Container inspection and control method, its controller, and container inspection system

Abstract

The present application provides a container inspection control method, its controller, and a container inspection system, which solve the technical problem of low efficiency in the monitoring method of the container lock hole and the FTR lock during the hoisting process of the container in the prior art. The container inspection control method provided by the present application enables the inspection robot to move synchronously with the hoisting equipment. The inspection robot takes pictures of the states of the container lock hole and the FTR lock on the container, can analyze the captured position relationship information, and can determine that the container lock hole does not completely fall into the FTR lock on the vehicle or the container lock hole is not completely disengaged from the FTR lock according to the position relationship information, and controls the hoisting equipment to adjust the position of the container until the container lock holes all fall into the FTR locks on the vehicle or the container lock holes are not completely disengaged from the FTR locks, thereby reducing the probability of safety accidents caused by the instability of the container during the hoisting process. The inspection robot can cooperate and operate synchronously with the hoisting equipment, reducing the input of manpower and improving the efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of container inspection, and in particular to a container inspection control method and a controller thereof, and a container inspection system. Background Art

[0002] Modern container yard management mainly involves the transportation, loading and unloading of containers. In the process of container loading and unloading, cranes play an extremely important role. Currently, the commonly used cranes are railway track cranes. There are railway tracks on the ground, and trains can move on the railway tracks. The track cranes lift the containers and place them in the train boxes, or lift the containers loaded in the train boxes to make the containers leave the train boxes.

[0003] At present, FTR-locked container flatbed trucks are the main container transportation tools. However, due to the special structure of the FTR lock or operational omissions, the existing container lifting device may not completely lock the four corners of the container into the FTR lock during the container lifting process, which makes the container unstable during the lifting process and causes safety accidents. In order to avoid safety accidents during container lifting in the prior art, lifting commanders are usually arranged on site to monitor, but installation accidents cannot be discovered in a timely and accurate manner. In addition, this monitoring method is not intelligent enough, has high labor costs and low efficiency. Summary of the invention

[0004] In view of this, the present application provides a container inspection control method and a controller thereof, and a container inspection system, which solves the technical problems of low efficiency and high labor cost in the monitoring method of the lock hole and FTR lock during the container lifting process in the prior art.

[0005] According to one aspect of the present application, the present application provides a container inspection control method for controlling an inspection robot in a container inspection system, wherein the container inspection control method includes: obtaining actual position information of a lifting device on a lifting track, wherein the actual position information is: the position information of the lifting device when the lifting device slides to above a vehicle corresponding to a container lifted by the lifting device; obtaining current position information of the inspection robot on the inspection track, wherein the inspection track is in proportional correspondence with the lifting track of the lifting device; calculating target position information of the inspection robot based on the actual position information of the lifting device on the lifting track and the proportional correspondence between the inspection track and the lifting track; controlling the motion state of the inspection robot based on the target position information of the inspection robot and the current position information of the inspection robot; and when the lifting device moves to above a vehicle on which a container is placed, controlling the inspection robot to photograph the position relationship information between a container lock hole and an FTR lock.

[0006] In one possible implementation, the container inspection system includes two inspection robots, both of which can slide on the inspection track; wherein, obtaining the current position information of the inspection robot on the inspection track includes: respectively obtaining the current position information of the two inspection robots on the inspection track; wherein, controlling the motion state of the inspection robot according to the target position information of the inspection robot and the current position information of the inspection robot includes: respectively controlling the motion state of the two inspection robots according to the current position information of the two inspection robots and the target position information; when the lifting equipment moves to above the vehicle on which the container is placed, controlling the inspection robot to photograph the positional relationship information of the container lock hole and the FTR lock, including: when the lifting equipment moves to above the vehicle on which the container is placed, controlling the two inspection robots to respectively photograph the positional relationship information of the container lock hole and the FTR lock on both sides of the container.

[0007] In a possible implementation, after controlling the inspection robot to capture the positional relationship information between the container lock hole and the FTR lock, the container inspection control method further includes: acquiring the image captured by the camera device, and determining whether the container lock hole of the container is completely inserted into the FTR lock or whether the container lock hole is completely separated from the FTR lock based on the image, and generating result information; and when the result information is that the container lock hole of the container does not completely fall into the FTR lock or the container lock hole is not completely separated from the FTR lock, generating first control information; wherein the crane adjusts the working state of the lifting equipment according to the first control information until the container lock hole of the container completely falls into the FTR lock or the container lock hole is completely separated from the FTR lock.

[0008] In a possible implementation, the inspection track is parallel to a hoisting track of the hoisting device of the crane, and the calibrated position information of the inspection track is in a 1:1 correspondence with the calibrated position information of the hoisting track.

[0009] In one possible implementation, the container inspection system also includes: a laser scanner, which is installed on the inspection robot; wherein the container inspection control method also includes: obtaining laser scanning information obtained by the laser scanner scanning the area in the forward direction of the inspection robot; and when it is determined according to the laser scanning information that the distance between the obstacle and the inspection robot is less than or equal to the warning distance, generating warning information and controlling the inspection robot to stop moving.

[0010] In one possible implementation, the container inspection system also includes: a charger installed on the inspection track; and a battery provided on the inspection robot, wherein the battery is configured to provide electrical energy to the inspection robot; wherein the container inspection control method also includes: obtaining the power of the battery; and when the power is less than or equal to a preset power, controlling the inspection robot to move to the charger.

[0011] As a second aspect of the present application, the present application also provides a container inspection controller, including: a position information acquisition unit, used to acquire actual position information of a lifting equipment on a lifting track, the actual position information being: the position information of the lifting equipment when the lifting equipment slides to above a vehicle corresponding to a container lifted by the lifting equipment; and acquiring current position information of an inspection robot on the inspection track, wherein the inspection track is in proportional correspondence with the lifting track of the lifting equipment; a target position determination unit, used to calculate the target position information of the inspection robot based on the actual position information of the lifting track and the proportional correspondence between the inspection track and the lifting track; and a control unit, used to control the motion state of the inspection robot based on the target position information of the inspection robot and the current position information of the inspection robot, and when the lifting equipment moves to above a vehicle where a container is placed, control the inspection robot to photograph the position relationship information between the container lock hole and the FTR lock.

[0012] As the third aspect of the present application, the present application also provides a container inspection system, which is used to inspect the container lock hole and FTR lock of the container during the lifting process of the container, wherein the container inspection system includes: an inspection track arranged on the ground, the inspection track is in proportional correspondence with the lifting track of the lifting equipment; an inspection robot, the inspection robot can slide on the inspection track; a navigation system arranged on the inspection robot, the navigation system is configured to locate the position information of the inspection robot on the inspection track; a camera device fixed on the inspection robot, the camera device is used to capture the position relationship information of the container lock hole and the FTR lock of the container; and the above-mentioned container inspection controller, the container inspection controller is communicatively connected with the inspection robot, the navigation system and the camera device respectively.

[0013] In a possible implementation, the inspection track is parallel to a hoisting track of the hoisting device of the crane.

[0014] In a possible implementation manner, the length of the inspection track is equal to the length of the hoisting track of the hoisting equipment.

[0015] In a possible implementation, the container inspection system further includes: a battery, which supplies power to the inspection robot; and a charger installed on the inspection track, which is configured to charge the battery.

[0016] In a possible implementation, the container inspection system further includes: a laser scanner, wherein the laser scanner is installed at the front end and / or the rear end of the inspection robot.

[0017] The container inspection control method provided by the present application is that the inspection robot and the lifting equipment move synchronously. When the lifting equipment moves to the top of the vehicle and lowers the container to the vehicle, the inspection robot takes a picture of the state of the container lock hole and the FTR lock on the container, and can analyze the photographed position relationship information. When it is determined based on the position relationship information that the container lock hole has not completely fallen into the FTR lock, an early warning message will be generated and sent to the control system of the lifting equipment. After receiving the early warning message, the control system will control the lifting equipment, thereby causing the lifting equipment to adjust the position of the container until the container lock holes all fall into the FTR locks on the vehicle, thereby reducing the probability of safety accidents caused by the instability of the container during the lifting process. In addition, the inspection robot can work synchronously with the lifting equipment, reducing manpower input and improving efficiency. Similarly, when the lifting equipment lifts the container on the vehicle, the inspection robot can still take pictures of the container lock hole and the FTR lock, and determine whether the container lock hole is detached from the FTR lock on the vehicle based on the position relationship information. When the container lock hole is not completely detached from the FTR lock on the vehicle, the lifting equipment is controlled to adjust the position of the container until the container lock hole is completely detached from the FTR lock on the vehicle, thereby reducing the probability of safety accidents caused by container instability during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] Figure 1 The figure is a flow chart of a container inspection control method provided by an embodiment of the present application;

[0020] Figure 2 Shown is a flow chart of a container inspection control method provided by another embodiment of the present application;

[0021] Figure 3Shown is a flow chart of a container inspection control method provided by another embodiment of the present application;

[0022] Figure 4 Shown is a flow chart of a container inspection control method provided by another embodiment of the present application;

[0023] Figure 5 Shown is a flow chart of a container inspection control method provided by another embodiment of the present application;

[0024] Figure 6 The figure shows a working principle diagram of a container inspection controller provided by an embodiment of the present application;

[0025] Figure 7 The figure shows a working principle diagram of a container inspection system provided by an embodiment of the present application;

[0026] Figure 8 Shown is a working principle diagram of a container inspection system provided by another embodiment of the present application;

[0027] Fig. 9 Shown is a working principle diagram of a container inspection system provided by another embodiment of the present application;

[0028] Fig.10 Shown is a working principle diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiment of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion conditions, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their deformations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units are not limited to the steps or units listed, but optionally also include the steps or units not listed, or optionally also include other steps or units inherent to these processes, methods, products or equipment.

[0030] In addition, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] Exemplary inspection method

[0033] Figure 1 FIG. 1 is a flow chart of the container inspection control method provided by the present application, as shown in FIG. Figure 1 As shown, the container inspection control method includes the following steps:

[0034] Step S10: Obtain the actual position information of the lifting equipment on the lifting track. The actual position information is: the actual position information of the lifting equipment when it moves on the lifting track. The actual position information is real-time, that is, the real-time actual position information of the lifting equipment when it moves on the lifting track. For example, when the lifting equipment moves to the top of the vehicle corresponding to the container lifted by the lifting equipment, the actual position information of the lifting equipment.

[0035] Specifically, the hoisting track refers to the running track of the crane trolley.

[0036] When the lifting equipment is lifting a container, the loaded container moves on the lifting track. When the lifting equipment moves above the vehicle used to place the container, it stops moving. At this time, the position information of the lifting equipment on the lifting track can be obtained; after the lifting equipment stops moving, the lifting equipment lowers the container to the vehicle. When the container lock holes on the container all fall into the FTR locks on the vehicle, the container is placed stably.

[0037] Step S20: obtaining the current position information of the inspection robot on the inspection track, wherein the inspection track is in proportional correspondence with the hoisting track of the hoisting equipment;

[0038] The inspection track and the hoisting track are in proportional correspondence, which means that the position information mark on the inspection track is in proportional correspondence with the position information mark on the hoisting track. For example, the hoisting track is parallel to the inspection track. The calibrated position information of the hoisting track is in a 1:1 correspondence with the calibrated position information of the inspection track, that is, the length of the hoisting track is 100 meters, the calibrated position information of the left end of the hoisting track is 0 meters, and the calibrated position information of the right end is 100 meters; then the length of the inspection track is also 100 meters, the left end of the inspection track corresponds to the left end of the hoisting track (that is, the calibrated position information is 0 meters), and the right end of the inspection track corresponds to the right end of the hoisting track (the calibrated position information is 100 meters).

[0039] Optionally, the position information on the hoisting track and the inspection track can correspond in parallel, reducing the amount of calculation.

[0040] Step S30: Calculating the target position information of the inspection robot according to the actual position information of the hoisting equipment on the hoisting track and the proportional correspondence between the inspection track and the hoisting track;

[0041] The actual position information of the lifting equipment on the lifting track refers to the current actual position information of the lifting equipment when it moves on the lifting track. The position information on the inspection track corresponding to the current actual position information can be calculated based on the proportional correspondence between the inspection track and the lifting track. This position information is the target position information of the inspection robot on the inspection track.

[0042] Step S40: controlling the motion state of the inspection robot according to the target position information of the inspection robot and the current position information of the inspection robot.

[0043] According to the target position information, the inspection robot can be controlled to move to the target position information, and the inspection robot can be made to move synchronously with the lifting equipment. When the lifting equipment is lifting the container, the loaded container moves on the lifting track. When the lifting equipment moves to the top of the vehicle for placing the container, it stops moving, and the lifting equipment lowers the container to the vehicle. At this time, the inspection robot also moves to the container position.

[0044] Step S50: When the lifting equipment moves to above the vehicle where the container is placed, the inspection robot is controlled to photograph the positional relationship information between the container lock hole and the FTR lock.

[0045] The positional relationship between the container lock hole and the FTR lock refers to whether the container lock hole is completely inserted into the FTR lock, or whether the container lock hole is completely separated from the FTR lock. The positional relationship information can be expressed in the form of video information or image information. For example, the inspection robot can take a video of the container lock hole and the FTR lock to form video information, and can judge whether the container lock hole is completely inserted into the FTR lock or whether the container lock hole is completely separated from the FTR lock based on the video information. For another example, the inspection robot can take a photo of the container lock hole and the FTR lock to form image information, and can judge whether the container lock hole is completely inserted into the FTR lock or whether the container lock hole is completely separated from the FTR lock based on the image information.

[0046] Specifically, the positional relationship information between the container lock hole and the FTR lock can be captured by arranging a camera on the inspection robot. The camera can be a pan-tilt camera that can perform pitch and 360° circumferential rotation, and can adjust the camera's chromaticity, light, and focal length to achieve clear imaging.

[0047] The container inspection control method provided by the present application is that the inspection robot and the lifting equipment move synchronously. When the lifting equipment moves to the top of the vehicle and lowers the container to the vehicle, the inspection robot takes a picture of the state of the container lock hole and the FTR lock on the container, and can analyze the photographed position relationship information. When it is determined based on the position relationship information that the container lock hole has not completely fallen into the FTR lock, an early warning message will be generated and sent to the control system of the lifting equipment. After receiving the early warning message, the control system will control the lifting equipment, thereby causing the lifting equipment to adjust the position of the container until the container lock holes all fall into the FTR locks on the vehicle, thereby reducing the probability of safety accidents caused by the instability of the container during the lifting process. In addition, the inspection robot can work synchronously with the lifting equipment, reducing manpower input and improving efficiency. Similarly, when the lifting equipment lifts the container on the vehicle, the inspection robot can still take pictures of the container lock hole and the FTR lock, and determine whether the container lock hole is detached from the FTR lock on the vehicle based on the position relationship information. When the container lock hole is not completely detached from the FTR lock on the vehicle, the lifting equipment is controlled to adjust the position of the container until the container lock hole is completely detached from the FTR lock on the vehicle, thereby reducing the probability of safety accidents caused by container instability during the lifting process.

[0048] Specifically, when step S50 controls the inspection robot to photograph the positional relationship information between the container lock hole and the FTR lock, the inspection robot can be controlled to photograph the positional relationship information between the container lock hole and the FTR lock on one side of the container, and the inspection robot can also be controlled to move to both sides of the container respectively, so that the inspection robot can photograph the positional relationship information between the container lock hole and the FTR lock on both sides of the container.

[0049] In a possible implementation, the container inspection system includes two inspection robots, and both inspection robots can slide on the inspection track. Figure 2 As shown, step S20 (obtaining the current position information of the inspection robot on the inspection track) specifically includes the following steps:

[0050] Step S21: respectively obtaining the current position information of the two inspection robots on the inspection track;

[0051] When the container inspection system includes two inspection robots, the current position information of each inspection robot can be obtained respectively. Because both inspection robots are photographing the position relationship information between the container lock hole of the container and the FTR lock on the vehicle, both inspection robots need to move synchronously with the lifting equipment. For example, when the lifting equipment stops above the vehicle, the lifting equipment lowers the container to the vehicle. At this time, both inspection robots need to move to the position of the vehicle.

[0052] Step S40 (controlling the motion state of the inspection robot according to the target position information of the inspection robot and the current position information of the inspection robot) specifically includes the following steps:

[0053] Step S41: controlling the motion states of the two inspection robots according to the current position information and target position information of the two inspection robots respectively;

[0054] Step S50 (when the lifting equipment moves to the top of the vehicle on which the container is placed, controlling the inspection robot to photograph the positional relationship information between the container lock hole and the FTR lock) specifically includes the following steps:

[0055] Step S51: When the lifting equipment moves to above the vehicle where the container is placed, two inspection robots are controlled to respectively photograph the position relationship information between the container lock holes and the FTR locks on both sides of the container.

[0056] When the container inspection system includes two inspection robots, after obtaining the current position information of each inspection robot respectively, the movement of the inspection robots can be synchronously controlled according to the movement position of the lifting equipment until the lifting equipment moves to above the vehicle. The lifting equipment lowers the container onto the vehicle. At this time, the inspection robot also moves to the position of the vehicle, so that the synchronous movement of the two inspection robots and the lifting equipment can be achieved, so that the inspection robots can capture the position relationship information of the container lock holes and the FTR locks on both sides of the container, further reducing the probability of safety accidents caused by the instability of the container during the lifting process.

[0057] In one possible implementation, Figure 3 As shown, after step S50 (controlling the inspection robot to photograph the positional relationship information between the container lock hole and the FTR lock), the container inspection control method further includes the following steps:

[0058] Step S60: acquiring an image captured by the camera device, and determining whether the container lock hole of the container is completely inserted into the FTR lock or the container lock hole is not completely separated from the FTR lock according to the image, and generating result information; and

[0059] Step S70: when the result information indicates that the container lock hole of the container is not completely inserted into the FTR lock or the container lock hole is not completely separated from the FTR lock, generating first control information;

[0060] The crane adjusts the working state of the hoisting device according to the first control information until the container lock hole of the container completely falls into the FTR lock or the container lock hole completely breaks away from the FTR lock.

[0061] When it is determined that the container lock hole is not completely separated from the FTR lock or the container lock hole is not completely inserted into the FTR lock according to the positional relationship information between the container lock hole and the FTR lock photographed by the inspection robot, the working state of the lifting equipment is adjusted until the container lock hole of the container is completely inserted into the FTR lock or the container lock hole is completely separated from the FTR lock. This reduces the probability of safety accidents caused by the instability of the container during the lifting process. In addition, the inspection robot can work synchronously with the lifting equipment, reducing manpower input and improving efficiency.

[0062] In one possible implementation, Figure 4 As shown, the container inspection system further includes: a laser scanner, which is installed on the inspection robot; wherein the container inspection control method further includes the following steps:

[0063] Step S80: obtaining laser scanning information obtained by scanning the area in the forward direction of the inspection robot by the laser scanner; and

[0064] Step S90: judging whether the distance between the obstacle and the inspection robot is greater than the warning distance according to the laser scanning information;

[0065] When the judgment result in step S90 is no, that is, it is determined based on the laser scanning information that the distance between the obstacle and the inspection robot is less than or equal to the warning distance, it can be determined that there is an obstacle in front of the inspection robot and the distance to the obstacle is small, then execute step S91.

[0066] Step S91: Generate warning information and control the inspection robot to stop moving.

[0067] That is, when it is determined that there is an obstacle in front of the inspection robot and the distance to the obstacle is small, the inspection robot is controlled to stop moving to reduce the probability of accidents.

[0068] In one possible implementation, Figure 5 As shown, the container inspection system also includes: a charger installed on the inspection track; and a battery arranged on the inspection robot, the battery configuration provides power for the inspection robot; wherein the container inspection control method also includes the following steps:

[0069] Step S92: obtaining the battery power;

[0070] Step S93: determining whether the power level is greater than a preset power level;

[0071] When the judgment result in step S93 is no, that is, the power is less than or equal to the preset power, it means that the power of the inspection robot is insufficient to support the normal movement of the inspection device, so the battery needs to be charged, that is, step S94 is executed.

[0072] Step S94: Control the inspection robot to move to the charger.

[0073] When the inspection robot moves to the charger, the charger can charge the battery. After the battery is fully charged, the inspection robot leaves the charger.

[0074] Exemplary Controller

[0075] The present application also provides a container inspection controller, Figure 6 The following is a working principle diagram of the container inspection controller provided by this application. Figure 6 As shown, the container inspection controller 100 includes:

[0076] The position information acquisition unit 101 is used to acquire the actual position information of the hoisting equipment on the hoisting track, wherein the actual position information is: the position information of the hoisting equipment when the hoisting equipment slides above the vehicle corresponding to the container hoisted by the hoisting equipment; and to acquire the current position information of the inspection robot on the inspection track, wherein the inspection track is in proportional correspondence with the hoisting track of the hoisting equipment;

[0077] A target position determination unit 102, configured to calculate the target position information of the inspection robot according to the actual position information of the hoisting track and the proportional correspondence between the inspection track and the hoisting track; and

[0078] The control unit 103 is used to control the movement state of the inspection robot according to the target position information of the inspection robot and the current position information of the inspection robot, and when the lifting equipment moves to above the vehicle where the container is placed, control the inspection robot to capture the position relationship information between the container lock hole and the FTR lock.

[0079] The container inspection controller can control the inspection robot to move synchronously with the lifting equipment; and when the lifting equipment moves to above the vehicle and lowers the container to the vehicle, the inspection robot takes pictures of the status of the container lock hole and the FTR lock on the container, and the container inspection controller can parse the photographed position relationship information. When it is judged according to the position relationship information that the container lock hole has not completely fallen into the FTR lock or the container lock hole is completely detached from the FTR, an early warning message will be generated at this time and sent to the control system of the lifting equipment. After receiving the early warning message, the control system will control the lifting equipment, thereby causing the lifting equipment to adjust the position of the container until the container lock holes all fall into the FTR locks on the vehicle or the container lock holes are completely detached from the FTR lock, thereby reducing the probability of safety accidents caused by container instability during the lifting process.

[0080] Exemplary Inspection System

[0081] The present application also provides a container inspection system, which is used to inspect the container lock hole and FTR lock of the container during the container is being hoisted. Figure 7 The following is a working principle diagram of the container inspection system provided by this application. Figure 7 As shown, the container inspection system 1 includes: an inspection track ( Figure 71 ); an inspection robot 200, which can slide on the inspection track; a navigation system 201 provided on the inspection robot 200; a camera device 202 fixed on the inspection robot 200 and the container inspection controller 100 described above. The container inspection controller 100 is respectively connected to the inspection robot 200, the navigation system 201 and the camera device 202 for communication.

[0082] The inspection track is in proportional correspondence with the hoisting track of the hoisting equipment 300; the inspection track is in proportional correspondence with the hoisting track means that: the position information mark on the inspection track is in proportional correspondence with the position information mark on the hoisting track. For example, the hoisting track is parallel to the inspection track. The calibrated position information of the hoisting track is in a 1:1 correspondence with the calibrated position information of the inspection track, that is, the length of the inspection track is equal to the length of the hoisting track of the hoisting equipment. For example, the length of the hoisting track is 100 meters, the calibrated position information of the left end of the hoisting track is 0 meters, and the calibrated position information of the right end is 100 meters; then the length of the inspection track is also 100 meters, the left end of the inspection track corresponds to the left end of the hoisting track (that is, the calibrated position information is 0 meters), and the right end of the inspection track corresponds to the right end of the hoisting track (the calibrated position information is 100 meters).

[0083] The navigation system 201 is configured to locate the position information of the inspection robot 200 on the inspection track.

[0084] The camera device 202 is used to capture the positional relationship information between the container lock hole and the FTR lock of the container. The positional relationship between the container lock hole and the FTR lock refers to whether the container lock hole is completely inserted into the FTR lock, or whether the container lock hole is completely separated from the FTR lock. The positional relationship information can be expressed in the form of video information or image information. For example, the inspection robot can capture a video of the container lock hole and the FTR lock to form video information, and can determine whether the container lock hole is completely inserted into the FTR lock or whether the container lock hole is completely separated from the FTR lock based on the video information. For another example, the inspection robot can capture a photo of the container lock hole and the FTR lock to form image information, and can determine whether the container lock hole is completely inserted into the FTR lock or whether the container lock hole is completely separated from the FTR lock based on the image information.

[0085] Specifically, the camera device 202 may be a pan-tilt camera, and the pan-tilt camera may be capable of pitch and 360° circumferential rotation, and may adjust the camera's chromaticity, light, and focal length to achieve clear imaging.

[0086] When the lifting equipment 300 lowers the container onto the vehicle, the lifting equipment 300 lifts the container and moves on the lifting track. At this time, the container inspection controller 100 can obtain the actual position information of the lifting equipment 300 on the lifting track; the navigation system 201 on the inspection robot 200 sends the current position information of the inspection robot 200 on the inspection track to the container inspection controller 100, and the container inspection controller 100 calculates the target position information of the inspection robot 200 based on the actual position information of the lifting equipment 300 and the proportional correspondence between the lifting track and the inspection track, and controls the inspection robot 200 to move to the target position information based on the target position information, thereby realizing the synchronous movement of the inspection robot and the lifting equipment.

[0087] When the lifting equipment 300 moves to above the vehicle, at this time, the inspection robot 200 also moves to the position of the vehicle. When the lifting equipment 300 lowers the container to the vehicle, the container inspection controller 100 controls the camera 202 on the inspection robot to shoot the positional relationship between the container lock hole and the FTR lock of the container to form positional relationship information. The camera 202 sends the positional relationship information to the container inspection controller, and the container inspection controller 100 parses the positional relationship information. When it is determined according to the positional relationship information that the container lock hole has not completely fallen into the FTR lock, an early warning message is generated and sent to the control system of the lifting equipment. After receiving the early warning message, the control system controls the lifting equipment, thereby causing the lifting equipment 300 to adjust the position of the container until the container lock holes all fall into the FTR locks on the vehicle, thereby reducing the probability of safety accidents caused by container instability during the lifting process.

[0088] Similarly, when the lifting equipment 300 lifts the container on the vehicle, the camera device 202 on the inspection robot 200 can still shoot the container lock hole and the FTR lock. The container inspection controller determines whether the container lock hole is detached from the FTR lock on the vehicle based on the position relationship information. When the container lock hole is not completely detached from the FTR lock on the vehicle, the lifting equipment is controlled to adjust the container position until the container lock hole is completely detached from the FTR lock on the vehicle, thereby reducing the probability of safety accidents caused by container instability during the lifting process.

[0089] In one possible implementation, Figure 8As shown, the container inspection system also includes: a battery 400, which supplies power to the inspection robot 200; and a charger 500 installed on the inspection track, which is configured to charge the battery 400. The battery 400 is connected to the container inspection controller 100 for communication. The container inspection controller 100 monitors the power of the battery 400. When the power of the inspection robot 200 is insufficient to support the normal movement of the inspection device, the container inspection controller 100 controls the inspection robot 200 to move to the nearest charger 500. When the charger 500 identifies that the inspection robot 200 is nearby, it automatically charges the battery 400 of the inspection robot 200. When the battery 400 of the inspection robot 200 is fully charged, the container inspection controller 100 controls the inspection robot 200 to leave the charger 500 and continue to work.

[0090] In one possible implementation, Fig. 9 As shown, the container inspection system further includes: a laser scanner 501, which is installed at the front end and / or the rear end of the inspection robot 200, and the laser scanner 501 is in communication connection with the container inspection controller 100. The container inspection controller 100 determines that the distance between the obstacle and the inspection robot 200 is less than or equal to the warning distance based on the laser scanning information scanned by the laser scanner 501, and can judge that there is an obstacle in front of the inspection robot 200 and the distance to the obstacle is small, then the inspection robot 200 is controlled to stop moving. That is, when it is judged that there is an obstacle in front of the inspection robot and the distance to the obstacle is small, the inspection robot is controlled to stop moving to reduce the probability of accidents.

[0091] Exemplary Electronic Devices

[0092] Below, reference Fig.10 To describe an electronic device according to an embodiment of the present application. Fig.10 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application.

[0093] like Fig.10 As shown, the electronic device 600 includes one or more processors 601 and a memory 602 .

[0094] The processor 601 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0095] The memory 601 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, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program information may be stored on the computer-readable storage medium, and the processor 601 may run the program information to implement the inspection control method or other desired functions of the various embodiments of the present application described above.

[0096] In one example, the electronic device 600 may further include: an input device 603 and an output device 604 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0097] The input device 603 may include, for example, a keyboard, a mouse, etc.

[0098] The output device 604 can output various information to the outside. The output device 604 can include, for example, a display, a communication network and a remote output device connected thereto.

[0099] Of course, to simplify, Fig.10 Only some of the components related to the present application in the electronic device 600 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 600 may also include any other appropriate components.

[0100] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program information, which, when executed by a processor, enables the processor to execute the steps of the inspection control method described in this specification according to various embodiments of the present application.

[0101] 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 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.

[0102] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program information is stored. When the computer program information is executed by a processor, the processor executes the steps of the inspection control method in the various embodiments of the present application according to this specification.

[0103] 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.

[0104] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0105] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0106] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0107] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present invention.

[0108] The above description is only a preferred embodiment of the invention of the present application and is not intended to limit the invention of the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the invention of the present application shall be included in the protection scope of the invention of the present application.

Claims

1. A container inspection control method for controlling an inspection robot in a container inspection system, characterized in that, the container inspection control method includes: obtaining the actual position information of the lifting equipment of the crane on the lifting track, where the actual position information is: the position information of the lifting equipment when the lifting equipment slides above the vehicle corresponding to the container lifted by the lifting equipment; obtaining the current position information of the inspection robot on the inspection track, where the inspection track and the lifting track of the lifting equipment are in a proportional correspondence relationship; calculating the target position information of the inspection robot according to the actual position information of the lifting equipment on the lifting track and the proportional correspondence relationship between the inspection track and the lifting track; controlling the motion state of the inspection robot according to the target position information of the inspection robot and the current position information of the inspection robot; and when the lifting equipment moves above the vehicle for placing the container, controlling the inspection robot to capture the position relationship information between the container lock hole and the FTR lock; after controlling the inspection robot to capture the position relationship information between the container lock hole and the FTR lock, the container inspection control method further includes: obtaining the image captured by the inspection robot, and determining whether the container lock hole of the container completely falls into the FTR lock or whether the container lock hole completely disengages from the FTR lock according to the image, and generating result information; and when the result information is that the container lock hole of the container does not completely fall into the FTR lock or the container lock hole does not completely disengage from the FTR lock, generating first control information; wherein, the crane adjusts the working state of the lifting equipment according to the first control information until the container lock hole of the container completely falls into the FTR lock or the container lock hole completely disengages from the FTR lock.

2. The container inspection control method according to claim 1, characterized in that, the container inspection system includes two such inspection robots, and both of the two inspection robots can slide on the inspection track; wherein, obtaining the current position information of the inspection robot on the inspection track includes: respectively obtaining the current position information of the two inspection robots on the inspection track; wherein, controlling the motion state of the inspection robot according to the target position information of the inspection robot and the current position information of the inspection robot includes: respectively controlling the motion states of the two inspection robots according to the current position information and the target position information of the two inspection robots; when the lifting equipment moves above the vehicle for placing the container, controlling the inspection robot to capture the position relationship information between the container lock hole and the FTR lock includes: when the lifting equipment moves above the vehicle for placing the container, respectively controlling the two inspection robots to capture the position relationship information between the container lock holes on both sides of the container and the FTR lock.

3. The container inspection control method according to claim 1, characterized in that, The inspection track is parallel to the lifting track of the lifting equipment of the crane, and the calibrated position information of the inspection track and the calibrated position information of the lifting track have a one-to-one correspondence relationship.

4. The container inspection control method according to claim 1, wherein, the container inspection system further includes: a laser scanner, and the laser scanner is installed on the inspection robot; wherein, the container inspection control method further includes: obtaining laser scanning information obtained by the laser scanner scanning the area in the advancing direction of the inspection robot; and when it is determined according to the laser scanning information that the distance between the obstacle and the inspection robot is less than or equal to the warning distance, generating a warning information and controlling the inspection robot to stop moving.

5. The container inspection control method according to claim 1, wherein, the container inspection system further includes: a charger installed on the inspection track; and a battery provided on the inspection robot, and the battery is configured to supply electrical energy to the inspection robot; wherein, the container inspection control method further includes: obtaining the power of the battery; and when the power is less than or equal to a preset power, controlling the inspection robot to move to the charger.

6. A container inspection controller, wherein, comprising: a position information acquisition unit, configured to acquire the actual position information of the lifting equipment of the crane on the lifting track, and the actual position information is: the position information of the lifting equipment when the lifting equipment slides above the vehicle corresponding to the container lifted by the lifting equipment; and acquiring the current position information of the inspection robot on the inspection track, wherein the inspection track and the lifting track of the lifting equipment have a proportional correspondence relationship; a target position determination unit, configured to calculate the target position information of the inspection robot according to the actual position information of the lifting track and the proportional correspondence relationship between the inspection track and the lifting track; and a control unit, configured to control the motion state of the inspection robot according to the target position information of the inspection robot and the current position information of the inspection robot, and when the lifting equipment moves above the vehicle where the container is placed, control the inspection robot to capture the position relationship information between the container lock hole and the FTR lock; after controlling the inspection robot to capture the position relationship information between the container lock hole and the FTR lock, acquiring the image captured by the inspection robot, and determining whether the container lock hole of the container completely falls into the FTR lock or whether the container lock hole completely disengages from the FTR lock according to the image, generating a result information; when the result information is that the container lock hole of the container does not completely fall into the FTR lock or the container lock hole does not completely disengage from the FTR lock, generating a first control information; wherein, the crane adjusts the working state of the lifting equipment according to the first control information until the container lock hole of the container completely falls into the FTR lock or the container lock hole completely disengages from the FTR lock.

7. A container inspection system, which is used to inspect the container lock hole and FTR lock of a container during the hoisting process of the container. Characterized in that: The container inspection system includes: An inspection track arranged on the ground, and the inspection track has a proportional correspondence relationship with the hoisting track of the hoisting equipment; An inspection robot, which can slide on the inspection track; A navigation system arranged on the inspection robot, and the navigation system is configured to locate the position information of the inspection robot on the inspection track; A camera device fixed on the inspection robot, and the camera device is used to capture the position relationship information of the container lock hole and FTR lock of the container; and The container inspection controller according to claim 6, and the container inspection controller is respectively communicatively connected to the inspection robot, the navigation system and the camera device.

8. The container inspection system according to claim 7, Characterized in that: The inspection track is parallel to the hoisting track of the hoisting equipment of the crane.

9. The container inspection system according to claim 8, Characterized in that: The length of the inspection track is equal to the length of the hoisting track of the hoisting equipment.

10. The container inspection system according to claim 7, Characterized in that: It further includes: A battery, which powers the inspection robot; And A charger installed on the inspection track, and the charger is configured to charge the battery.

11. The container inspection system according to claim 7, Characterized in that: It further includes: A laser scanner, which is installed at the front end and / or the rear end of the inspection robot.

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