: When the difference between the length of each segment of the point cloud and the first preset length is greater than the first preset difference, comparing the lengths of the multiple segments of the point cloud with the second preset length to obtain a comparison result; wherein the first preset length is greater than the second preset length; and When the comparison result indicates that the difference between the length of the multi-segment point cloud and the second preset length is less than the second preset difference, it is determined that the feature of the container transport vehicle is the presence of the side guide.

3. The container transport vehicle anti-lifting method according to claim 2, characterized in that: The step of comparing the lengths of the multiple point clouds with a preset length to determine the characteristics of the container transport vehicle includes: When the difference between the point cloud length and the first preset length in the multiple point cloud lengths is less than the first preset difference, it is determined that the feature of the container transport vehicle is the presence of a container length.

4. The container transport vehicle anti-lifting method according to claim 3, characterized in that: Determining the type of the container transport vehicle according to the characteristics of the container transport vehicle includes: When the characteristic of the container transport vehicle is the presence of the container length, determining the type of the container transport vehicle to be the first container transport vehicle; Wherein, after determining the type of the container transport vehicle according to the characteristics of the container transport vehicle, the method further includes: When the type of the container transport vehicle is the first container transport vehicle, the lifting determination operation is performed normally.

5. The container transport vehicle anti-lifting method according to claim 1, characterized in that: The step of comparing the lengths of the multiple point clouds with a preset length to determine the characteristics of the container transport vehicle includes: When the difference between the length of the multi-segment point cloud and the first preset length is greater than the first preset difference, comparing the length of the multi-segment point cloud with the second preset length to obtain a comparison result; When the comparison result indicates that the differences between the lengths of the multi-segment point clouds and the second preset length are all greater than the second preset difference, it is determined that the point cloud of the container transport vehicle is abnormal.

6. The container transport vehicle anti-lifting method according to claim 5, characterized in that: After determining the type of the container transport vehicle according to the characteristics of the container transport vehicle, the method further includes: When the characteristics of the container transport vehicle indicate that the point cloud of the container transport vehicle is abnormal, a warning signal is issued.

7. The container transport vehicle anti-lifting method according to claim 1, characterized in that: The clustering of the real-time point cloud to obtain multiple point cloud subsets includes: Calculating adjacent distances between adjacent real-time point clouds; When the adjacent distance is less than a preset distance, determining that the adjacent real-time point clouds are continuous point clouds; and The continuous point clouds are divided into the same point cloud subset.

8. A container transport vehicle anti-lifting device, characterized in that: include: A feature determination module is used to determine the features of the container transport vehicle according to the real-time point cloud of the container transport vehicle; wherein the features of the container transport vehicle represent the length of the marker of the container transport vehicle; the determining the features of the container transport vehicle according to the real-time point cloud of the container transport vehicle comprises: clustering the real-time point cloud to obtain a plurality of point cloud subsets; fitting each of the point cloud subsets respectively to obtain the length of multiple point clouds; and comparing the length of the multiple point clouds with a preset length to determine the features of the container transport vehicle; a type determination module, configured to determine the type of the container transport vehicle according to the characteristics of the container transport vehicle; wherein the types of the container transport vehicle include a first container transport vehicle and a second container transport vehicle; wherein the first container transport vehicle and the second container transport vehicle are vehicles operating outside the yard and inside the yard, respectively; and The vehicle determination module is configured to determine that the type of the container transport vehicle is the second container transport vehicle when the feature of the container transport vehicle is the presence of a side guide.

9. A crane, characterized in that: include: Crane body; A scanner, the scanner being mounted on the crane body, the scanner being used to horizontally scan a container transport vehicle and obtain a real-time point cloud of the container transport vehicle; as well as A container transport vehicle anti-lifting device, the container transport vehicle anti-lifting device is communicatively connected to the scanner, the container transport vehicle anti-lifting device is installed on the crane body, and the container transport vehicle anti-lifting device is used to execute the container transport vehicle anti-lifting method described in any one of claims 1-7.

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