Container loading and unloading guiding method, device, system, equipment and container crane

Abstract

The present application relates to the technical field of logistics, and specifically to a container loading and unloading guidance method, device, system, equipment, and container crane. The container loading and unloading guidance method includes: obtaining scanning information obtained by scanning a container truck with a preset laser scanning device; wherein the laser scanning device is used to scan the container truck; based on the scanning information, determining target point information; the target point is the center of the container loaded on the container truck or the center of the loading area of ​​an empty container truck; based on the target point information, generating a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery; wherein the first adjustment instruction is used to guide the container truck to a position that is convenient for the lifting machinery to operate; and the second adjustment instruction is used to guide the lifting machinery to grab the container placed on the container truck or place a container on the container truck.

Description

Technical Field

[0001] The present application relates to the technical field related to logistics and transportation, and specifically to a container loading and unloading guiding method, device, system, equipment and container crane. Background Art

[0002] Automation of container terminal production is a future trend in port handling and is gaining attention from major ports worldwide. To achieve efficient container loading and unloading in automated container terminals, a solution for automatically controlling container loading and unloading is required.

[0003] In existing solutions, once a container truck enters a preset range, the system automatically controls the lifting machinery to load and unload containers. However, in some cases, when the container is loaded in an off-center position on the truck, loading the container using the lifting machinery is difficult. Summary of the Invention

[0004] In view of this, the embodiments of the present application are directed to providing a container loading and unloading guiding method, device, system, equipment and container crane to guide container trucks and yard cranes to load and unload containers.

[0005] According to a first aspect of an embodiment of the present application, a container loading and unloading guiding method is provided, the method comprising:

[0006] Obtaining scanning information obtained by scanning the container truck using a preset laser scanning device; wherein the laser scanning device is used to scan the container truck;

[0007] Based on the scanning information, information of a target point is determined; the target point is the center of the container loaded on the container truck or the center of the loading area of ​​an empty container truck;

[0008] Based on the target point information, a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery are generated;

[0009] The first adjustment instruction is used to guide the container truck to move to a position convenient for the lifting machinery to operate; the second adjustment instruction is used to guide the lifting machinery to grab the container placed on the container truck or place the container on the container truck.

[0010] In one embodiment, determining target point information based on the scanning information includes:

[0011] Based on the scan information, determining whether the container truck is empty;

[0012] If the container truck is empty, the center of the cargo area of ​​the empty container truck is determined as the target point; otherwise, the center of the container loaded on the container truck is determined as the target point.

[0013] In one embodiment, determining the center of the container loaded on the container truck as the target point includes:

[0014] Determining the number of containers loaded on the container truck;

[0015] Make sure the center of each container is the target point.

[0016] In one embodiment, the laser scanning device includes a first laser scanner for scanning the side of the container truck; the first laser scanner is arranged on the lifting machine, close to a component in the direction in which the container truck is traveling;

[0017] The projection of the normal vector of the plane scanned by the first laser scanner on the ground is parallel to or overlaps with the travel direction of the container truck, and the angle between the plane scanned by the first laser scanner and the ground is less than 90 degrees;

[0018] Determining the number of containers loaded on the container truck includes:

[0019] determining the number of containers loaded on the container truck based on the degree of coherence of the point cloud data in the first scanning information;

[0020] The first scanning information is obtained by scanning the side of the container truck by the first laser scanner.

[0021] In one embodiment, the laser scanning device includes a first laser scanner for scanning the side of the container truck and a second laser scanner for scanning the top surface of the container truck; the first laser scanner is installed on the lifting machinery, close to the component in the direction of the container truck; the projection of the normal vector of the plane scanned by the first laser scanner on the ground is parallel to or overlaps with the direction of travel of the container truck, and the angle between the plane scanned by the first laser scanner and the ground is less than 90 degrees; the second laser scanner is used to scan the centerline of the top of the container truck;

[0022] Determining the center of each container as the target point includes:

[0023] Based on the first scanning information and the second scanning information, determining a first angle, top surface information, and height information of each container; the first angle is the angle between the container and the ground; the height information is the height of the container;

[0024] determining information about the center of the container based on the first angle, the height information, and the top surface information;

[0025] The first scanning information is obtained by scanning the side of the container truck with the first laser scanner; and the second scanning information is obtained by scanning the center line of the top of the container truck with the second laser scanner.

[0026] In one embodiment, generating a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery based on the target point includes:

[0027] Based on the first distance, generating a first adjustment instruction for guiding the container truck;

[0028] Wherein, the first distance is the distance between the projection of the target point and the preset point on the first straight line; the first straight line is a straight line parallel to the center line of the container truck; the first adjustment instruction is used to guide the first distance to 0;

[0029] generating a second adjustment instruction for guiding the lifting machinery based on the second distance;

[0030] The second distance is the distance between the target point and its projection on a second straight line at the location of the lifting device of the lifting machinery; the second straight line is a straight line perpendicular to the center line of the container truck and parallel to the ground; the second adjustment instruction is used to guide the second distance to 0.

[0031] In one embodiment, it further includes:

[0032] Based on the scan information, a second angle is determined; the second angle is the angle between the side of the container and the centerline of the truck.

[0033] Based on the second angle, a third adjustment instruction is generated; the third adjustment instruction is used to guide the lifting machinery to move, so that the lifting machinery grabs the container placed on the container truck or places a container on the container truck.

[0034] According to a second aspect of an embodiment of the present application, a container loading and unloading guiding device is provided, comprising:

[0035] An acquisition module, configured to acquire scanning information obtained by a preset laser scanning device scanning a container truck; wherein the laser scanning device is configured to scan the container truck;

[0036] A determination module, configured to determine information of a target point based on the scanning information; the target point is the center of a container loaded on the container truck or the center of a loading area of ​​an empty container truck;

[0037] A generating module, configured to generate, based on the target point information, a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery;

[0038] The first adjustment instruction guides the movement of the container truck, and the second adjustment instruction is used to guide the movement of the lifting machinery so that the lifting machinery grabs the container placed on the container truck or places the container on the container truck.

[0039] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; and the processor for executing a method according to any one of the above embodiments.

[0040] According to a fourth aspect of the embodiments of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute the method of any of the above embodiments.

[0041] According to a fifth aspect of an embodiment of the present application, there is provided a container loading and unloading guidance system, comprising: a controller and a laser scanning device provided on a lifting machine;

[0042] The laser scanning device is used to scan the container truck, obtain scanning information, and send the scanning information to the controller;

[0043] The controller is configured to obtain scanning information obtained by a preset laser scanning device scanning a container truck; wherein the laser scanning device is configured to scan the container truck; determine target point information based on the scanning information; the target point is the center of a container loaded on the container truck or the center of a loading area of ​​an empty container truck; and generate a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding a lifting mechanism based on the target point information;

[0044] The first adjustment instruction is used to guide the container truck to move to a position convenient for the lifting machinery to operate; the second adjustment instruction is used to guide the lifting machinery to grab the container placed on the container truck or place the container on the container truck.

[0045] According to a sixth aspect of an embodiment of the present application, there is provided a container crane, comprising:

[0046] Crane body;

[0047] A laser scanning device provided on the crane body;

[0048] The controller is in communication with the laser scanning device and is used to execute the above container loading and unloading guidance method.

[0049] A container loading and unloading guidance method provided in an embodiment of the present application first obtains scanning information obtained by scanning a container truck by a preset laser scanning device; wherein, the laser scanning device is used to scan the container truck; thereafter, based on the scanning information, information of a target point is determined; the target point is the center of a container loaded on the container truck or the center of a loading area of ​​an empty container truck; based on the target point information, a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding a lifting machine are generated; wherein, the first adjustment instruction guides the movement of the container truck, and the second adjustment instruction is used to guide the action of the lifting machine so that the lifting machine grabs the container placed on the container truck or places a container on the container truck. With such an arrangement, the scanning information obtained by scanning the container truck based on the laser scanning device can be used; then, based on this information, the container truck and the lifting machinery are guided to move to complete the grabbing of the container on the container truck or place the container on the container truck. Compared with the existing solution that only controls the lifting machinery to load and unload the container, the solution provided by the present application can simultaneously control the container truck and the lifting machinery to load and unload the container, so that the position of the container can be adjusted by controlling the container truck so that the lifting machinery can grab the container. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended 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 drawings, the same reference numerals generally represent the same components or steps.

[0051] Figure 1 Shown is a structural schematic diagram of a container loading and unloading guidance system provided in an embodiment of the present application.

[0052] Figure 2 The figure shows a schematic diagram of point cloud data of a first laser scanner in a container loading and unloading guidance system provided by one embodiment of the present application.

[0053] Figure 3 The figure shows a schematic diagram of point cloud data of a second laser scanner in a container loading and unloading guidance system provided by one embodiment of the present application.

[0054] Figure 4 Shown is a structural schematic diagram of a container loading and unloading guidance system provided in an embodiment of the present application.

[0055] Figure 5 Shown is a flow chart of a container loading and unloading guidance method provided in one embodiment of the present application.

[0056] Figure 6Shown is a flow chart of a container loading and unloading guidance method provided in one embodiment of the present application.

[0057] Figure 7 Shown is a flow chart of a container loading and unloading guidance method provided in one embodiment of the present application.

[0058] Figure 8 Shown is a flow chart of a container loading and unloading guidance method provided in one embodiment of the present application.

[0059] Figure 9 Shown is a flow chart of a container loading and unloading guidance method provided in one embodiment of the present application.

[0060] Figure 10 Shown is a block diagram of a container loading and unloading guiding device provided by one embodiment of the present application.

[0061] Figure 11 Shown is a structural block diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0063] Application Overview

[0064] Automation of container terminal operations is a future trend in port loading and unloading, attracting significant attention from major ports worldwide. Efficient container loading and unloading in automated container terminals requires guidance of container trucks and yard cranes. Existing solutions automatically control the lifting machinery to load and unload containers once the truck enters a preset range. However, in some cases, when the container is positioned off-center on the truck, loading the container using the lifting machinery can be challenging.

[0065] In order to solve the above problems, an embodiment of the present application provides a container loading and unloading guidance method, which is based on the scanning information obtained by scanning the container truck with a laser scanning device; then, based on this information, the container truck and the lifting machinery are guided to move to complete the grabbing of the container on the container truck or place the container on the container truck. Compared with the existing solution of only controlling the lifting machinery to load and unload the container, the solution provided by the present application can simultaneously control the container truck and the lifting machinery to load and unload the container, so that the position of the container can be adjusted by controlling the container truck so that the lifting machinery can grab the container. Compared with the solution in which the position of the container truck and the action of the lifting machinery are determined by the staff, the solution provided by the present application improves the degree of automation of container loading and unloading, saves the time of the staff in determining the position of the container truck and the action of the lifting machinery, and improves the efficiency of container loading and unloading.

[0066] After introducing the basic principles of the present application, various non-limiting embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0067] Exemplary container handling guidance system

[0068] Figure 1 This is a structural diagram of a container loading and unloading guidance system provided by an embodiment of the present application. Figure 1 As shown, the container loading and unloading guidance system can be applied to locations such as container terminals. Specifically, the container loading and unloading guidance system includes: a controller 1 and a laser scanning device 2 provided on a lifting machine;

[0069] The controller 1 can be installed on the lifting machine or independently installed. The controller 1 is connected to the laser scanning device 2 for communication.

[0070] Taking the actual laser scanning device 2 as an example, the lifting machine can be a yard crane, and the laser scanning device 2 includes a first laser scanner 21 and a second laser scanner 22 for scanning the side of the container truck; the first laser scanner 21 is set on the lifting machine, close to the component in the direction of the container truck; specifically, Figure 2 Schematic diagram of the scanning position of the first laser scanner 21. Figure 2 The projection of the normal vector of the plane scanned by the first laser scanner 21 on the ground is parallel to or overlaps with the driving direction of the container truck, and the angle between the plane scanned by the first laser scanner 21 and the ground is less than 90 degrees; the second laser scanner 22 is set on a component of a preset height on the lifting machinery, specifically, the second laser scanner 22 can be set on the support leg, Figure 3 Schematic diagram of the scanning position of the second laser scanner 22. Figure 3The second laser scanner 22 is used to scan the centerline of the top of the container truck. In this way, the laser scanning device 2 can obtain more comprehensive information about the container truck, so as to determine the location of placing or grabbing a container based on the scanning information obtained by the laser scanning device 2.

[0071] Specifically, when the lifting machinery is a yard crane, the first laser scanner 21 can be installed on the yard crane saddle beam at a height of 2-3.5m near the rear of the vehicle, and scan vertically in the direction of the lane; the second laser scanner 22 is installed on the vehicle leg at a height of 4.5-5.5m near the front of the vehicle, and the scanning direction is parallel to the center line of the lane.

[0072] Specifically, the controller 1 is configured to obtain scanning information obtained by a preset laser scanning device 2 scanning a container truck; the laser scanning device 2 is configured to scan the container truck; based on the scanning information, information about a target point is determined; the target point is the center of a loaded container on the container truck or the center of the cargo area of ​​an empty container truck; based on the target point information, a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting mechanism are generated; the first adjustment instruction is configured to guide the container truck to a position convenient for the lifting mechanism to operate; and the second adjustment instruction is configured to guide the lifting mechanism to grab a container placed on the container truck or place a container on the container truck. In this configuration, the controller 1 can direct the movement of the container truck and the lifting mechanism based on the scanning information to complete the grabbing of a container on the container truck or the placement of a container on the container truck. Compared to existing solutions in which workers determine the position of the container truck and the action of the lifting mechanism, the solution provided by the present application improves the automation level of container loading and unloading, saves workers' time in determining the position of the container truck and the action of the lifting mechanism, and improves the efficiency of container loading and unloading.

[0073] In one embodiment, referring to Figure 4 The container loading and unloading guidance system may also include: a switch 3 and a display screen 4. The controller 1 may be a server 11 in the cloud, and the display screen 4 may be set at the work site. Specifically, the display screen 4 may be, but is not limited to, an LED screen. The switch 3 is respectively connected to the "server 11", the "laser scanning device 2" and the "display screen 4". Of course, the switch 3 can also be connected to the lifting machinery or the container truck to complete the data interaction between the various modules. Specifically, after the laser scanning device 2 collects the data, it will send the data to the server 11. The server 11 generates a first control instruction and a second control instruction based on the scanning information, and then sends the first control instruction and the second control instruction to the display screen 4 for display for relevant personnel to view, or directly sends it to the "lifting machinery or container truck" to guide the lifting machinery to grab the container placed on the container truck or place the container on the container truck.

[0074] It should be noted that, when the container truck is an unmanned container truck, the first adjustment instruction can be directly sent to the unmanned container truck based on the switch 3, and the unmanned container truck grabs or unloads the container based on the first adjustment instruction.

[0075] When the lifting machine is an unmanned lifting machine, the second adjustment instruction can be directly sent to the unmanned lifting machine based on the switch 3, and the unmanned lifting machine grabs or unloads the container based on the second adjustment instruction.

[0076] Exemplary Methods

[0077] Figure 5 It is a flow chart of a container loading and unloading guidance method provided in one embodiment of the present application. Figure 5 The method can be performed by an exemplary container loading and unloading guidance system, which is not limited in the present embodiment. Figure 5 As shown, the container loading and unloading guiding method includes the following contents.

[0078] S510, obtaining scanning information obtained by scanning the container truck using a preset laser scanning device; wherein the laser scanning device is used to scan the container truck;

[0079] Reference Figure 2 The projection of the normal vector of the plane scanned by the first laser scanner on the ground is parallel to or overlaps with the driving direction of the container truck, and the angle between the plane scanned by the first laser scanner and the ground is less than 90 degrees. With this configuration, in actual application, the vehicle will drive into the preset area beside the lifting machinery. During the vehicle's formation, the first laser scanner can complete the scanning of the vehicle's side. Specifically, as shown in the straight line P in 2 a P d The plane perpendicular to the side of the vehicle is the plane scanned by the first laser scanner.

[0080] Reference Figure 3 The second laser scanner is used to scan the centerline of the truck's roof. In practice, the height of a truck loaded with containers is roughly determinable. Therefore, when installing the second laser scanner, its height and angle can be set based on the height of the truck's roof, ensuring it can scan the centerline of the truck's roof. The first scan is obtained by scanning the side of the truck with the first laser scanner; the second scan is obtained by scanning the centerline of the truck's roof with the second laser scanner.

[0081] S520, determining target point information based on the scanning information;

[0082] It should be noted that the target point refers to the point that needs to be moved to a preset position during control. Generally, when unloading a container, the center of the cargo loaded on the container truck can be defined as the target point. When loading cargo, the center of the container truck's loading area can be defined as the center.

[0083] S530, generating a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery based on the target point information;

[0084] Among them, the first adjustment instruction is used to guide the container truck to move to a position convenient for the lifting machinery to operate; the second adjustment instruction is used to guide the lifting machinery to grab the container placed on the container truck or place the container on the container truck.

[0085] In the solution provided in the embodiment of the present application, scanning information can be obtained by scanning the container truck with a laser scanning device; then, based on this information, the container truck and the lifting machinery are guided to move to complete the grabbing of the container on the container truck or the placement of the container on the container truck. Compared with the existing solution in which the staff determines the position of the container truck and the action of the lifting machinery, the solution provided by the present application improves the degree of automation of loading and unloading containers, saves the time of the staff in determining the position of the container truck and the action of the lifting machinery, and improves the efficiency of loading and unloading containers.

[0086] In one embodiment, referring to Figure 6 Step S520 may specifically include:

[0087] S521, based on the scan information, determining whether the container truck is empty;

[0088] It should be noted that at a container terminal, during normal operation, container trucks can be in three states: empty, loaded with one container, or loaded with multiple containers. Loading multiple containers typically refers to loading two containers. Because the loading platform of a container truck is open and can be directly scanned, it is possible to directly determine whether the container truck is empty based on the scan information. Specifically, the side of the container truck can be scanned, and the point cloud data generated during the scan can be used to determine whether the container truck is empty.

[0089] S522: If the container truck is empty, the center of the cargo area of ​​the empty container truck is determined as the target point; otherwise, the center of the container loaded on the container truck is determined as the target point.

[0090] With this setting, the target point can be identified based on the status of the container truck, and the container truck and lifting machinery can be controlled in a targeted manner.

[0091] It should be noted that when determining the center of a container loaded on a container truck as the target point, it is necessary to first determine the number of containers loaded on the container truck, and then determine the center of each container as the target point. With this configuration, when a container truck is loaded with multiple containers, multiple target points can be determined. Then, based on each target point, the lifting machinery and container truck are controlled so that the lifting machinery can complete the unloading of each container on the container truck.

[0092] In one embodiment, the laser scanning device includes a first laser scanner for scanning the side of the container truck; the first laser scanner is mounted on the lifting mechanism, near a component in the direction of the container truck's approach; the projection of the normal vector of the plane scanned by the first laser scanner on the ground is parallel to or overlaps with the direction of travel of the container truck, and the angle between the plane scanned by the first laser scanner and the ground is less than 90 degrees. Preferably, the angle between the plane scanned by the first laser scanner and the ground can be 45 degrees. Accordingly, in step S522, "determining the center of the container loaded on the container truck as the target point" specifically includes:

[0093] determining the number of containers loaded on the container truck based on the degree of consistency of the point cloud data in the first scanning information;

[0094] The first scanning information is obtained by scanning the side of the container truck by the first laser scanner.

[0095] It should be noted that when multiple containers are loaded on a truck, there are gaps between the containers. Based on this, when the first laser scanner point cloud data is converted from polar coordinates to rectangular coordinates to generate a point set A{(x1, y1, z1), (x2, y2, z2)…(x n ,y n , z n )}Realize the function of identifying the front and rear tilt angles of double boxes and container tops, as well as the tilt angles relative to the driving direction of the container truck. Among them, the x-axis of the rectangular coordinate system is parallel to the ground and perpendicular to the direction of the vehicle; the y-axis of the rectangular coordinate system is parallel to the ground and parallel to the direction of the vehicle; the z-axis of the rectangular coordinate system is perpendicular to the ground. The position of the first laser scanner is selected as the origin. It should be noted that in actual applications, we do not limit the selection of the various axes and origins of the rectangular coordinate system. The different rectangular coordinate systems selected only change the data brought in during the calculation, rather than affecting the overall logic of the calculation. Selecting a suitable rectangular coordinate system can simplify the calculation steps. Furthermore, the second laser scanner can convert data with the first laser scanner based on a rectangular coordinate system.

[0096] Taking the identification of double boxes as an example, the identification method of double boxes includes: Figure 2 If P appears in the point cloud during the truck guidance processb (x b ,y b , z b ), P c (x c ,y c , z c ) after the discontinuity, point cloud recording is started, and P is determined based on the historical point cloud and current point cloud data. b (x b ,y b , z b ), P c (x c ,y c , z c If the movement direction and displacement of the truck are consistent with the displacement determined by the second laser scanner, it is determined to be a double container. It should be noted that if the displacement (distance and direction of the truck's movement) determined by the second laser scanner is consistent, it can be considered that there is an error in the recognition. This setting can ensure the accuracy of the judgment.

[0097] It should be noted that, referring to Figure 3 , based on the data collected by the second laser scanner, point P m (x m ,y m ) or click P n (x n ,y n )’s trajectory determines the displacement of the truck (the distance and direction the truck moves).

[0098] In one embodiment, correspondingly, referring to Figure 7 In S522, “determining the center of the container loaded on the container truck as the target point” specifically includes:

[0099] S710, based on the first scanning information and the second scanning information, determining a first angle, top surface information, and height information of each container; the first angle is the angle between the container and the ground; the height information is the height of the container;

[0100] It should be noted that the first angle of each container is determined, that is, the front and rear tilt angle of the container top is determined: Specifically, P can be recorded during the container truck guidance process. d (x d ,y d , z d ) height and the position of the truck in the direction of travel. When the recorded length of the truck in the direction of travel meets the set threshold, the recorded P d (x d ,y d , z d) point set C{(x1, y1, z1), (x2, y2, z2)…(x n ,y n , z n )} is projected onto the vertical plane parallel to the center line of the lane and perpendicular to the ground, i.e., the main view projection, and the point set C1{(y1, z1), (y2, z2)…(y n , z n )}, then straight line fitting, to obtain the equation of the line:

[0101] z=ky+b

[0102] in

[0103]

[0104]

[0105] Based on the above method, the front and rear tilt angles atan(k) of the container roof can be calculated.

[0106] Specific methods for determining top surface information include:

[0107] According to the point cloud data of scanner B, polar coordinates are converted to rectangular coordinates and a top-down projection is performed to generate a point cloud set B {(x1, y1), (x2, y2)…(x n ,y n )}, from which the container boundary is obtained to obtain the boundary point P e (x e ,y e ) and point P f (x f ,y f ), combined with the perpendicular relationship between the long side and the wide side of the container, the following formula is shown:

[0108] k×k′=1

[0109] Where k = -a / b

[0110] Obtain the equations of the two container width lines y = k'x + c and y = k'x + d, and then calculate the following equations based on the container boundary line equations obtained above: Figure 3 The container diagonal point P shown h (x f ,y h ) and P i (x i ,y i ), find P h (x f ,y h ) and P i (x i ,y i), which is the center point P of the top surface m (x m ,y m ),Right now:

[0111]

[0112]

[0113] S720, determining information about the center of the container based on the first angle, the height information, and the top surface information;

[0114] Among them, the center point P of the top surface m (x m ,y m )x m That is the coordinate of the center of the container in the x-axis direction.

[0115] The height of the container can then be determined based on the scanned information. After determining the height and the first angle information, the compensation value Db of the first angle relative to the center point of the top surface and the center of the container on the y-axis (vehicle direction) can be determined using trigonometric functions. In this way, the coordinate of the target point on the y-axis can be considered to be y m +D b .

[0116] It should be noted that the attached figure is based on a container truck loaded with one container, but in actual application, a container truck can be loaded with multiple containers. When a container truck is loaded with multiple containers, the center information of each container can be determined separately.

[0117] For an empty container, the target center point is determined as follows:

[0118] When the container truck does not carry a box, according to the scanner B point cloud set B{(x1, y1), (x2, y2)…(x n ,y n )}Get the trailer boundary point P m (x m ,y m ) and point P n (x n ,y n ), find P m (x m ,y m ) and point P n (x n ,y n ), which is the target center point P m (x m ,y m ).

[0119] Further, refer to Figure 8 In S530, “generating a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery based on the target point information” includes:

[0120] S531: generating a first adjustment instruction for guiding the container truck based on the first distance;

[0121] The first distance is the distance between the target point and the projection of the preset point on the first straight line; the first straight line is a straight line parallel to the center line of the container truck; the first adjustment instruction is used to guide the first distance to 0;

[0122] Take the defined coordinate system as an example: when the origin of the rectangular coordinate is the plane where the bridge is located, it can be considered that x m is the first distance.

[0123] S532: generating a second adjustment instruction for guiding the lifting machinery based on the second distance;

[0124] Among them, the second distance is the distance between the target point and the projection on the second straight line at the position of the lifting machinery's spreader; the second straight line is a straight line perpendicular to the center line of the container truck and parallel to the ground; the second adjustment instruction is used to guide the second distance to 0.

[0125] Take the defined coordinate system as an example: when the hoisting equipment is calibrated in this coordinate system, the y-axis coordinate can be used as the initial compensation D0, and the second distance p in the direction of the truck's travel is as follows:

[0126] P=y m +D b -D0

[0127] Furthermore, in the actual control process, the spreader of the bridge can be rotated. In order to better grab the container, the angle between the side of the container and the center line of the container truck can be determined in advance, and then the spreader can be rotated based on the angle to accurately grab the container. Based on this, refer to Figure 9 The container loading and unloading guidance method provided in the embodiment of the present application further includes:

[0128] S910, determining a second angle based on the scanning information; the second angle is the angle between the side of the container and the centerline of the container truck.

[0129] Filter point set C{(x1, y1, z1), (x2, y2, z2)…(x n ,y n , z n )} in Pa(xa, ya, za) and P d (x d ,y d , z d) point cloud data between the points are projected downward to obtain the point set C2{(x1, y1), (x2, y2)…(x n ,y n )}, and then perform linear fitting to obtain the linear equation of the inner long side of the container:

[0130] ax+by+c=0

[0131] The angle atan (-a / b) between the container truck and the container truck's travel direction is the inclination angle θ relative to the container truck's travel direction.

[0132] S920: Generate a third adjustment instruction based on the second angle; the third adjustment instruction is used to guide the lifting machinery to move, so that the lifting machinery grabs the container placed on the container truck or places the container on the container truck.

[0133] In this way, the solution provided in the embodiment of the present application can accurately guide the lifting machinery to grab the container on the container truck.

[0134] Exemplary devices

[0135] The device embodiments of this application can be used to execute the method embodiments of this application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

[0136] Figure 10 The figure shows a block diagram of a container loading and unloading guiding device provided by one embodiment of the present application. Figure 10 As shown, the device includes:

[0137] The acquisition module 1001 is used to acquire scanning information obtained by scanning the container truck using a preset laser scanning device; wherein the laser scanning device is used to scan the container truck;

[0138] The determination module 1002 is used to determine the target point information based on the scanning information; the target point is the center of the container loaded on the container truck or the center of the loading area of ​​the empty container truck;

[0139] A generating module 1003 is configured to generate a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery based on the target point information;

[0140] The first adjustment instruction guides the movement of the container truck, and the second adjustment instruction is used to guide the movement of the lifting machinery so that the lifting machinery grabs the container placed on the container truck or places the container on the container truck.

[0141] In one embodiment, the determination module 1002 is specifically configured to determine whether the container truck is empty based on the scan information;

[0142] If the container truck is empty, the center of the loading area of ​​the empty container truck is determined as the target point; otherwise, the center of the container loaded on the container truck is determined as the target point.

[0143] In one embodiment, when the determination module determines the center of the container loaded on the container truck as the target point, it is specifically configured to:

[0144] Determine the number of containers loaded on the truck;

[0145] Make sure the center of each container is the target point.

[0146] The laser scanning device includes a first laser scanner for scanning the side of the container truck; the first laser scanner is arranged on the lifting machine, close to the component in the direction of the container truck;

[0147] The projection of the normal vector of the plane scanned by the first laser scanner on the ground is parallel to or overlaps with the travel direction of the container truck, and the angle between the plane scanned by the first laser scanner and the ground is less than 90 degrees;

[0148] Determining the number of containers loaded on a truck includes:

[0149] determining the number of containers loaded on the container truck based on the degree of consistency of the point cloud data in the first scanning information;

[0150] The first scanning information is obtained by scanning the side of the container truck by the first laser scanner.

[0151] In one embodiment, the laser scanning device includes a first laser scanner for scanning the side of the container truck and a second laser scanner for scanning the top surface of the container truck; the first laser scanner is installed on the lifting machine, close to the component in the direction of the container truck; the projection of the normal vector of the plane scanned by the first laser scanner on the ground is parallel to or overlaps with the direction of travel of the container truck, and the angle between the plane scanned by the first laser scanner and the ground is less than 90 degrees; the second laser scanner is used to scan the centerline of the top of the container truck;

[0152] Determining the center of each container as the target point includes:

[0153] Based on the first scanning information and the second scanning information, determining a first angle, top surface information, and height information of each container; the first angle is the angle between the container and the ground; the height information is the height of the container;

[0154] determining information about the center of the container based on the first angle, the height information, and the top surface information;

[0155] The first scanning information is obtained by scanning the side of the container truck by the first laser scanner; the second scanning information is obtained by scanning the center line of the top of the container truck by the second laser scanner.

[0156] In one embodiment, the generating module 1003 is specifically configured to include:

[0157] Based on the first distance, generating a first adjustment instruction for guiding the container truck;

[0158] The first distance is the distance between the target point and the projection of the preset point on the first straight line; the first straight line is a straight line parallel to the center line of the container truck; the first adjustment instruction is used to guide the first distance to 0;

[0159] generating a second adjustment instruction for guiding the lifting machinery based on the second distance;

[0160] Among them, the second distance is the distance between the target point and the projection on the second straight line at the position of the lifting machinery's spreader; the second straight line is a straight line perpendicular to the center line of the container truck and parallel to the ground; the second adjustment instruction is used to guide the second distance to 0.

[0161] In one embodiment, the determination module 1002 is further configured to determine a second angle based on the scan information; the second angle is the angle between the side of the container and the centerline of the truck.

[0162] The generating module 1003 is further configured to generate a third adjustment instruction based on the second angle; the third adjustment instruction is configured to guide the action of the lifting machinery so that the lifting machinery grabs the container placed on the container truck or places the container on the container truck.

[0163] Exemplary electronic devices

[0164] See also Figure 11 , Figure 11 For a structural block diagram of an electronic device provided by an embodiment of the present invention, see Figure 11 As shown, it may include: at least one processor 1110 , at least one communication interface 1120 , at least one memory 1130 and at least one communication bus 1140 .

[0165] In the embodiment of the present invention, the number of the processor 1110, the communication interface 1120, the memory 1130, and the communication bus 1140 is at least one, and the processor 1110, the communication interface 1120, and the memory 1130 communicate with each other through the communication bus 1140; obviously, Figure 11 The illustrated communication connections of the processor 1110 , communication interface 1120 , memory 1130 , and communication bus 1140 are merely optional.

[0166] The processor 1110 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0167] The memory 1130 stores application programs and may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage.

[0168] The processor 1110 is specifically configured to execute an application program in the memory to implement any embodiment of the container loading and unloading guidance method.

[0169] Exemplary computer program products and computer-readable storage media

[0170] 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 instructions. When the computer program instructions are executed by a processor, the processor executes the steps of the container loading and unloading guidance method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0171] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0172] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the processor executes the steps of the container loading and unloading guidance method according to various embodiments of the present application described in the above “Exemplary Method” section of this specification.

[0173] Computer readable storage media 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, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. 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 thereof.

[0174] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A container loading and unloading guiding method, characterized in that: include: Obtaining scanning information obtained by scanning the container truck using a preset laser scanning device; wherein the laser scanning device is used to scan the container truck; Based on the scanning information, information of a target point is determined; the target point is the center of the container loaded on the container truck or the center of the loading area of ​​an empty container truck; Based on the target point information, a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery are generated; The first adjustment instruction is used to guide the container truck to move to a position convenient for the lifting machinery to operate; the second adjustment instruction is used to guide the lifting machinery to grab the container placed on the container truck or place the container on the container truck; The generating, based on the target point, a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery includes: Based on the first distance, generating a first adjustment instruction for guiding the container truck; Wherein, the first distance is the distance between the projection of the target point and the preset point on the first straight line; the first straight line is a straight line parallel to the center line of the container truck; the first adjustment instruction is used to guide the first distance to 0; generating a second adjustment instruction for guiding the lifting machinery based on the second distance; The second distance is the distance between the target point and its projection on a second straight line at the location of the lifting device of the lifting machinery; the second straight line is a straight line perpendicular to the center line of the container truck and parallel to the ground; the second adjustment instruction is used to guide the second distance to 0.

2. The container loading and unloading guiding method according to claim 1, characterized in that: The information of the target point is determined based on the scanning information, including: Based on the scan information, determining whether the container truck is empty; If the container truck is empty, the center of the cargo area of ​​the empty container truck is determined as the target point; otherwise, the center of the container loaded on the container truck is determined as the target point.

3. The container loading and unloading guiding method according to claim 2, characterized in that: Determining the center of the container loaded on the container truck as the target point includes: Determining the number of containers loaded on the container truck; Make sure the center of each container is the target point.

4. The container loading and unloading guiding method according to claim 3, characterized in that: The laser scanning device includes a first laser scanner for scanning the side of the container truck; the first laser scanner is installed on the lifting machine; the projection of the normal vector of the plane scanned by the first laser scanner on the ground is parallel to or overlaps with the travel direction of the container truck, and the angle between the plane scanned by the first laser scanner and the ground is less than 90 degrees; Determining the number of containers loaded on the container truck includes: determining the number of containers loaded on the container truck based on the degree of coherence of the point cloud data in the first scanning information; The first scanning information is obtained by scanning the side of the container truck by the first laser scanner.

5. The container loading and unloading guiding method according to claim 3, characterized in that: The laser scanning device includes a first laser scanner for scanning the side of the container truck and a second laser scanner for scanning the top of the container truck; the first laser scanner is installed on the lifting machinery; the projection of the normal vector of the plane scanned by the first laser scanner on the ground is parallel to or overlaps with the travel direction of the container truck, and the angle between the plane scanned by the first laser scanner and the ground is less than 90 degrees; the second laser scanner is used to scan the centerline of the top of the container truck; Determining the center of each container as the target point includes: Based on the first scanning information and the second scanning information, determining a first angle, top surface information, and height information of each container; the first angle is the angle between the container and the ground; the height information is the height of the container; determining information about the center of the container based on the first angle, the height information, and the top surface information; The first scanning information is obtained by scanning the side of the container truck with the first laser scanner; and the second scanning information is obtained by scanning the center line of the top of the container truck with the second laser scanner.

6. The container loading and unloading guiding method according to claim 1, characterized in that: Also includes: Determine a second angle based on the scan information; the second angle is the angle between the side of the container and the centerline of the truck; Based on the second angle, a third adjustment instruction is generated; the third adjustment instruction is used to guide the lifting machinery to move, so that the lifting machinery grabs the container placed on the container truck or places a container on the container truck.

7. A container loading and unloading guide device, characterized in that: include: An acquisition module, configured to acquire scanning information obtained by a preset laser scanning device scanning a container truck; wherein the laser scanning device is configured to scan the container truck; A determination module, configured to determine information of a target point based on the scanning information; the target point is the center of a container loaded on the container truck or the center of a loading area of ​​an empty container truck; A generation module is configured to generate, based on the target point information, a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding the lifting machinery; the generating of the first adjustment instruction for guiding the container truck and the second adjustment instruction for guiding the lifting machinery based on the target point includes: generating the first adjustment instruction for guiding the container truck based on a first distance; wherein the first distance is the distance between the target point and a projection of a preset point on a first straight line; the first straight line is a straight line parallel to the center line of the container truck; the first adjustment instruction is used to guide the first distance to be 0; generating the second adjustment instruction for guiding the lifting machinery based on the second distance; wherein the second distance is the distance between the target point and a projection of a sling of the lifting machinery on a second straight line; the second straight line is a straight line perpendicular to the center line of the container truck and parallel to the ground; the second adjustment instruction is used to guide the second distance to be 0; The first adjustment instruction guides the movement of the container truck, and the second adjustment instruction is used to guide the movement of the lifting machinery so that the lifting machinery grabs the container placed on the container truck or places the container on the container truck.

8. An electronic device comprising: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the method according to any one of claims 1 to 7. 9 . A computer-readable storage medium having computer program instructions stored thereon, wherein when the computer program instructions are executed by a processor, the processor is caused to perform the method according to claim 1 .

10. A container loading and unloading guidance system, characterized in that: include: A controller and a laser scanning device provided on the lifting machinery; The laser scanning device is used to scan the container truck, obtain scanning information, and send the scanning information to the controller; The controller is configured to obtain scanning information obtained by a preset laser scanning device scanning a container truck; wherein the laser scanning device is configured to scan the container truck; based on the scanning information, information of a target point is determined; the target point is the center of a container loaded on the container truck or the center of a loading area of ​​an empty container truck; based on the target point information, a first adjustment instruction for guiding the container truck and a second adjustment instruction for guiding a lifting machine are generated; the generating of the first adjustment instruction for guiding the container truck and the second adjustment instruction for guiding the lifting machine based on the target point includes: generating the first adjustment instruction for guiding the container truck based on a first distance; wherein the first distance is the distance between the target point and a projection of a preset point on a first straight line; the first straight line is a straight line parallel to the center line of the container truck; the first adjustment instruction is configured to guide the first distance to zero; generating the second adjustment instruction for guiding the lifting machine based on the second distance; wherein the second distance is the distance between the target point and a projection of a sling of the lifting machine on a second straight line; the second straight line is a straight line perpendicular to the center line of the container truck and parallel to the ground; the second adjustment instruction is configured to guide the second distance to zero; The first adjustment instruction is used to guide the container truck to move to a position convenient for the lifting machinery to operate; the second adjustment instruction is used to guide the lifting machinery to grab the container placed on the container truck or place the container on the container truck.

11. A container crane, characterized in that: include: Crane body; A laser scanning device provided on the crane body; The controller communicatively connected to the laser scanning device is used to execute the container loading and unloading guiding method according to any one of claims 1 to 6.

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