Method and device for detecting a container drop lock

Abstract

The application discloses a kind of detection method and device of container lock, it is related to hoisting equipment technical field, main purpose is in quick detection whether container is normal lock, to improve container loading and unloading efficiency.The main technical scheme of the application is: before container spreader releases container, control laser to emit laser to flatcar surface, so that laser pattern is presented on flatcar surface, and laser is installed on container spreader;Obtain the environment photo of container placement, and the environment photo includes laser pattern and flatcar edge, and camera and laser for shooting environment photo are installed side by side on container spreader;The positional relationship of laser pattern and flatcar edge in environment photo is used to detect whether container is normal lock.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hoisting equipment, in particular to a container locking detection method and device. BACKGROUND

[0002] In railway transportation, goods are loaded in containers for transportation. Before transporting the goods by train, the driver needs to control the container spreader to lift the container and place it on the flat car of the train. The four corners of the flat car usually have container locks, such as the new type of railway container lock (F-TR lock), and the bottom of the container also has four corner piece holes. When the container spreader places the container on the flat car, if all four container locks on the flat car fall into the corresponding corner piece holes of the container, it is considered that the container is normally locked. If one or more container locks do not fall into the corner piece holes, it is considered that the container is not completely locked. The use of container locks can lock the container and the flat car, preventing the container from shaking or even falling during transportation.

[0003] Currently, after the container spreader places the container on the flat car, it is necessary to manually observe whether all four container locks have fallen into the corner piece holes to determine whether the container is completely locked. Manual inspection is inefficient, and how to quickly detect whether the container is normally locked is a problem that needs to be solved. SUMMARY

[0004] In view of the above problems, the present application provides a container locking detection method and device, the main purpose of which is to quickly detect whether the container is normally locked to improve the efficiency of container loading and unloading.

[0005] To achieve the above purpose, the present application mainly provides the following technical solutions:

[0006] In a first aspect, the present application provides a container locking detection method, comprising:

[0007] Before the container spreader releases the container, control the laser to emit laser light to the surface of the flat car, so that the surface of the flat car presents a laser pattern, and the laser is installed on the container spreader;

[0008] Obtain an environmental photo of the container, which includes the laser pattern and the edge of the flat car, and the camera and the laser are installed side by side on the container spreader;

[0009] Use the positional relationship between the laser pattern and the edge of the flat car in the environmental photo to detect whether the container is normally locked.

[0010] In a second aspect, the present application provides a container locking detection device, which comprises:

[0011] The control unit is used to control the laser to emit a laser onto the surface of the flatcar before the container spreader releases the container, so that a laser pattern appears on the surface of the flatcar. The laser is installed on the container spreader.

[0012] The acquisition unit is used to acquire environmental photos of the container placement, including laser patterns and the edge of the flatcar. The camera and laser for taking environmental photos are mounted side by side on the container spreader.

[0013] The detection unit is used to detect whether the container is properly locked by using the positional relationship between the laser pattern in the environmental photograph and the edge of the flatcar.

[0014] On the other hand, the present invention also provides a processor for running a program, wherein the program executes the container locking detection method of the first aspect described above.

[0015] On the other hand, the present invention also provides a storage medium for storing a computer program, wherein the computer program, when running, controls the device where the storage medium is located to execute the container locking detection method described in the first aspect.

[0016] By employing the above technical solution, the present invention provides a method and apparatus for detecting container locking, which can quickly detect whether the container is fully locked before the container spreader releases the container. To this end, before the container spreader releases the container, the present invention first uses a laser emitter mounted on the container spreader to emit a laser beam onto the surface of the flatcar, creating a laser pattern on the surface. This laser pattern indirectly marks the position of the container on the flatcar surface. Next, an environmental photograph of the container, including the laser pattern and the edge of the flatcar, is taken. Based on the environmental photograph, the positional relationship between the vertical laser pattern and the edge of the flatcar is analyzed, which is equivalent to analyzing the positional relationship between the container and the edge of the flatcar, thereby determining the positional relationship between the container and the container lock. Therefore, rapid detection of whether the container is properly locked is achieved.

[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0019] Figure 1A flowchart of a container locking detection method according to an embodiment of the present invention is shown;

[0020] Figure 2 A schematic diagram of the container loading and unloading structure is shown;

[0021] Figure 3 A schematic diagram of the structure of the flatcar and container lock is shown;

[0022] Figure 4 A flowchart of another container locking detection method proposed in an embodiment of the present invention is shown;

[0023] Figure 5 A flowchart of another container locking detection method proposed in an embodiment of the present invention is shown;

[0024] Figure 6 A flowchart of another container locking detection method proposed in an embodiment of the present invention is shown;

[0025] Figure 7 A schematic diagram of the structure of a container locking detection device according to an embodiment of the present invention is shown;

[0026] Figure 8 A schematic diagram of another container locking detection device proposed in an embodiment of the present invention is shown. Detailed Implementation

[0027] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0028] Currently, when transporting goods by rail, cargo is loaded into containers, which are then placed on dedicated flatcars. These flatcars are positioned on the railway tracks, and multiple flatcars are connected in sequence, pulled by a train engine for transport. To prevent containers from swaying during transport, the flatcars are equipped with container locks, such as the F-TR locks widely used on Chinese railways. These locks are located near the four corners of the flatcar's surface, and correspondingly, corner fitting holes are located at the four corners of the container's bottom. When the container spreader operator places the container on the flatcar, if all four locks are engaged in the corner fitting holes, the container is fully locked to the flatcar, meaning it is properly locked. If one or more locks are not engaged, the container is not properly locked. In this case, the container spreader operator needs to lift and place the container again until all four locks are engaged in the corresponding corner fitting holes. In existing technologies, to determine whether a container has been properly locked, inspectors need to check each of the four container locks in turn to see if they are in the corresponding corner fitting holes, which is inefficient due to manual inspection.

[0029] Therefore, this application provides a container locking detection system. The system includes a laser, a camera, a controller, and an alarm. The laser is installed on the container spreader and emits a laser beam onto the surface of the flatcar to create a laser pattern. The camera, also installed on the spreader, takes an overhead photograph of the container's environment, which includes the laser pattern and the edge of the flatcar. The controller acquires the environmental photograph and analyzes the positional relationship between the laser pattern and the edge of the flatcar to determine whether the container is properly locked. If the controller determines that the container is not properly locked, the alarm sounds.

[0030] Corresponding to the above detection system, this application provides a method for detecting container locking. The specific implementation steps of the embodiments of this application are as follows: Figure 1 As shown, it includes:

[0031] 101. Before the container spreader releases the container, control the laser to emit a laser beam onto the surface of the flatcar, so that a laser pattern appears on the surface of the flatcar.

[0032] The container in this embodiment refers to a standardized container used on my country's domestic railways, specifically a container placed on a dedicated flatcar on the railway. The laser pattern is a pattern formed on the flatcar by a laser beam emitted from a laser. The shape of the laser pattern can be a dot or a cross, and the color can be any color; this embodiment does not impose any special limitations on the shape or color of the laser pattern. The laser is fixedly mounted on the container spreader. The laser emitted by the laser has high brightness, good directionality, good monochromaticity, and good coherence, allowing it to be used under different climate and lighting conditions and is not easily affected by external environmental interference.

[0033] To illustrate the relationship between the container spreader, the container, and the flatcar in this embodiment, a structural diagram of container loading and unloading is provided in this application embodiment, as follows: Figure 2 As shown, during the loading and unloading of containers, the container spreader 201 secures the top of the container 202, lifts the container 202, and places it on the flatcar 203. Before the container spreader 201 releases the container 202, the controller controls the laser 204 to emit a laser beam 206 onto the surface of the flatcar, creating a laser pattern on the surface. The laser 204 is mounted on the container spreader, and can be mounted on the side wall of the spreader. Because the side wall of the spreader 201 is close to the side wall of the container 202, the laser beam 206 emitted by the laser 204 is parallel to the side wall of the container 202, and the distance between them is fixed. A camera 205 is also mounted alongside the laser beam 206 on the spreader. The camera lens can point downwards to capture the laser pattern and the portion of the flatcar surface not obscured by the container, including the edges of the flatcar.

[0034] 102. Obtain environmental photos of the container placement area, including laser patterns and the edges of the flatbed truck.

[0035] A camera and laser for taking environmental photographs are mounted side-by-side on the container spreader. This side-by-side mounting helps to accurately display the position of the laser pattern on the flatbed surface using the environmental photographs acquired by the camera. It also captures images of the flatbed edge near the laser, facilitating subsequent determination of whether the container has been properly locked using the laser pattern and the flatbed edge. Environmental photographs refer to photos of the environment surrounding the container. In this embodiment, the environmental photographs specifically refer to photos taken from above, mounted on the container spreader, that include partial images of the container, the laser pattern, and the flatbed edge.

[0036] After the camera takes a picture of the environment in which the container is placed, the controller will acquire the picture so that it can analyze it and determine whether the container is locked properly based on the laser pattern and the edge of the flatcar.

[0037] 103. Utilize the positional relationship between the laser pattern in the environmental photograph and the edge of the flatbed to detect whether the container is properly locked.

[0038] In this embodiment, the laser is fixedly mounted on the container spreader. Because the laser is fixedly mounted on the container spreader, and the side wall of the spreader is in close contact with the container, the horizontal distance between the laser pattern and the container is fixed. Additionally, as... Figure 3As shown, the container locks installed on the flatbed are also fixedly mounted on the flatbed surface, located near the four corners of the flatbed. Therefore, the distance between the edge of the flatbed and the container lock is also fixed. Thus, the positional relationship between the container and the container lock can be determined by the laser pattern and the positional relationship between the edge of the flatbed, thereby determining whether the container is properly locked.

[0039] Figure 3 The container lock used is the F-TR lock. Due to its simple structure, durability, moderate locking strength, and smooth operation, the F-TR lock has become the main type of lock for railway container flatcars in my country. The F-TR lock, also known as the eagle-head lock, is a new type of container flatcar locking device independently developed in my country. Utilizing its unique eagle-head structure, the F-TR lock creates dimensional interference between the lock head and the corner fitting holes of the container, achieving locking of the container and flatcar. It boasts advantages such as secure locking and high efficiency in locking and unlocking.

[0040] This embodiment utilizes a laser for positioning and a camera to capture images of the container's surrounding environment before the container spreader releases the container. The controller then identifies and analyzes these images to quickly determine the container's locking status, improving the efficiency of container loading and unloading in rail transport and eliminating the need for manual inspection, thus reducing on-site workload. Furthermore, this embodiment only requires the installation of corresponding equipment on existing container spreaders, without any modifications to the flatcar or container, making it easy and quick to implement.

[0041] Furthermore, the laser in this application can be a vertical laser that emits vertical laser light downwards. The positional relationship between the laser pattern and the edge of the flatbed can be determined by the distance between the laser pattern and the edge of the flatbed. The specific steps are as follows: Figure 4 As shown, it includes:

[0042] 201. Before the container spreader releases the container, control the vertical laser to emit a laser onto the surface of the flatcar, so that a vertical laser pattern appears on the surface of the flatcar.

[0043] The vertical laser is mounted on the container spreader and is fixedly installed on the container spreader. When emitting a laser beam, it will emit vertically downwards.

[0044] 202. Obtain environmental photos of the container placement environment, including vertical laser patterns and the edges of the flatbed.

[0045] A camera for taking environmental photos and a vertical laser are mounted side by side on the container spreader.

[0046] 203. Based on environmental photos, determine whether the container is properly locked according to the distance between the vertical laser pattern and the edge of the flatcar.

[0047] In this application, the container locking status can be determined based on the distance between one vertical laser pattern and the edges of multiple flatbed carts, or based on the distance between multiple vertical laser patterns and the edges of multiple flatbed carts.

[0048] The container's locking status is determined based on the distance between a vertical laser pattern and the edges of multiple flatcars. Since the vertical laser is fixedly mounted on the container spreader, the position of the vertical laser pattern on the flatcar when the container is normally locked can be pre-stored. During loading and unloading, the position of the vertical laser pattern in the environmental photograph is compared with the position obtained from the photograph; if they match, the container is considered to be normally locked.

[0049] In determining the container locking status based on multiple vertical laser patterns and the distances between multiple flatbed edges, multiple vertical lasers can be installed side-by-side on one side of the container spreader. Using the vertical laser patterns, it can be determined whether the bottom edge of the container is parallel to the adjacent flatbed edge. By determining whether the parallelism exists, it can be confirmed whether the container is properly locked. Because both the container and the flatbed are cuboids, and the container locks are symmetrically distributed at the four corners of the flatbed, from a top-down view, when the container is properly locked, the four bottom edges of the container will be parallel to the four flatbed edges.

[0050] This application embodiment utilizes the distance between the vertical laser pattern in the environmental photograph and the edge of the flatcar to accurately determine whether the container is properly locked.

[0051] When the container is fully locked, its four bottom edges and the corresponding four flatcar edges are parallel. Therefore, for the same bottom edge, the distance between each point on the bottom edge and the corresponding flatcar edge should be equal. To this end, this embodiment can also determine whether the container is properly locked by judging whether the distance between the laser pattern generated by the parallel vertical lasers and the adjacent flatcar edges is equal. The specific steps are as follows: Figure 5 As shown, it includes:

[0052] 301. Before the container spreader releases the container, control four vertical lasers to emit lasers onto the surface of the flatcar, so that four vertical laser patterns appear on the surface of the flatcar.

[0053] The four vertical lasers are installed at the four corners of opposite sides of the container spreader. That is, one vertical laser is installed at each end of one side wall of the container spreader, and the remaining two vertical lasers are installed on the other side wall parallel to that side wall.

[0054] 302. Obtain environmental photos of the container placement environment, including vertical laser patterns and the edges of the flatbed.

[0055] Cameras for taking environmental photos and vertical lasers are mounted side-by-side on the container spreader. It should be noted that one camera can be mounted on each side wall of the two container spreaders where the vertical lasers are mounted, or the cameras can be mounted adjacent to each vertical laser. If mounted adjacent to the vertical lasers, then four cameras are required.

[0056] 303. Obtain the distances between each of the four vertical laser patterns and the edges of their respective adjacent flatbeds.

[0057] The distance between each vertical laser pattern and its nearest flatbed edge can be calculated through image recognition from multiple environmental photos.

[0058] 304. Determine whether the distances between the four vertical laser patterns and their respective adjacent flatbed edges are equal.

[0059] Compare the distance between each vertical laser pattern and its nearest flatbed edge. If all four distances are equal, proceed to step 305; otherwise, proceed to step 306.

[0060] 305. If so, confirm that the container is locked properly.

[0061] 306. If not, an alarm will be triggered indicating that the container has not been properly locked.

[0062] Alarms can be sound alarms, image alarms, or sound and light alarms; there are no special restrictions on the specific alarm method.

[0063] In this embodiment, it is not necessary to pre-store the position of the vertical laser pattern when the container is normally locked. The container can be accurately analyzed by taking real-time environmental photos to determine whether it is normally locked.

[0064] In an extreme case, although from a top-down view, the four sides of the container bottom are parallel to the four edges of the flatcar, two container locks may still not be properly engaged in their corresponding corner fitting holes. For example, from a top-down view, vertical lasers are installed on the side walls of two horizontal container spreaders. In this case, two container locks on the same vertical line simultaneously support the container. While the container bottom edge remains parallel to the flatcar edge, the container is not actually properly locked. To achieve a more accurate container locking detection method, this application introduces an oblique laser. The positional relationship between the vertical laser pattern and the oblique laser pattern further determines the container's locking status. The specific steps are as follows: Figure 6 As shown, it includes:

[0065] 401. Before the container spreader releases the container, control 4 vertical lasers and 4 oblique lasers to emit lasers onto the surface of the flatcar, so that vertical laser patterns and oblique laser patterns appear on the surface of the flatcar.

[0066] The four vertical lasers are installed at the four corners of opposite sides of the container spreader. That is, one vertical laser is installed at each end of one side wall of the container spreader, and the remaining two vertical lasers are installed on the opposite side wall parallel to that side wall. Correspondingly, a slanted laser is installed side-by-side and adjacent to each vertical laser. Furthermore, each slanted laser is installed at the same tilt angle. The beam emitted by the slanted laser overlaps with the laser beam emitted by the vertical laser on the same side, away from it, at the bottom corner of the container.

[0067] 402. Obtain environmental photos of the container placement environment, including vertical laser patterns, oblique laser patterns, and the edge of the flatbed.

[0068] Cameras for taking environmental photos and vertical lasers are mounted side-by-side on the container spreader. It should be noted that one camera can be mounted on each side wall of the two container spreaders where the vertical lasers are mounted, or the cameras can be mounted adjacent to each vertical laser. If mounted adjacent to the vertical lasers, then four cameras are required.

[0069] 403. Obtain the distances between each of the four vertical laser patterns and the edges of their respective adjacent flatbeds.

[0070] This step and Figure 5 The steps for 303 are the same, so they will not be repeated here.

[0071] 404. Determine whether the distances between the four vertical laser patterns and their respective adjacent flatbed edges are equal.

[0072] Compare the distance between each vertical laser pattern and its nearest flatbed edge. If all four distances are equal, proceed to step 406; otherwise, proceed to step 406.

[0073] 405. If not, an alarm will be triggered indicating that the container has not been properly locked.

[0074] 406. If so, based on the environmental photos, determine whether each oblique laser pattern overlaps with the corresponding vertical laser pattern.

[0075] It should be noted that it is necessary to determine whether each oblique laser pattern and its corresponding vertical laser pattern overlap. If any one of them does not overlap, the container is considered not to have been properly locked.

[0076] Additionally, it should be noted that when all four container locks simultaneously support the container, although the container is not tilted relative to the flatcar, this embodiment can still correctly determine that the container is not properly locked. This is because the vertical and oblique laser beams converge at the bottom corner of the container. Since the bottom corner of the container is higher than the surface of the flatcar, the two laser beams split vertically downwards after converging, causing the vertical laser pattern and the oblique laser pattern displayed on the flatcar surface to be separated. Therefore, this situation is judged as the container not being properly locked.

[0077] Experiments showed that if the distance between a bottom corner of the container and the flatbed of the truck reaches 50mm, the distance between the oblique laser pattern and the corresponding vertical laser pattern will exceed 240mm. This embodiment of the application significantly amplifies this subtle difference, effectively improving the accuracy of container locking detection.

[0078] 407. If so, confirm that the container is locked properly.

[0079] 408. If not, an alarm will be triggered indicating that the container has not been properly locked.

[0080] This application's embodiment transforms the position determination between the container and the container lock into the determination of the relative position between a vertical laser pattern and an oblique laser pattern, significantly amplifying subtle differences and effectively improving the accuracy of container lock determination.

[0081] To improve detection efficiency and adapt to various application scenarios, this embodiment of the application can eliminate the step of calculating the distance between the four vertical laser beams and the nearest edge of the flatbed. The specific steps include:

[0082] Step 1: Before the container spreader releases the container, control 4 vertical lasers and 4 oblique lasers to emit lasers onto the surface of the flatcar, so that vertical laser patterns and oblique laser patterns appear on the surface of the flatcar.

[0083] This step and Figure 6 The steps are the same as in step 401, so they will not be repeated here.

[0084] Step 2: Obtain environmental photos of the container placement environment, including vertical laser patterns, oblique laser patterns, and the edge of the flatbed.

[0085] This step and Figure 6 The steps for step 402 are the same, so they will not be repeated here.

[0086] Step 3: Using the edge of the flatbed in the environmental photo, determine whether the vertical laser pattern and the oblique laser pattern are located on the flatbed surface.

[0087] The environmental photograph must include at least one complete flatbed edge and two adjacent flatbed edges, as well as a portion of the container sidewall. If the vertical laser pattern and the oblique laser pattern are located within the closed loop formed by the flatbed edge and the container sidewall, it indicates whether the vertical laser pattern and the oblique laser pattern are located on the flatbed surface. Determine whether the vertical laser pattern and the oblique laser pattern are located on the flatbed surface. If yes, proceed to step four; otherwise, proceed to step five.

[0088] Step 4: If yes, determine whether the container is properly locked based on the positional relationship between the vertical laser pattern and the oblique laser pattern.

[0089] When the container is properly locked, its bottom is completely flush with the flatcar surface. Because both the vertical and oblique lasers are fixedly mounted on the container spreader, the distance between the vertical and oblique laser patterns on the flatcar surface is constant when the container is fully locked. If the container is not fully locked, it may be tilted or supported by four container locks. In this case, the distance between the vertical and oblique laser patterns on the flatcar surface will change compared to when the container is fully locked. Therefore, this embodiment can pre-store the distance values ​​between the vertical and oblique laser patterns when the container is properly locked. After acquiring environmental photos, the pre-stored distance values ​​are compared with the distance values ​​analyzed from the environmental photos to determine whether the container is properly locked.

[0090] In one scenario, one vertical laser and one oblique laser are installed at each of the four corners of the opposite side of the container spreader, with all four oblique lasers tilted at the same angle. Based on the positional relationship between the vertical and oblique laser patterns, the system determines whether the container has been properly locked, including:

[0091] Step 4a: Based on the environmental photos, determine whether each oblique laser pattern overlaps with the corresponding vertical laser pattern.

[0092] This step and Figure 6 The steps for step 406 are the same, so they will not be repeated here.

[0093] Step 4b: If yes, confirm that the container is locked properly.

[0094] Step 4c: If not, an alarm will be triggered indicating that the container has not been properly locked.

[0095] Step 5: If not, an alarm will be triggered indicating that the container has not been properly locked.

[0096] The embodiments of this application do not require complex calculations. They can determine the container locking status simply by image recognition and judging the position between the vertical laser, the oblique laser and the edge of the flatcar. This application further improves the efficiency of container locking detection.

[0097] Furthermore, as a response to the above Figure 1 , 4 The implementation of the methods shown in 5 and 6 provides a container locking detection device that quickly detects whether a container is properly locked, thereby improving container loading and unloading efficiency. This device corresponds to the aforementioned method embodiments. For ease of reading, this embodiment will not repeat the details of the aforementioned method embodiments, but it should be understood that the device in this embodiment can implement all the contents of the aforementioned method embodiments. Specifically, as shown in 5 and 6... Figure 7 As shown, the device includes:

[0098] Control unit 51 is used to control the laser to emit laser light onto the surface of the flatcar before the container spreader releases the container, so that a laser pattern appears on the surface of the flatcar.

[0099] The acquisition unit 52 is used to acquire environmental photos of the container after the control unit 51 controls the laser to emit laser light. The environmental photos include laser patterns and the edge of the flatcar. The camera and laser for taking environmental photos are mounted side by side on the container spreader.

[0100] The detection unit 53 is used to detect whether the container is properly locked by using the positional relationship between the laser pattern and the edge of the flatbed in the environmental photo obtained by the acquisition unit 52.

[0101] Furthermore, such as Figure 8 As shown, the control unit 51 includes:

[0102] The control module 511 is used to control four vertical lasers and four oblique lasers to emit lasers onto the surface of the flatcar before the container spreader releases the container, so that vertical laser patterns and oblique laser patterns appear on the surface of the flatcar.

[0103] Furthermore, such as Figure 8 As shown, the acquisition unit 52 includes:

[0104] The acquisition module 521 is used to acquire environmental photos of the container placement, including vertical laser patterns, oblique laser patterns, and the edge of the flatbed.

[0105] Furthermore, such as Figure 8 As shown, the detection unit 53 includes:

[0106] The acquisition module 531 is used to acquire the distances between the four vertical laser patterns and their respective adjacent flatbed edges;

[0107] The first judgment module 532 is used to determine whether the distances between the four vertical laser patterns obtained by the acquisition module 531 and their respective adjacent flatcar edges are equal.

[0108] The first alarm module 533 is used to alarm if the first judgment module 532 determines that the distances are not equal, indicating that the container has not been properly locked.

[0109] The second judgment module 534 is used to determine whether each oblique laser pattern and the corresponding vertical laser pattern overlap based on the environmental photo if the first judgment module 532 determines that the distances are equal.

[0110] The determination module 535 is used to determine that the container is normally locked if the second determination module 534 determines that it is.

[0111] The second alarm module 536 is used to alarm and prompt that the container has not been properly locked if the second judgment module 534 determines that it is not locked.

[0112] Furthermore, embodiments of the present invention also provide a processor for running a program, wherein the program executes the above-described... Figure 1 , 4 The detection methods for container locking in sections 5 and 6.

[0113] Furthermore, embodiments of the present invention also provide a storage medium for storing a computer program, wherein the computer program, when running, controls the device where the storage medium is located to execute the above-described... Figure 1 , 4 The detection methods for container locking in sections 5 and 6.

[0114] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0115] It is understood that the relevant features in the above methods and apparatus can be referenced interchangeably. Furthermore, the terms "first," "second," etc., in the above embodiments are used to distinguish between embodiments and do not represent the superiority or inferiority of any particular embodiment.

[0116] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0117] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of the invention.

[0118] In addition, the memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0119] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0120] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0121] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0122] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes ​ The steps of the function specified in one or more boxes.

[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0124] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0125] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0126] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0127] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method of detecting a container drop lock, characterized by, The method comprises: Before the container spreader releases the container, a laser installed on the container spreader emits laser light to the flatcar surface, so that a laser pattern is presented on the flatcar surface; An environment photo of the container is obtained, the environment photo comprising the laser pattern and the flatcar edge, and a camera for taking the environment photo and the laser are installed side by side on the container spreader; The position relationship between the laser pattern and the flatcar edge in the environment photo is used to detect whether the container is normally locked; The laser comprises a vertical laser and an oblique laser, the laser pattern comprises a vertical laser pattern and an oblique laser pattern, the environment photo comprises the vertical laser pattern, the oblique laser pattern and the flatcar edge, and the detection of whether the container is normally locked by using the position relationship between the laser pattern and the flatcar edge in the environment photo comprises: Based on the environment photo, it is determined whether each oblique laser pattern coincides with the corresponding vertical laser pattern; If there is a group of non-coincidence, it is considered that the container is not normally locked, the inclination angle of each oblique laser is the same, and the light beam emitted by the oblique laser coincides with the laser beam emitted by the vertical laser on the same side and away from the oblique laser at the bottom corner of the container.

2. The method of claim 1, wherein, The laser is a vertical laser, and the detection of whether the container is normally locked by using the position relationship between the laser pattern and the flatcar edge in the environment photo comprises: Based on the environment photo, it is determined whether the container is normally locked according to the distance between the vertical laser pattern and the flatcar edge.

3. The method of claim 2, wherein, One vertical laser is installed on each of the four corner edges of the opposite side of the container spreader, and the determination of whether the container is normally locked according to the distance between the vertical laser pattern and the flatcar edge comprises: The distances between the four vertical laser patterns and the respective adjacent flatcar edges are obtained respectively; It is determined whether the distances between the four vertical laser patterns and the respective adjacent flatcar edges are equal; If yes, it is determined that the container is normally locked; If no, an alarm is given to indicate that the container is not normally locked.

4. The method of claim 1, wherein, The laser comprises a vertical laser and an oblique laser, the vertical laser and the oblique laser are installed side by side on the container spreader, and the detection of whether the container is normally locked by using the position relationship between the laser pattern and the flatcar edge in the environment photo comprises: According to the position relationship between the vertical laser pattern and the flatcar edge, it is determined whether the container is parallel to the flatcar edge; If yes, it is determined whether the container is normally locked according to the vertical laser pattern and the oblique laser pattern.

5. The method of claim 4, wherein, One vertical laser and one oblique laser are installed on each of the four corner edges of the opposite side of the container spreader, and the inclination angles of the four oblique lasers are the same, and the determination of whether the container is normally locked according to the vertical laser pattern and the oblique laser pattern comprises: determine whether each oblique laser pattern coincides with a corresponding vertical laser pattern generated by a vertical laser emitter installed side by side on the container spreader and away from an oblique laser emitter emitting the oblique laser pattern based on the environment photo; if yes, determine that the container is normally locked; if no, alarm that the container is not normally locked.

6. The method of claim 1, wherein, The laser includes a vertical laser and an oblique laser, and the vertical laser and the oblique laser are installed side by side on the container spreader. The method for detecting whether the container is normally locked by using the positional relationship between the laser pattern and the flatcar edge in the environment photo includes: determining whether the vertical laser pattern and the oblique laser pattern are located on the flatcar surface by using the flatcar edge in the environment photo; if yes, determining whether the container is normally locked according to the positional relationship between the vertical laser pattern and the oblique laser pattern.

7. The method of claim 6, wherein, The four corners of the opposite side of the container spreader are respectively provided with one vertical laser and one oblique laser, and the inclination angles of the four oblique lasers are the same. The method for determining whether the container is normally locked according to the positional relationship between the vertical laser pattern and the oblique laser pattern includes: determining whether each oblique laser pattern coincides with a corresponding vertical laser pattern generated by a vertical laser emitter installed side by side on the container spreader and away from an oblique laser emitter emitting the oblique laser pattern based on the environment photo; if yes, determining that the container is normally locked; if no, alarming that the container is not normally locked.

8. A device for detecting a container drop lock, characterized in that The device includes: a control unit configured to control a laser to emit laser light to a flatcar surface to form a laser pattern on the flatcar surface before a container spreader releases a container, wherein the laser is installed on the container spreader; an acquisition unit configured to acquire an environment photo of the container, wherein the environment photo includes the laser pattern and a flatcar edge, and a camera and the laser are installed side by side on the container spreader when the environment photo is taken; a detection unit configured to detect whether the container is normally locked by using the positional relationship between the laser pattern and the flatcar edge in the environment photo. The laser includes a vertical laser and an oblique laser, the laser pattern includes a vertical laser pattern and an oblique laser pattern, the environment photo includes a vertical laser pattern, an oblique laser pattern and a flatcar edge, and the method for detecting whether the container is normally locked by using the positional relationship between the laser pattern and the flatcar edge in the environment photo includes: determining whether each oblique laser pattern coincides with a corresponding vertical laser pattern; if a group does not coincide, it is considered that the container is not normally locked, the inclination angles of each oblique laser are the same, and the light beam emitted by the oblique laser coincides with the laser beam emitted by the vertical laser on the same side and away from the oblique laser at the bottom corner of the container.

9. A processor, comprising: The processor is configured to run a program, and the program is configured to perform the container drop lock detection method in any one of claims 1-7 when running.

10. A storage medium, characterized by The storage medium is configured to store a computer program, and the computer program is configured to control a device where the storage medium is located to perform the container drop lock detection method in any one of claims 1-7.

Images