Inspection equipment, inspection control method, control device and automation system

Abstract

The present application provides a patrol inspection device, a patrol inspection control method and a patrol inspection system, which solve the technical problems of low efficiency and high labor cost in the monitoring method of the container lock hole and FTR lock in the prior art. The patrol inspection device provided by the present application includes: a patrol inspection rail; a patrol inspection device and a positioning device fixed on the patrol inspection device; and a camera device installed on the patrol inspection device, the camera device is configured to take pictures or videos of the container lock hole and the FTR lock of the container during the container is hoisted. The captured pictures or videos can be analyzed to determine whether the container lock hole is not completely disengaged or falls into the FTR lock. When the container lock hole is not completely disengaged or falls into the FTR lock, the crane will be controlled to stop working, and it can be timely and accurately found that the container lock hole is not completely disengaged or falls into the FTR lock, reducing the probability of safety accidents caused by the instability of the container during the hoisting process.

Description

Technical Field

[0001] The present application relates to the field of container inspection technology, and specifically to inspection equipment, an inspection control method, a control device and an automation 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 disengage the four corner lock holes of the container or fall into the FTR lock during the container lifting process, resulting in an abnormal state of the container during the lifting process and causing a safety accident. 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 inspection equipment, inspection control methods, control devices and automation systems to solve the technical problems of low efficiency and high labor costs in monitoring the lock hole and FTR lock during the lifting of containers in the prior art.

[0005] According to one aspect of the present application, the present application provides an inspection device, which is used to inspect the packing lock hole and FTR lock of the container during the lifting process, wherein the inspection device includes: an inspection slide rail arranged between two adjacent train tracks, the length extension direction of the inspection slide rail is parallel to the length extension direction of the train track; an inspection device and a positioning device fixed to the inspection device, the inspection device can slide on the inspection slide rail, and the positioning device is configured to locate the actual position information of the inspection device on the inspection slide rail; and a camera device installed on the inspection device, the camera device is configured to take videos or pictures of the container lock hole and FTR lock of the container during the lifting of the container.

[0006] In a possible implementation, the inspection device further includes: at least one calibration plate, wherein the calibration plate is fixed on the inspection rail.

[0007] In one possible implementation, the inspection rail includes an inspection rail body and a guide groove arranged on the side of the inspection rail body; wherein the inspection device includes: an inspection device body; and a driving wheel and a guide wheel installed on the inspection device body; wherein the driving wheel can slide on the inspection rail body, and the guide wheel can slide in the guide groove.

[0008] In one possible implementation, the guide wheel includes: a guide wheel body, which can slide in the guide groove; a fixing member arranged on one side of the guide wheel body, wherein the fixing member is configured to fix the guide wheel body on the inspection device body; and a guard edge arranged on one side of the guide wheel body, wherein the upper side surface of the guard edge is higher than the upper side surface of the guide groove.

[0009] In a possible implementation, the inspection device further includes: a battery, which is electrically connected to the inspection device and configured to provide electrical energy to the inspection device; and a charging device installed on the inspection rail, which is configured to charge the battery.

[0010] In one possible implementation, the inspection equipment also includes: an inspection rail cleaning device, which is installed at the front end of the inspection device, and the front end is the end of the inspection device in the forward direction; and a buffer device, which is installed at the front end of the inspection rail cleaning device.

[0011] In a possible implementation, the inspection device further includes: a laser scanner, which is installed at the front end of the inspection device.

[0012] As a second aspect of the present application, the present application also provides a patrol control method, which is applicable to the patrol system described above, wherein the patrol control method includes: obtaining actual position information of the patrol device positioned by the positioning device on the patrol rail; obtaining the image captured by the camera device, and determining whether the container lock hole of the container is completely disengaged or falls into the FTR lock based on the image, and generating result information; obtaining attribute information of the container based on the actual position information of the patrol device on the patrol rail; and when the result information is that the container lock hole of the container is not completely disengaged or falls into the FTR lock, controlling the crane corresponding to the attribute information of the container to stop lifting the container.

[0013] In one possible implementation, the inspection device also includes: at least one calibration plate, which is fixed on the inspection rail; wherein, before obtaining the attribute information of the container based on the actual position information of the inspection device on the inspection rail, the inspection control method also includes: calibrating the actual position information based on the calibration position information of the calibration plate on the inspection rail, and generating the calibration position information of the inspection device on the inspection rail; wherein, obtaining the attribute information of the container based on the actual position information of the inspection device on the inspection rail includes: obtaining the attribute information of the container based on the calibration position information of the inspection device on the inspection rail.

[0014] In one possible implementation, the inspection equipment also includes: a laser scanner, which is installed at the front end of the inspection device; wherein the inspection control method also includes: obtaining laser scanning information obtained by the laser scanner scanning the area in the forward direction of the inspection device; and when it is determined according to the laser scanning information that the distance between the obstacle and the inspection device is less than or equal to the warning distance, generating warning information and controlling the inspection device to stop moving.

[0015] In a possible implementation, the inspection device also includes: a charging device installed on the inspection rail; a battery, wherein the battery is configured to provide electrical energy to the inspection device; wherein the 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 device to move to the charging device.

[0016] In a possible implementation, the inspection equipment includes a plurality of inspection devices, and the plurality of inspection devices can slide on the inspection rail; wherein the inspection control method further includes: controlling the inspection device to slide within a preset area on the inspection rail.

[0017] As the third aspect of the present application, the present application also provides a patrol control device, including: a data acquisition module, used to obtain the actual position information of the patrol device positioned by the positioning device on the patrol rail; and obtain the image captured by the camera device; a determination module, used to determine whether the container lock hole of the container is completely disengaged or falls into the FTR lock based on the image, and generate result information; and obtain the attribute information of the container based on the actual position information of the patrol device on the patrol rail; and a control module, used to control the crane corresponding to the attribute information of the container to stop lifting the container when the result information is that the container lock hole of the container is not completely disengaged or falls into the FTR lock.

[0018] As a fourth aspect of the present application, the present application also provides a train yard automation system, comprising: the above-mentioned inspection equipment; and the above-mentioned inspection control device, the inspection control device being respectively communicatively connected with the positioning device, the camera device and the inspection device.

[0019] The inspection equipment provided by the inspection device, when the container is lifted from the train compartment by the crane, the inspection device slides on the inspection slide rail, the positioning device locates the actual position information of the inspection device on the inspection slide rail, and transmits the actual position information to the inspection control device, the inspection control device can control the movement state of the inspection device according to the actual position information of the inspection device, such as static or moving. The camera device takes pictures of the state of the container lock hole and the FTR lock on the container, and transmits the photographed pictures or videos to the inspection control device, the inspection control device can analyze the photographed pictures or videos, when the inspection control device determines that the container lock hole is not completely disengaged or falls into the FTR lock according to the pictures or videos, at this time, the inspection control device will generate an early warning message, and send the early warning message to the hoisting control system, after receiving the early warning message, the hoisting control system will control the crane to stop working, and can timely and accurately find that the container lock hole is not completely disengaged or falls into the FTR lock, reducing the probability of safety accidents caused by abnormal state of the container during the hoisting process due to the container lock hole not being completely disengaged or falling into the FTR lock. In addition, the inspection equipment cooperates with the rail crane to achieve collaborative operation, reducing manpower input. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1 The figure shows a schematic diagram of the structure of a patrol inspection device provided by an embodiment of the present application;

[0022] Figure 2 Shown is a structural schematic diagram of an inspection device provided by another embodiment of the present application;

[0023] Figure 3 The figure is a flow chart of a patrol control method provided by an embodiment of the present application;

[0024] Figure 4 FIG. 1 is a flow chart of a patrol control method provided by another embodiment of the present application;

[0025] Figure 5FIG. 1 is a flow chart of a patrol control method provided by another embodiment of the present application;

[0026] Figure 6 FIG. 1 is a flow chart of a patrol control method provided by another embodiment of the present application;

[0027] Figure 7 FIG. 1 is a flow chart of a patrol control method provided in another embodiment of the present application;

[0028] Figure 8 The figure shows a working principle diagram of a patrol control device provided by an embodiment of the present application;

[0029] Fig. 9 The figure shows a working principle diagram of a patrol inspection system provided by an embodiment of the present application;

[0030] Fig.10 Shown is a working principle diagram of an electronic device provided in one embodiment of the present application.

[0031] Reference numerals:

[0032] 100: inspection equipment; 101: inspection rail; 105: column; 104: train track; 200: inspection device; 300: positioning device; 400: camera device; 102: inspection rail body; 103: guide groove; 201: inspection device body; 202: driving wheel; 203: guide wheel; 2031: guide wheel body; 2032: fixing piece; 2033: retaining edge; 801: charging device; 700: inspection rail cleaning device; 702: laser scanner;

[0033] 10: Inspection control device; 11: Data acquisition module; 12: Determination module; 13: Control module; 1: Crane;

[0034] 600: electronic device; 601: processor; 602: memory; 603: input device; 604: output device. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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.

[0038] Exemplary inspection equipment

[0039] Figure 1 as well as Figure 2 Shown is a structural schematic diagram of an inspection device provided by the present application, which is used to inspect whether the container lock hole of the container is completely disengaged or falls into the FTR lock during the process of hoisting the container from the train compartment, so as to reduce the probability of safety accidents caused by abnormal conditions of the container during the hoisting process due to the container lock hole not being completely disengaged or falling into the FTR lock.

[0040] like Figure 1 as well as Figure 2As shown, the inspection equipment 100 includes: an inspection rail 101, which is arranged between two train tracks 104, and the length extension direction of the inspection rail 101 is parallel to the length extension direction of the train track 104. In addition, the inspection rail 101 can be fixed on a column 105, and the height of the column 105 can be determined according to the height of the train car and the container; an inspection device 200 and a positioning device 300 fixed on the inspection device 200, the inspection device 200 can slide on the inspection rail 101, and the positioning device 300 is configured to locate the actual position information of the inspection device 200 on the inspection rail 101; and a camera device 400 installed on the inspection device 200, the camera device 400 is configured to take pictures or videos of the container lock hole and the FTR lock of the container during the process of lifting the container.

[0041] When the container is lifted from the train carriage by a crane, the inspection device 200 slides on the inspection rail 101, the positioning device 300 locates the actual position information of the inspection device 200 on the inspection rail 101, and transmits the actual position information to the inspection control device. The inspection control device can control the movement state of the inspection device 200 according to the actual position information of the inspection device 200, such as stationary or moving. The camera device 400 takes pictures of the state of the container lock hole and the FTR lock on the container, and transmits the taken pictures or videos to the inspection control device, which can analyze the taken pictures or videos. When the inspection control device determines that the container lock hole is not completely disengaged or falls into the FTR lock based on the pictures or videos, the inspection control device will generate an early warning message and send the early warning message to the hoisting control system. After receiving the early warning message, the hoisting control system will control the crane to stop working, and can timely and accurately find that the container lock hole is not completely disengaged or falls into the FTR lock, reducing the probability of safety accidents caused by the instability of the container during the hoisting process due to the incomplete disengagement or fall of the container lock hole into the FTR lock. In addition, the inspection equipment 100 cooperates with the rail crane to achieve collaborative operation, reducing manpower input.

[0042] Specifically, the height of the inspection rail 101 relative to the ground can be determined based on the combined heights of the train car, container, inspection device 200 and camera device 400, as long as the camera device 400 can capture pictures or videos of the container lock hole and FTR lock during the lifting process of the container.

[0043] Specifically, the camera device 400 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.

[0044] In a possible implementation, the inspection device 100 further includes: at least one calibration plate, which is fixed on the inspection rail 101. By arranging the calibration plate on the inspection rail 101, the actual position information of the inspection device 200 can be calibrated, thereby improving the accuracy of the movement information of the inspection device 200 on the inspection rail 101, so that the movement of the inspection device 200 can be more accurately controlled.

[0045] Specifically, the number of calibration plates of the inspection rail 101 and the arrangement positions of the calibration plates on the inspection rail 101 can be the following five situations:

[0046] (1) The inspection device 100 includes a calibration plate, which can be set at the end of the inspection rail 101 or in the middle of the inspection rail 101.

[0047] (2) The inspection device 100 includes a plurality of calibration plates, which are evenly distributed on the inspection rail 101 , that is, the distance between any two adjacent calibration plates is equal.

[0048] (3) The inspection device 100 includes a plurality of calibration plates, which are randomly distributed on the inspection rail 101 , that is, the distance between two adjacent calibration plates is random.

[0049] (4) The inspection device 100 includes a plurality of calibration plates, and the distance between two adjacent calibration plates gradually increases or decreases in a direction from one end to the other end of the inspection rail 101.

[0050] (5) The inspection device 100 includes a plurality of calibration plates, and the distance between two adjacent calibration plates gradually increases or decreases in a direction from the middle to the two ends of the inspection rail 101 .

[0051] In one possible implementation, Figure 2 As shown, the inspection rail 101 includes an inspection rail body 102 and a guide groove 103 arranged on the side of the inspection rail body 102; the inspection device 200 includes: an inspection device body 201; and a driving wheel 202 and a guide wheel 203 installed on the inspection device body 201; wherein the driving wheel 202 can slide on the inspection rail body 102, and the guide wheel 203 can slide in the guide groove 103. The inspection device 100 in the present application ensures that the inspection device 200 can slide on the inspection rail 101 at a high speed and stably by providing a guide on the inspection device 200, the driving wheel 202 and the guide groove 103 on the inspection rail 101, and the guide wheel 203 slides in the guide groove 103.

[0052] Optional, such as Figure 2As shown, the guide wheel 203 includes: a guide wheel 203 body, which can slide in the guide groove 103; a fixing member 2032 disposed on one side of the guide wheel 203 body, which is configured to fix the guide wheel 203 body on the inspection device body 201; and a retaining edge 2033 disposed on one side of the guide wheel 203 body, wherein the upper side of the retaining edge 203 is higher than the upper side of the guide groove 103. When the inspection device 200 moves at high speed on the inspection slide rail 101, the retaining edge 2033 disposed on the guide wheel 203 can effectively control the guide wheel 203 to deviate from the guide groove 103, thereby further ensuring that the inspection device 200 can move on the inspection slide rail 101 at high speed and stably.

[0053] In a possible implementation, the inspection device 100 further includes: a battery, which is electrically connected to the inspection device 200 and configured to provide power to the inspection device 200; and a charging device installed on the inspection rail 101, which is configured to charge the battery. When the inspection device 200 moves on the inspection rail 101, the battery can provide power to the inspection device 200 so that the inspection device 200 can move on the inspection rail 101. When the battery power is insufficient, the inspection device 200 can move to the charging device. When the charging device detects the inspection device 200, the charging device automatically extends the charging head to charge the battery. In addition, when the inspection device 200 stops working, the inspection device 200 can also move to the charging device. When the charging device detects the inspection device 200, the charging device automatically extends the charging head to charge the battery.

[0054] In one possible implementation, Figure 1 As shown, the inspection device 100 also includes: an inspection rail cleaning device 700, which is installed at the front end of the inspection device 200, wherein the direction in which the rear end of the inspection device 200 points to the front end is the forward direction of the inspection device 200, that is, the front end is the end in the forward direction of the inspection device 200; and a buffer device, which is installed at the front end of the inspection rail cleaning device 700, and similarly, the direction in which the rear end of the inspection rail cleaning device 700 points to the front end is the forward direction of the inspection device 200. When the inspection device 200 moves on the inspection rail 101, the inspection rail cleaning device 700 can clean up the debris on the inspection rail 101 to ensure that the inspection device 200 can move on the inspection rail 101 without obstruction. The buffer device can be a spring anti-collision buffer device, which can ensure the safe operation of the inspection device 200 on the inspection rail 101.

[0055] In one possible implementation, Figure 1As shown, the inspection device 100 further includes: a laser scanner 702, which is installed at the front end of the inspection device 200. Similarly, the direction in which the rear end of the inspection device 200 points to the front end of the inspection device 200 is the direction in which the inspection device 200 moves. The laser scanner 702 can perform a sector scan on the inspection rail 101 when the inspection device 200 moves to obtain scanning information, and can obtain other objects around the inspection device 200, such as other inspection devices 100, based on the scanning information. The distance between other objects and the inspection device 200 can also be obtained through the scanning information. When the upper distance is less than or equal to the warning distance, the inspection device 100 can be controlled to stop moving.

[0056] Exemplary patrol control method

[0057] The present application also provides a patrol control method, which is suitable for controlling the patrol equipment described above. Figure 3 FIG. 1 is a flow chart of a patrol control method provided by an embodiment of the present application; Figure 3 As shown, the inspection control method includes the following steps:

[0058] Step S101: obtaining actual position information of the inspection device positioned by a positioning device on the inspection rail;

[0059] Step S102: Acquire the image captured by the camera device;

[0060] Step S103: judging whether the container lock hole of the container is completely disengaged or falls into the FTR lock according to the image; when the judgment result is yes, that is, the container lock hole of the container is completely disengaged or falls into the FTR lock, then a "yes" result information is generated, that is, the result information is yes, in this case, it means that the container lock hole of the container is completely disengaged or falls into the FTR lock, and the container can be lifted; when the judgment result is no, that is, the container lock hole of the container is not completely disengaged or falls into the FTR lock, then a "no" result information is generated, that is, the result information is no, in this case, it means that the container lock hole of the container is not completely disengaged or falls into the FTR lock, indicating that the container needs to stop being lifted, that is, executing steps S104 and S105.

[0061] Specifically, the camera device may be a pan-tilt camera, and the pan-tilt camera may be capable of pitch and 360° circumferential rotation, and the camera may be capable of adjusting the chromaticity, light and focal length to achieve clear imaging.

[0062] Step S104: acquiring attribute information of the container according to the actual position information of the inspection device on the inspection rail;

[0063] Since the inspection rail is set between two train tracks, there are trains loaded with containers on both train tracks, that is, two containers can correspond to the two sides of an inspection rail. Therefore, it is necessary to judge to which container the image captured by the camera device belongs based on the actual position of the inspection device on the inspection rail, that is, the attribute information of the container corresponding to the image captured by the camera device can be judged according to the actual position of the inspection device on the inspection rail. For example, there are N train tracks in the yard, and there are N trains on the N train tracks, and there are M containers on each train. Then the attribute information of the container may include: the train track information where the container is located and the specific position information on the train, such as the fourth container on the third train.

[0064] Step S105: When the result information indicates that the container lock hole of the container is not completely disengaged or falls into the FTR lock, the crane corresponding to the attribute information of the container is controlled to stop lifting the container.

[0065] That is, the crane lifting the container is controlled to stop lifting the container. After stopping the lifting, further operation can be performed to make the container lock hole of the container completely disengaged or fall into the FTR lock. After the container lock hole of the container is completely disengaged or falls into the FTR lock, the crane is started again to lift the container.

[0066] Through the above-mentioned inspection control method, it is possible to timely and accurately find that the container lock hole is not completely disengaged or falls into the FTR lock, reducing the probability of safety accidents caused by the instability of the container during the lifting process due to the incomplete disengagement or fall of the container lock hole into the FTR lock. In addition, the inspection equipment cooperates with the rail crane to achieve collaborative operation, reducing the input of manpower.

[0067] In one possible implementation, Figure 2 As shown, the inspection device also includes: at least one calibration plate, the calibration plate is fixed on the inspection slide rail; in this case, Figure 4 As shown, after step S101 (obtaining the attribute information of the container according to the actual position information of the inspection device on the inspection rail), the inspection control method further includes:

[0068] Step S100: calibrating the actual position information according to the calibration position information of the calibration plate on the inspection rail, and generating the calibration position information of the inspection device on the inspection rail;

[0069] Among them, step 104 (obtaining the attribute information of the container according to the actual position information of the inspection device on the inspection rail) specifically includes:

[0070] Step S1041: Acquire the attribute information of the container according to the calibration position information of the inspection device on the inspection rail.

[0071] That is, when the inspection device moves on the inspection rail, the position information of the inspection device on the inspection rail is calibrated by the calibration plate, so that the attribute information of the container can be obtained more accurately, thereby increasing the accuracy of container recognition.

[0072] In one possible implementation, Figure 2 As shown, the inspection equipment also includes: a laser scanner, which is installed at the front end of the inspection device; in this case, Figure 5 As shown, the inspection control method also includes:

[0073] Step S106: obtaining laser scanning information obtained by scanning the area in the forward direction of the inspection device by the laser scanner;

[0074] Step S107: judging whether there is an obstacle in front of the inspection device according to the laser scanning information;

[0075] Specifically, the obstacle includes anything that can block or affect the movement of the inspection device, such as other inspection equipment, debris on the inspection rail, etc.

[0076] When it is determined in step S107 that there is no obstacle in front of the inspection device, no processing is performed and the inspection device continues to move on the inspection rail. When it is determined in step S107 that there is an obstacle in front of the inspection device, steps S108-S109 are executed;

[0077] Step S108: determining the distance between the obstacle and the inspection device according to the laser scanning information;

[0078] Step S1081: Determine whether the distance between the obstacle and the inspection device is greater than the warning distance;

[0079] When the judgment result of step S1081 is no, that is, the distance between the obstacle and the inspection device is less than or equal to the warning distance, step S109 is executed.

[0080] Step S109: Generate warning information and control the inspection device to stop moving, so as to prevent accidents from happening to the inspection device during the inspection process and improve the safety of the inspection device.

[0081] In one possible implementation, Figure 1 As shown, the inspection device also includes: the inspection device also includes: a charging device installed on the inspection rail; a battery, the battery is configured to provide power for the inspection device; in this case, Figure 6 As shown, the inspection control method also includes:

[0082] Step S10: Obtaining the battery power;

[0083] Step S11; determine whether the battery power is greater than the preset power; when the judgment result in step S11 is no, that is, the battery power is less than or equal to the preset power, it means that the battery power in the inspection device is low and is insufficient to support the normal movement of the inspection device, so the battery needs to be charged, that is, execute step S12.

[0084] Step S12: Control the inspection device to move to the charging device. When the inspection device moves to the charging device, the charging device can charge the battery. After the battery is fully charged, the inspection device leaves the charging device.

[0085] In a possible implementation, the inspection device includes a plurality of inspection devices, and the plurality of inspection devices can slide on the inspection rail; in this case, Figure 7 As shown, the inspection control method also includes the following steps:

[0086] Step S20: Control the inspection device to slide within a preset area on the inspection rail. That is, control each inspection device to move within a preset area on the inspection rail. For example, when the inspection equipment includes two inspection devices, the first inspection device moves within the range from the center point of the inspection rail to one of two adjacent trains, and the second inspection device moves within the range from the center point of the inspection rail to the other train. By controlling the movement of the two inspection devices, it is possible to simultaneously obtain whether the container lock holes of the two containers are completely disengaged or fall into the FTR lock, thereby improving the inspection efficiency.

[0087] Exemplary patrol control device

[0088] Figure 8 FIG. 1 is a working principle diagram of a patrol control device provided in an embodiment of the present application. Figure 8 As shown, the inspection control device 10 includes:

[0089] The data acquisition module 11 is used to obtain the actual position information of the inspection device positioned by the positioning device on the inspection rail; and to obtain the image captured by the camera device;

[0090] The determination module 12 is used to determine whether the container lock hole of the container is completely disengaged or falls into the FTR lock according to the image, and generate result information; and obtain the attribute information of the container according to the actual position information of the inspection device on the inspection rail; and

[0091] The control module 13 is used to control the crane corresponding to the attribute information of the container to stop lifting the container when the result information indicates that the container lock hole of the container is not completely disengaged or falls into the FTR lock.

[0092] When the container is lifted from the train carriage by the crane, the inspection control device analyzes the pictures or videos taken by the camera device. When the inspection control device determines that the container lock hole is not completely disengaged or falls into the FTR lock based on the pictures or videos, the inspection control device will generate an early warning message and send the early warning message to the lifting control system. After receiving the early warning message, the lifting control system will control the crane to stop working, and can timely and accurately detect that the container lock hole is not completely disengaged or falls into the FTR lock, reducing the probability of safety accidents caused by the instability of the container during the lifting process due to the incomplete disengagement or fall into the FTR lock of the container lock hole. In addition, the inspection equipment cooperates with the rail crane to achieve collaborative operation, reducing manpower input.

[0093] Exemplary Inspection System

[0094] Fig. 9 FIG. 1 is a working principle diagram of a train yard automation system provided by an embodiment of the present application. Fig. 9 As shown, the train yard automation system includes: the above-mentioned inspection equipment 100; and the above-mentioned inspection control device 10, the inspection control device 10 is respectively connected to the crane 1, the positioning device 300, the camera device 400 and the inspection device 200 for communication.

[0095] Exemplary Electronic Devices

[0096] 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.

[0097] like Fig.10 As shown, the electronic device 600 includes one or more processors 601 and a memory 602 .

[0098] 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.

[0099] 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.

[0100] 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).

[0101] The input device 603 may include, for example, a keyboard, a mouse, etc.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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 according to various embodiments of the present application in this specification.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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. An inspection device, which is used to inspect the container lock hole and FTR lock during the lifting process of the container, characterized in that: The inspection equipment includes: An inspection rail is arranged between two adjacent train tracks, wherein the length extension direction of the inspection rail is parallel to the length extension direction of the train tracks; An inspection device and a positioning device fixed on the inspection device, wherein the positioning device is configured to locate actual position information of the inspection device on the inspection rail; and A camera device installed on the inspection device, wherein the camera device is configured to take pictures or videos of the container lock hole and the FTR lock of the container during the container is hoisted, wherein the pictures or videos are used to determine whether the container lock hole of the container is completely disengaged or falls into the FTR lock, and generate result information; At least one calibration plate is fixed on the inspection rail, and calibration position information of the calibration plate on the inspection rail is used to calibrate the actual position information to generate calibration position information of the inspection device on the inspection rail; the calibration position information of the inspection device on the inspection rail is used to obtain attribute information of the container, the attribute information includes railway track information where the container is located and specific position information of the container on the train; the attribute information is used to control the crane corresponding to the attribute information of the container to stop lifting the container when the result information is that the container lock hole of the container is not completely disengaged or falls into the FTR lock.

2. The inspection device according to claim 1, characterized in that: The inspection slide rail comprises an inspection slide rail body and a guide groove arranged on the side of the inspection slide rail body; Wherein, the inspection device comprises: Inspection device body; and A driving wheel and a guide wheel installed on the inspection device body; Wherein, the driving wheel can slide on the inspection slide rail body, and the guide wheel can slide in the guide groove.

3. The inspection device according to claim 2, characterized in that: The guide wheel comprises: A guide wheel body, wherein the guide wheel body can slide in the guide groove; A fixing member disposed on one side of the guide wheel body, the fixing member being configured to fix the guide wheel body to the inspection device body; and A retaining edge is arranged on one side of the guide wheel body, and an upper side surface of the retaining edge is higher than an upper side surface of the guide groove.

4. The inspection device according to claim 1, characterized in that: Also includes: A battery, the battery being electrically connected to the inspection device, and the battery being configured to provide electrical energy to the inspection device; as well as A charging device is installed on the inspection slide rail, and the charging device is configured to charge the battery.

5. The inspection device according to claim 1, characterized in that: Also includes: An inspection rail cleaning device, wherein the inspection rail cleaning device is installed at the front end of the inspection device, and the front end is the end of the inspection device in the forward direction; as well as A buffer device is installed at the front end of the inspection slide rail cleaning device.

6. The inspection device according to claim 1, characterized in that: Also includes: A laser scanner is installed at the front end of the inspection device.

7. A patrol inspection control method, applicable to the patrol inspection device according to claim 1, characterized in that: The inspection device further includes at least one calibration plate, which is fixed on the inspection rail. The inspection control method includes: Acquire actual position information of the inspection device positioned by the positioning device on the inspection rail; Acquire an image captured by the camera device, and determine whether the container lock hole of the container is completely disengaged or falls into the FTR lock based on the image, and generate result information; Calibrate the actual position information according to the calibration position information of the calibration plate on the inspection rail to generate the calibration position information of the inspection device on the inspection rail; Acquiring attribute information of the container according to the calibration position information of the inspection device on the inspection rail, the attribute information including the railway track information where the container is located and the specific position information of the container on the train; and When the result information indicates that the container lock hole of the container is not completely disengaged or falls into the FTR lock, the crane corresponding to the attribute information of the container is controlled to stop lifting the container.

8. The inspection control method according to claim 7, characterized in that: The inspection device further comprises: a laser scanner, which is mounted at the front end of the inspection device; Wherein, the inspection control method further includes: Acquiring laser scanning information obtained by the laser scanner scanning an area in the forward direction of the inspection device; and When it is determined according to the laser scanning information that the distance between the obstacle and the inspection device is less than or equal to the warning distance, a warning message is generated and the inspection device is controlled to stop moving.

9. The inspection control method according to claim 7, characterized in that: The inspection device further comprises: a charging device mounted on the inspection rail; a battery, wherein the battery is configured to provide electrical energy to the inspection device; Wherein, the inspection control method further includes: obtaining the power of the battery; and When the power level is less than or equal to a preset power level, the inspection device is controlled to move to the charging device.

10. The inspection control method according to claim 7, characterized in that: The inspection equipment includes a plurality of inspection devices, and the plurality of inspection devices can slide on the inspection slide rail; Wherein, the inspection control method further includes: The inspection device is controlled to slide within a preset area on the inspection slide rail.

11. A patrol control device, characterized in that: include: A data acquisition module, used to acquire actual position information of the inspection device positioned by the positioning device on the inspection slide rail; and obtaining an image captured by a camera device; a determination module, for determining whether the container lock hole of the container is completely disengaged or falls into the FTR lock according to the image, and generating result information; Calibrate the actual position information according to the calibration position information of the calibration plate on the inspection rail to generate the calibration position information of the inspection device on the inspection rail; Acquire attribute information of the container according to the calibration position information of the inspection device on the inspection rail, the attribute information including the railway track information where the container is located and the specific position information of the container on the train; as well as The control module is used to control the crane corresponding to the attribute information of the container to stop lifting the container when the result information indicates that the container lock hole of the container is not completely disengaged or falls into the FTR lock.

12. A train yard automation system, characterized in that: include: The inspection device according to any one of claims 1 to 6; as well as The inspection control device according to claim 11 is communicatively connected to the positioning device, the camera device and the inspection device respectively.

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