Method, device, electronic equipment and system for constructing container outline map

Abstract

The present application provides a method, device, electronic device, and system for constructing a container outline map. The container outline map construction method uses a multi-line laser to scan along the width of the ship. Based on the characteristic that multiple laser beams of the multi-line laser are emitted at different emission angles along the emission center, obstacle height information along the scanning paths of the multiple laser beams of the multi-line laser is obtained to improve the completeness of the scanned data. The obstacle height information along the scanning paths of the multiple laser beams is then spliced ​​and integrated to improve the operational safety of the scanned data. Finally, based on the splicing results, a container outline map of the multi-line laser scanning bay is constructed. This method improves the data reliability and operational safety of the container outline map.

Description

Technical Field

[0001] The present application relates to the field of container detection technology, and in particular to a method, device, electronic equipment and system for constructing a container outline map. Background Art

[0002] With the expansion of import and export trade, port loading and unloading equipment is developing in the direction of large-scale, efficient, professional and automated.

[0003] In the field of port automation, using scanning technology to construct container outlines on a ship and then complete container loading and unloading operations based on these outlines to improve operational efficiency and safety has always been a prerequisite and core requirement for achieving port automation. However, due to the cost and accuracy of scanning devices, the data generated by existing scanning devices and methods is relatively limited and has low reliability. Therefore, the safety and reliability of container outlines constructed based on existing technologies need to be improved.

[0004] Therefore, how to construct a container outline map with high data reliability and high operational safety has become a technical problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0005] The present application provides a method, device, electronic equipment and system for constructing a container outline map, so as to construct a container outline map with high data reliability and high operation safety.

[0006] According to a first aspect of an embodiment of the present application, a method for constructing a container outline map is provided, comprising:

[0007] Obstacle height information on a scanning path of multiple laser beams of the multi-line laser is obtained by scanning along the width direction of the hull with a multi-line laser; wherein, when the multi-line laser is scanning along the width direction of the hull, the multi-line laser emits multiple laser beams at different emission angles along an emission center;

[0008] The obstacle height information on the scanning paths of the multiple lasers is spliced, and a container outline map of the multi-line laser scanning bay is constructed according to the splicing result.

[0009] In an optional embodiment of the present application, scanning along the width direction of the hull with a multi-line laser to obtain obstacle height information on the scanning path of multiple lasers of the multi-line laser includes:

[0010] using each of the plurality of lasers as a target laser;

[0011] Determining the distance between an obstacle on the scanning path of the target laser and the multi-line laser according to the scanning result of the target laser;

[0012] Obstacle height information on the scanning paths of the multiple lasers of the multi-line laser is obtained according to the distance between the obstacle on the scanning path of the target laser and the multi-line laser.

[0013] In an optional embodiment of the present application, the scanning result of the target laser includes: a periodic scanning result of the target laser; the distance between an obstacle on the scanning path of the target laser and the multi-line laser includes: the distance between the obstacle and the multi-line laser obtained by each periodic scanning of the target laser;

[0014] Obtaining obstacle height information on the scanning path of multiple lasers of the multi-line laser according to the distance between the obstacle on the scanning path of the target laser and the multi-line laser includes:

[0015] Obtaining the obstacle height information obtained by each periodic scanning of the target laser according to the distance between the obstacle and the multi-line laser;

[0016] The obstacle height information obtained by scanning the target laser at each period is subjected to sliding filtering processing to obtain obstacle height information on the scanning path of multiple lasers of the multi-line laser.

[0017] In an optional embodiment of the present application, the obstacle height information on the scanning path of any one of the multiple lasers includes: obstacle height information of multiple obstacle scanning points on the scanning path; the obstacle height information is used to represent the distance between the obstacle scanning point and the ground.

[0018] In an optional embodiment of the present application, the step of splicing the obstacle height information on the scanning paths of the multiple lasers and constructing a container contour map of the multi-line laser scanning bay according to the splicing result includes:

[0019] For the scanning paths of the multiple lasers, along each scanning path, each obstacle scanning point in each scanning path is used as a target obstacle scanning point;

[0020] Obtaining obstacle height information of the target obstacle scanning points in each scanning path;

[0021] The height information of the target obstacle scanning points in the respective scanning paths is spliced, and the height information of the position corresponding to the target obstacle scanning point in the container outline image is determined according to the splicing result.

[0022] In an optional embodiment of the present application, the multiple lasers of the multi-line laser include: a first group of lasers determined from the multi-line laser that can constantly scan the scanning range based on the correspondence between the distance between the obstacle and the multi-line laser and the scanning range of each laser in the multi-line laser.

[0023] In an optional embodiment of the present application, the stitching of the height information of the target obstacle scanning points in the respective scanning paths, and determining the height information of the position corresponding to the target obstacle scanning point in the container outline image according to the stitching result, includes:

[0024] Calculating a maximum value of obstacle height information of a target obstacle scanning point in a scanning path of each laser beam of the first group of laser beams, and using the maximum value as first height information of a position corresponding to the target obstacle scanning point in the container outline map;

[0025] Obtaining a first distance between the target obstacle and the multi-line laser according to first height information of a corresponding position of a scanning point of the target obstacle;

[0026] Determining a second group of lasers having a scanning range at the scanning position according to a correspondence between the first distance and the scanning range of each laser of the multi-line laser;

[0027] Obtaining height information of the target obstacle scanning point obtained by the second group of laser scanning;

[0028] The height information of the target obstacle scanning point obtained by the second set of laser scanning is spliced ​​with the first height information to determine the height information of the position corresponding to the target obstacle scanning point in the container outline map.

[0029] In an optional embodiment of the present application, the present invention further includes:

[0030] Scanning along the length direction of the hull with a first laser to obtain obstacle height information of adjacent bays of the bay scanned by the multi-line laser;

[0031] The height of the container outline is updated according to the obstacle height information of the adjacent bays to obtain an updated container outline.

[0032] According to a second aspect of an embodiment of the present application, a device for constructing a container outline map is provided, comprising:

[0033] a scanning unit configured to scan along the width direction of the hull using a multi-line laser to obtain obstacle height information along the scanning path of multiple lasers of the multi-line laser; wherein, when the multi-line laser scans along the width direction of the hull, the multi-line laser emits multiple lasers at different emission angles along an emission center;

[0034] The construction unit is used to splice the obstacle height information on the scanning paths of the multiple lasers, and construct a container outline map of the multi-line laser scanning bay according to the splicing result.

[0035] According to a third aspect of the embodiments of the present application, there is provided an electronic device, including:

[0036] processor;

[0037] a memory for storing instructions executable by the processor;

[0038] The processor is configured to execute the above-mentioned method for constructing a container outline map by running instructions in the memory.

[0039] According to a fourth aspect of an embodiment of the present application, a system for constructing a container outline map is provided, comprising:

[0040] Multi-line laser installed on the quay crane trolley platform;

[0041] And, a server, wherein the server is used to execute the above-mentioned method for constructing the container outline map.

[0042] According to a fifth aspect of an embodiment of the present application, a quay crane is provided, comprising:

[0043] Multi-line laser installed on the quay crane trolley platform;

[0044] And, a server, wherein the server is used to execute the above-mentioned method for constructing the container outline map.

[0045] Compared with the prior art, this application has the following advantages:

[0046] The present application provides a method, device, electronic device, and system for constructing a container outline map. The container outline map construction method uses a multi-line laser to scan along the width of the ship. Based on the characteristic that multiple laser beams of the multi-line laser are emitted at different emission angles along the emission center, obstacle height information along the scanning paths of the multiple laser beams of the multi-line laser is obtained to improve the completeness of the scanned data. The obstacle height information along the scanning paths of the multiple laser beams is then spliced ​​and integrated to improve the operational safety of the scanned data. Finally, based on the splicing results, a container outline map of the multi-line laser scanning bay is constructed. This method improves the data reliability and operational safety of the container outline map. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0048] Figure 1 A schematic diagram of an application scenario of a method for constructing a container outline map provided in one embodiment of the present application;

[0049] Figure 2 A flow chart of a method for constructing a container outline map provided in another embodiment of the present application;

[0050] Figure 3 A schematic diagram of the emission angles of each laser in a sixteen-line laser provided in another embodiment of the present application;

[0051] Figure 4 A schematic diagram of a scanning path of a first laser provided in another embodiment of the present application;

[0052] Figure 5 A schematic diagram of the structure of a device for constructing a container outline map provided in another embodiment of the present application;

[0053] Figure 6 A schematic diagram of the structure of an electronic device provided in another embodiment of the present application. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0055] With the expansion of import and export trade, port loading and unloading equipment is developing in the direction of large-scale, efficient, professional and automated.

[0056] In the field of port automation, using scanning technology to construct container outlines on a ship and then complete container loading and unloading operations based on these outlines to improve operational efficiency and safety has always been a prerequisite and core requirement for achieving port automation. However, due to the cost and accuracy of scanning devices, the data generated by existing scanning devices and methods is relatively limited and lacks reliability. Therefore, the safety and reliability of container outlines constructed using existing technologies need to be improved.

[0057] Therefore, how to construct a container outline map with high data reliability and high operational safety has become a technical problem that technical personnel in this field urgently need to solve.

[0058] The present application provides a method, device, electronic device, and system for constructing a container outline map to construct a container outline map with high data reliability and high operational safety, which will be described in detail one by one in the following embodiments.

[0059] Exemplary Implementation Environment

[0060] First, in order to facilitate understanding of the specific application scenario of the method for constructing a container outline map provided in the embodiment of the present application, the method for constructing the container outline map is introduced below in conjunction with a specific application scenario.

[0061] Please refer to Figure 1 , Figure 1 A schematic diagram of an application scenario of the method for constructing a container outline map provided in one embodiment of the present application.

[0062] like Figure 1 As shown, Figure 1 The diagram includes: a hull 101, a container 102 placed in the hull, a first scanning path 103, a second scanning path 104, and a third scanning path 105 falling within the scanning bay of a multi-line laser.

[0063] The first scanning path 103 includes scanning point 11, scanning point 12, scanning point 13, scanning point 14, and scanning point 15;

[0064] The second scanning path 104 includes scanning point 21, scanning point 22, scanning point 23, scanning point 24, and scanning point 25;

[0065] The third scanning path 105 includes scanning point 31 , scanning point 32 , scanning point 33 , scanning point 34 , and scanning point 35 .

[0066] After the multi-line laser is scanned, the height information of the scanning point is obtained and the height information of the scanning point is obtained by the set {P ij} is represented as:

[0067] {P 11 、P 12 、P 13 、P 14 、P 15};{P 21 、P 22 、P 23 、P 24 、P 25};{P 31 、P 32 、P 33 、P 34 、P 35};

[0068] Furthermore, after obtaining the height information of the scanning points on each laser scanning path, it is also necessary to splice the height information of the scanning points on each scanning path.

[0069] For the above set {P ij}, the above splicing is specifically:

[0070] Obtain the above P 11 、P 21 、P 31 The maximum value in the above equation is used as the height of the first scanning point of the scanning position; the above P 12 、P 22 、P 32 The maximum value in the scanning point is used as the height of the second scanning point of the scanning position; ...; obtain the above P 15 、P 25 、P 35 and use the maximum value in as the height of the fifth scanning point of the scanning bay.

[0071] Finally, a container outline map is constructed based on the height information of the five scanning points of the scanning bay.

[0072] Exemplary Methods

[0073] In an exemplary embodiment of this application, a method for constructing a container outline map is also provided. The core of the method is to obtain obstacle height information along the scanning paths of the multiple laser beams of a multi-line laser, based on the characteristic that the multiple laser beams of a multi-line laser are emitted at different emission angles along the emission center, thereby improving the completeness of the scanned data. The obstacle height information along the scanning paths of the multiple laser beams is then spliced ​​and integrated to improve the operational safety of the scanned data. Finally, based on the splicing results, a container outline map of the multi-line laser scanning beam is constructed. This method improves the data reliability and operational safety of the container outline map.

[0074] Please refer to Figure 2 , Figure 2 A flow chart of a method for constructing a container outline map provided in another embodiment of the present application.

[0075] like Figure 2 As shown, the method for constructing the container outline map includes the following steps S201 and S202:

[0076] Step S201, scanning along the width direction of the hull by a multi-line laser to obtain obstacle height information on the scanning path of multiple lasers of the multi-line laser; wherein, when the multi-line laser scans along the width direction of the hull, the multi-line laser emits multiple lasers at different emission angles along the emission center.

[0077] In actual application, the scanning target of the multi-line laser is the obstacle height information at the target scanning position of the hull, wherein the obstacle can be understood as non-hull parts such as containers, cargoes, and people carried in the hull.

[0078] Furthermore, to facilitate the multi-line laser to complete the scanning task and implement the above step S201 based on the scanning results, the multi-line laser is installed on a quay crane used to load and unload cargo on the ship. In an optional embodiment of the present application, the multi-line laser is installed on a trolley on top of the quay crane that is movable along the width of the ship.

[0079] In an optional implementation manner of the present application, the above step S201 includes the following steps S2011 to S2013:

[0080] In step S2011 , each laser in the plurality of lasers is used as a target laser.

[0081] Step S2012: determining the distance between the multi-line laser and an obstacle on the scanning path of the target laser according to the scanning result of the target laser.

[0082] Step S2013 , obtaining obstacle height information on the scanning path of multiple lasers of the multi-line laser according to the distance between the obstacle on the scanning path of the target laser and the multi-line laser.

[0083] In actual application, the scanning result of the multi-line laser is generated based on a coordinate system established with the multi-line laser as the horizontal plane. Therefore, the scanning result of the target laser can reflect the distance between the obstacle on the scanning path and the multi-line laser.

[0084] Therefore, in order to obtain the obstacle height information inside the hull, it is necessary to transfer the scanning results of each laser to a coordinate system established based on the ground (in actual applications, the coordinate system established based on the ground is specifically a coordinate system established based on the shore bridge equipped with the multi-line laser, and the obstacle height information represented by the vertical axis of this coordinate system is the distance between the obstacle and the ground).

[0085] In another optional embodiment of the present application, to facilitate the subsequent construction of the container outline map, multiple obstacle scanning points are set along the scanning path of each laser. The distance between adjacent obstacle scanning points can be set based on actual conditions (for example, the distance between adjacent obstacle scanning points is 5 cm), and this application does not impose any restrictions on this.

[0086] For example, assuming that the multi-line laser is a 16-line laser, the multiple lasers are laser 1 to laser 16, and the obstacle scanning points of each laser are 4; then the distance between the obstacle on the scanning path of the target laser and the multi-line laser can be obtained by the set {Q ij} is represented as:

[0087] {Q 11 , Q 12 , Q 13 , Q 14}; {Q 21 , Q 22 , Q 23 , Q 24}; ...; {Q 151 , Q 152 , Q 153 , Q 154}; {Q 161 , Q 162 , Q 163 , Q 164}. Where i represents the laser number of the laser, and j represents the sequence number of the obstacle scanning point; for example, Q 11 Indicates the distance information obtained by laser 1 at the first scanning point.

[0088] Furthermore, the obstacle height information inside the hull can be obtained by the set {Pij} is represented as:

[0089] {P 11 、P 12 、P 13 、P 14};{P 21 、P 22 、P 23 、P 24};……;{P 151 、P 152 、P 153 、P 154};{P 161 、P 162 、P 163 、P 164 Similarly, i represents the i-th laser emitted by the multi-line laser, and j represents the j-th obstacle scanning point of the i-th laser; for example, P 11 Indicates the obstacle height information obtained by laser 1 at the first scanning point.

[0090] In an optional embodiment of the present application, in order to more accurately obtain the height information of the obstacle inside the hull, the scanning result of the target laser mentioned in the above step S2012 includes: the periodic scanning result of the target laser; correspondingly, the distance between the obstacle on the scanning path of the target laser and the multi-line laser mentioned in the above step S2013 includes: the distance between the obstacle and the multi-line laser obtained by each periodic scanning of the target laser.

[0091] Based on this, the above-mentioned step S2013 includes: obtaining the obstacle height information obtained by each periodic scan of the target laser based on the distance between the obstacle and the multi-line laser obtained by each periodic scan of the target laser; and performing sliding filtering on the obstacle height information obtained by each periodic scan of the target laser to obtain the obstacle height information on the scanning path of multiple lasers of the multi-line laser.

[0092] Specifically, for the scanning point j of the laser i of the multi-line laser, the sliding filter processing process can be expressed by the following formula (1):

[0093]

[0094] Among them, P ij represents the obstacle height information of scanning point j of laser i after sliding filtering; K represents the total number of periodic scans; P ijk represents the obstacle height information of scanning point j of laser i obtained by the k-th cycle scanning; α kRepresents the weight of the obstacle height information obtained by scanning in the kth cycle.

[0095] In actual applications, the emission angles of the lasers in the multi-line laser are different. Therefore, the scanning paths of some lasers may not be within the target scanning position. To reduce the computational complexity, the multiple lasers in the multi-line laser include: a first group of lasers that can constantly scan the scanning position is determined from the multi-line lasers based on the correspondence between the distance between the obstacle and the multi-line laser and the scanning range of each laser in the multi-line laser.

[0096] The corresponding relationship between the distance between the obstacle and the multi-line laser and the scanning range of the multi-line laser can be obtained through a preset scanning path number table:

[0097] Please refer to Table 1, which is a table of scanning line numbers of a sixteen-line laser provided in an embodiment of the present application.

[0098] Table 1:

[0099] Distance between the obstacle and the multi-line laser Laser scanning path number outside the target scanning shell 22.4m 1、9 26.0m 1、2、9、10 30.9m 1、2、3、9、10、11 37.9m 1、2、3、4、9、10、11、12 48.9m 1、2、3、4、5、9、10、11、12、13 68.6m 1、2、3、4、5、9、10、11、12、13、14

[0100] On this basis, please refer to Figure 3 , Figure 3 A schematic diagram of the emission angles of each laser in a sixteen-line laser provided in another embodiment of the present application.

[0101] like Figure 3 As shown, Figure 3 The sixteen-line laser 301 is included, and the lasers emitted by the sixteen-line laser 301 include laser 1 to laser 16, wherein the emission angles of adjacent lasers differ by 2 degrees.

[0102] Based on this, Table 1 above can be understood as follows: when the distance between the obstacle at the target scanning position and the sixteen-line laser is 22.4 m, all lasers except laser 1 and laser 9 emitted from the multi-line laser can scan the obstacle at the target scanning position; when the distance between the obstacle at the target scanning position and the sixteen-line laser is 26.0 m, all lasers except laser 1, laser 2, laser 9 and laser 10 emitted from the multi-line laser can scan the obstacle at the target scanning position; ...; when the distance between the obstacle at the target scanning position and the sixteen-line laser is 68.6 m, only laser 8 and laser 16 among the lasers emitted by the multi-line laser can scan the obstacle at the target scanning position.

[0103] Furthermore, according to the above table, it can be determined that, under normal circumstances, regardless of the distance between the obstacle and the multi-line laser, lasers 7, 8, 15, and 16 in the multi-line laser can scan the target scanning position. Therefore, these lasers that can always scan the target scanning position can also be used as the multiple lasers in the multi-line laser.

[0104] Step S202: stitching the obstacle height information on the scanning paths of the multiple lasers, and constructing a container outline map of the multi-line laser scanning bay according to the stitching result.

[0105] Considering that different lasers have different scanning paths, obstacles on their scanning paths may also be different. Therefore, in an optional embodiment of the present application, the above step S202 includes the following steps S2021 to S2023:

[0106] Step S2021 : For the plurality of laser scanning paths, along each scanning path, each obstacle scanning point in each scanning path is used as a target obstacle scanning point.

[0107] Step S2022: Obtain obstacle height information of the target obstacle scanning point in each scanning path.

[0108] Step S2023 : splicing the height information of the target obstacle scanning points in the respective scanning paths, and determining the height information of the position corresponding to the target obstacle scanning point in the container outline image according to the splicing result.

[0109] In order to facilitate understanding of steps S2021 to S2023, the following is combined with the above-mentioned set {P ij} The above steps S2021 to S2023 are described in detail:

[0110] As {P ij The scanning paths of lasers 1 to 16 mentioned in the preceding paragraph all include four scanning points. Then, the step of combining the height information of the target obstacle scanning points in each scanning path to determine the height information of the position corresponding to the target obstacle scanning point in the container outline map refers to:

[0111] P 11 、P 21 ,…,P 151 、P 161 Perform splicing to obtain the splicing result of obstacle scanning point 1; 12 、P 22 ,…,P 152 、P 162 Perform splicing to obtain the splicing result of obstacle scanning point 2;13 、P 23 ,…,P 153 、P 163 Perform splicing to obtain the splicing result of obstacle scanning point 3; 14 、P 24 ,…,P 154 、P 164 Perform stitching to obtain the stitching result of obstacle scanning point 4.

[0112] The final splicing result is obtained by the set {P Tj} can be expressed as: {P T1 、P T2 、P T3 、P T4};

[0113] Furthermore, in an optional embodiment of the present application, considering that the purpose of constructing the ship image is to avoid interference from obstacles within the ship during the process of scanning the hull for cargo loading and unloading, the height information of the target obstacle scanning points in each scanning path is spliced ​​to determine the height information of the position corresponding to the target obstacle scanning point in the container outline image, including:

[0114] The maximum value of the obstacle height information of the target obstacle scanning point in each scanning path is calculated, and the maximum value is used as the position height information corresponding to the target obstacle scanning point in the container outline map.

[0115] It can be understood that the above process of splicing the height information of the target obstacle scanning points in each scanning path is only an optional implementation method of the present application. In actual application, the height information of the target obstacle scanning points can be spliced ​​according to actual conditions. For example, the average value of the obstacle height information of the target obstacle scanning points in each scanning path is calculated, and the average value is used as the position height information corresponding to the target obstacle scanning point in the container outline map.

[0116] In another optional embodiment of the present application, in order to reduce the amount of calculation, the scanning paths of the multiple lasers mentioned in step S2021 can be the first group of lasers in the multi-line laser that can constantly scan the scanning position.

[0117] After obtaining obstacle height information of the target obstacle scanning point in the scanning path of each laser beam of the first group of laser beams based on the above steps S2021 and S2022, the above step S2023 includes the following steps S1 to S5:

[0118] Step S1, calculating the maximum value of obstacle height information of a target obstacle scanning point in the scanning path of each laser of the first group of lasers, and using the maximum value as first height information of a position corresponding to the target obstacle scanning point in the container outline map.

[0119] For example, assume that the first group of lasers includes laser 7, laser 8, laser 15, and laser 16 in the multi-line laser, and each of the above lasers has four obstacle scanning points, wherein the first obstacle scanning point among the four obstacle scanning points is the target obstacle scanning point.

[0120] The above step S1 is to obtain the maximum value of the obstacle height information of the first obstacle scanning point among the lasers 7, 8, 15, and 16, and use the maximum value as the first height information.

[0121] Step S2: Obtain a first distance between the target obstacle and the multi-line laser according to first height information of a corresponding position of a scanning point of the target obstacle.

[0122] After obtaining the first height information of the target obstacle scanning point, the first distance between the target obstacle and the multi-line laser can be obtained based on the correspondence between the distance between the obstacle and the multi-line laser and the obstacle height information.

[0123] Step S3: determining a second group of laser beams having a scanning range at the scanning position according to the corresponding relationship between the first distance and the scanning range of each laser beam of the multi-line laser.

[0124] For example, the correspondence between the first distance and the scanning range of each laser of the multi-line laser can be represented based on Table 1 mentioned above, and then the second group of lasers with a scanning range at the scanning position is determined according to the correspondence.

[0125] For example, assuming the first distance is 48.9m, according to Table 1, the laser scanning path numbers corresponding to 48.9m are 1, 2, 3, 4, 5, 9, 10, 12, and 13. That is, when the distance between the obstacle at the target scanning position and the multi-line laser is 48.9m, the laser numbers that can scan the target scanning position are: 6, 7, 8, 11, 14, 15, and 16. In addition to the first group of lasers 7, 8, 15, and 16, the second group of lasers includes lasers 6, 11, and 14.

[0126] Step S4: obtaining the height information of the target obstacle scanning point obtained by the second group of laser scanning.

[0127] That is, after the second group of lasers is determined, the height information of the target obstacle scanning point obtained by scanning each laser of the second group of lasers is obtained.

[0128] Step S5: combining the height information of the target obstacle scanning point obtained by the second set of laser scanning with the first height information to determine the height information of the position corresponding to the target obstacle scanning point in the container outline map.

[0129] That is, the height information of the target obstacle scanning point obtained by the second group of laser scans is spliced ​​with the first height information (for example, the maximum value of the height information of the target obstacle scanning point obtained by each laser scan in the second group of lasers and the first height information is taken), thereby obtaining more accurate determination of the height information of each obstacle scanning point in the container outline map.

[0130] In another optional embodiment of the present application, considering that during the process of loading and unloading cargo at the hull scanning bay, it is necessary to consider not only the obstacle height information of the scanning bay but also the obstacle height information of bays adjacent to the scanning bay, the container outline construction method further includes the following steps S203 and S204:

[0131] Step S203: Scan along the length direction of the hull with the first laser to obtain obstacle height information of adjacent bays of the bay scanned by the multi-line laser.

[0132] In an embodiment of the present application, the first laser and the multi-line laser can be installed in the middle of the edge of the trolley, scanning along the length of the hull, and as the trolley moves along the width of the window, obstacle height information is obtained for adjacent bays scanned by the multi-line laser. In actual application, the first laser can be a single-line laser or a multi-line laser, and this application does not impose any restrictions on this.

[0133] Specifically, assuming that there are 4 columns of obstacles in the hull, and each laser of the multi-line laser has 4 obstacle scanning points at the scanning bay, the obstacle height information of each obstacle scanning point obtained by the first laser scanning can be obtained by the set {P mn} is represented as:

[0134] {P 11 、P 21 、P 31};{P 12 、P 22 、P 32};{P 13 、P 23 、P 33};{P 14 、P 24 、P 34};

[0135] Wherein, m represents the mth column of obstacles scanned by the first laser; n represents the nth obstacle scanning point scanned by the first laser.

[0136] Please refer to Figure 4 , Figure 4 A schematic diagram of the scanning path of a first laser provided in another embodiment of the present application.

[0137] like Figure 4 As shown, Figure 4 The scanning path 401 of the first laser when scanning the first column of obstacles and the scanning path 402 of one laser of the multi-line laser when scanning the bay are included.

[0138] The scanning path 402 includes scanning points 21 , 22 , 23 and 24 ; the scanning path 401 includes scanning points 11 , 21 and 31 .

[0139] Furthermore, the height information of scanning point 11, scanning point 21 and scanning point 31 is the above {P 11 、P 21 、P 31}.

[0140] Step S204: updating the height of the container outline map according to the obstacle height information of the adjacent bays to obtain an updated container outline map.

[0141] In an optional embodiment of the present application, the updating of the height of the container outline map according to the obstacle height information of the adjacent bays includes: updating the height of the container outline map according to the maximum value or average value of the obstacle height information of the adjacent bays. For example, Figure 4 As shown in the container outline, the height information of the scanning point 21 can be selected from the P 11 、P 21 、P 31 The maximum value, or the average value.

[0142] In summary, the container outline construction method uses a multi-line laser to scan along the width of the ship. Based on the characteristic that multiple laser beams of a multi-line laser are emitted at different emission angles along the emission center, obstacle height information along the scanning paths of the multiple laser beams is obtained to improve the completeness of the scanned data. Subsequently, the obstacle height information along the scanning paths of the multiple laser beams is spliced ​​and integrated to improve the operational safety of the scanned data. Finally, based on the splicing results, a container outline is constructed at the multi-line laser scanning level. This method improves the data reliability and operational safety of the container outline.

[0143] Exemplary devices

[0144] Accordingly, the embodiment of the present application also provides a device for constructing a container outline map, please refer to Figure 5 , Figure 5 A schematic structural diagram of a device for constructing a container outline map provided in another embodiment of the present application.

[0145] like Figure 5 As shown, the container outline construction device includes:

[0146] The scanning unit 501 is configured to scan along the width direction of the hull using a multi-line laser to obtain obstacle height information along the scanning path of multiple laser beams of the multi-line laser. When the multi-line laser scans along the width direction of the hull, the multi-line laser emits multiple laser beams at different emission angles along an emission center.

[0147] The construction unit 502 is configured to splice the obstacle height information on the scanning paths of the multiple lasers, and construct a container outline map of the multi-line laser scanning bay according to the splicing result.

[0148] In an optional embodiment of the present application, scanning along the width direction of the hull with a multi-line laser to obtain obstacle height information on the scanning path of multiple lasers of the multi-line laser includes:

[0149] using each of the plurality of lasers as a target laser;

[0150] Determining the distance between an obstacle on the scanning path of the target laser and the multi-line laser according to the scanning result of the target laser;

[0151] Obstacle height information on the laser scanning path is obtained according to the distance between the obstacle on the target laser scanning path and the multi-line laser.

[0152] In an optional embodiment of the present application, the scanning result of the target laser includes: a periodic scanning result of the target laser; the distance between an obstacle on the scanning path of the target laser and the multi-line laser includes: the distance between the obstacle and the multi-line laser obtained by each periodic scanning of the target laser;

[0153] Obtaining obstacle height information on the scanning path of multiple lasers of the multi-line laser according to the distance between the obstacle on the scanning path of the target laser and the multi-line laser includes:

[0154] Obtaining the obstacle height information obtained by each periodic scanning of the target laser according to the distance between the obstacle and the multi-line laser;

[0155] The obstacle height information obtained by scanning the target laser at each period is subjected to sliding filtering processing to obtain obstacle height information on the scanning path of multiple lasers of the multi-line laser.

[0156] In an optional embodiment of the present application, the obstacle height information on the scanning path of any one of the multiple lasers includes: obstacle height information of multiple obstacle scanning points on the scanning path; the obstacle height information is used to represent the distance between the obstacle scanning point and the ground.

[0157] In an optional embodiment of the present application, the step of splicing the obstacle height information on the scanning paths of the multiple lasers and constructing a container contour map of the multi-line laser scanning bay according to the splicing result includes:

[0158] For the scanning paths of the multiple lasers, along each scanning path, each obstacle scanning point in each scanning path is used as a target obstacle scanning point;

[0159] Obtaining obstacle height information of the target obstacle scanning points in each scanning path;

[0160] The height information of the target obstacle scanning points in the respective scanning paths is spliced, and the height information of the position corresponding to the target obstacle scanning point in the container outline image is determined according to the splicing result.

[0161] In an optional embodiment of the present application, the multiple lasers of the multi-line laser include: a first group of lasers determined from the multi-line laser that can constantly scan the scanning range based on the correspondence between the distance between the obstacle and the multi-line laser and the scanning range of each laser in the multi-line laser.

[0162] In an optional embodiment of the present application, the stitching of the height information of the target obstacle scanning points in the respective scanning paths, and determining, based on the stitching result, the height information of the position corresponding to the target obstacle scanning point in the container outline image, includes:

[0163] Calculating a maximum value of obstacle height information of a target obstacle scanning point in a scanning path of each laser beam of the first group of laser beams, and using the maximum value as first height information of a position corresponding to the target obstacle scanning point in the container outline map;

[0164] Obtaining a first distance between the target obstacle and the multi-line laser according to first height information of a corresponding position of a scanning point of the target obstacle;

[0165] Determining a second group of lasers having a scanning range at the scanning position according to a correspondence between the first distance and the scanning range of each laser of the multi-line laser;

[0166] Obtaining height information of the target obstacle scanning point obtained by the second group of laser scanning;

[0167] The height information of the target obstacle scanning point obtained by the second set of laser scanning is spliced ​​with the first height information to determine the height information of the position corresponding to the target obstacle scanning point in the container outline map.

[0168] In an optional embodiment of the present application, the device is further used for:

[0169] Scanning along the length direction of the hull with a first laser to obtain obstacle height information of adjacent bays of the bay scanned by the multi-line laser;

[0170] The height of the container outline is updated according to the obstacle height information of the adjacent bays to obtain an updated container outline.

[0171] The container outline map construction device provided in this embodiment shares the same concept as the container outline map construction method provided in the aforementioned embodiments of this application. It can execute the container outline map construction method provided in any of the aforementioned embodiments of this application and possesses the corresponding functional modules and beneficial effects of executing the container outline map construction method. For technical details not fully described in this embodiment, please refer to the specific processing content of the container outline map construction method provided in the aforementioned embodiments of this application and will not be further elaborated here.

[0172] Example products

[0173] The embodiment of the present application further provides a quay crane, comprising: a multi-line laser mounted on a quay crane trolley platform;

[0174] and a server, wherein the server is configured to execute the steps in the container outline construction method described in the above “Exemplary Method” section.

[0175] Exemplary electronic devices

[0176] Another embodiment of the present application also provides an electronic device, please refer to Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in another embodiment of the present application, the device comprising:

[0177] Memory 200 and processor 210;

[0178] The memory 200 is connected to the processor 210 and is used to store programs;

[0179] The processor 210 is configured to implement the method for constructing a container outline map disclosed in any of the above embodiments by running the program stored in the memory 200 .

[0180] Specifically, the electronic device may further include: a bus, a communication interface 220 , an input device 230 and an output device 240 .

[0181] The processor 210, the memory 200, the communication interface 220, the input device 230 and the output device 240 are interconnected via a bus.

[0182] A bus may include a pathway that transfers information between components of a computer system.

[0183] Processor 210 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or the like, or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. Alternatively, it can be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.

[0184] The processor 210 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0185] The memory 200 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include program code, which includes computer operating instructions. More specifically, the memory 200 may include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash memory, etc.

[0186] The input device 230 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0187] Output device 240 may include devices that allow information to be output to a user, such as a display screen, printer, speakers, etc.

[0188] The communication interface 220 may include any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0189] The processor 210 executes the program stored in the memory 200 and calls other devices to implement each step of any container outline construction method provided in the above embodiments of the present application.

[0190] Exemplary computer program products and storage media

[0191] 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 method for constructing a container outline map according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0192] 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.

[0193] In addition, an embodiment of the present application may also be a storage medium having a computer program stored thereon. The computer program is used by a processor to execute the steps of the container outline construction method according to various embodiments of the present application described in the "Exemplary Method" section above. Specifically, the following steps may be implemented:

[0194] Step S201, scanning along the width direction of the hull with a multi-line laser to obtain obstacle height information on the scanning path of multiple lasers of the multi-line laser; wherein when the multi-line laser scans along the width direction of the hull, the multi-line laser emits multiple lasers at different emission angles along the emission center;

[0195] Step S202: stitching the obstacle height information on the scanning paths of the multiple lasers, and constructing a container outline map of the multi-line laser scanning bay according to the stitching result.

[0196] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0197] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0198] The steps in the methods of each embodiment of the present application can be adjusted in sequence, merged, and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0199] The modules and sub-modules in the devices and terminals of the various embodiments of the present application can be merged, divided, and deleted according to actual needs.

[0200] In the several embodiments provided in this application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or submodules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0201] The modules or submodules described as separate components may or may not be physically separate, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules may be selected to achieve the purpose of this embodiment according to actual needs.

[0202] In addition, each functional module or submodule in each embodiment of the present application may be integrated into a processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into a single module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or software functional modules or submodules.

[0203] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0204] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0205] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0206] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for constructing a container outline map, characterized in that: include: Obstacle height information along the scanning path of multiple laser beams of the multi-line laser is obtained by scanning along the width direction of the hull with a multi-line laser; wherein, when the multi-line laser is scanning along the width direction of the hull, the multi-line laser emits multiple laser beams along the emission center at different emission angles; the obstacle height information along the scanning path of any one of the multiple laser beams includes: obstacle height information of multiple obstacle scanning points along the scanning path; the obstacle height information is used to represent the distance between the obstacle scanning point and the ground; Stitching obstacle height information on the scanning paths of the multiple lasers, and constructing a container outline map of the multi-line laser scanning bay according to the stitching result; The step of splicing obstacle height information on the scanning paths of the multiple lasers and constructing a container outline map of the multi-line laser scanning bay according to the splicing result includes: For the scanning paths of the multiple lasers, along each scanning path, each obstacle scanning point in each scanning path is used as a target obstacle scanning point; Obtaining obstacle height information of the target obstacle scanning points in each scanning path; splicing the height information of the target obstacle scanning points in each of the scanning paths, and determining the height information of the position corresponding to the target obstacle scanning point in the container outline map according to the splicing result; The plurality of lasers of the multi-line laser include: a first group of lasers determined from the multi-line lasers and capable of constantly scanning the scanning range based on a correspondence between a distance between an obstacle and the multi-line laser and a scanning range of each laser in the multi-line laser; The step of splicing the height information of the target obstacle scanning points in each scanning path and determining the height information of a position corresponding to the target obstacle scanning point in the container outline map according to the splicing result includes: Calculating a maximum value of obstacle height information of a target obstacle scanning point in a scanning path of each laser beam of the first group of laser beams, and using the maximum value as first height information of a position corresponding to the target obstacle scanning point in the container outline map; Obtaining a first distance between the target obstacle and the multi-line laser according to first height information of a corresponding position of a scanning point of the target obstacle; Determining a second group of lasers having a scanning range at the scanning position according to a correspondence between the first distance and the scanning range of each laser of the multi-line laser; Obtaining height information of the target obstacle scanning point obtained by the second group of laser scanning; The height information of the target obstacle scanning point obtained by the second set of laser scanning is spliced ​​with the first height information to determine the height information of the position corresponding to the target obstacle scanning point in the container outline map.

2. The method according to claim 1, characterized in that The method of scanning along the width direction of the hull with a multi-line laser to obtain obstacle height information on the scanning path of multiple lasers of the multi-line laser comprises: using each of the plurality of lasers as a target laser; Determining the distance between an obstacle on the scanning path of the target laser and the multi-line laser according to the scanning result of the target laser; Obstacle height information on the scanning paths of the multiple lasers of the multi-line laser is obtained according to the distance between the obstacle on the scanning path of the target laser and the multi-line laser.

3. The method according to claim 2, characterized in that The scanning result of the target laser includes: the periodic scanning result of the target laser; the distance between the obstacle on the scanning path of the target laser and the multi-line laser includes: the distance between the obstacle and the multi-line laser obtained by each periodic scanning of the target laser; Obtaining obstacle height information on the scanning path of multiple lasers of the multi-line laser according to the distance between the obstacle on the scanning path of the target laser and the multi-line laser includes: Obtaining the obstacle height information obtained by each periodic scanning of the target laser according to the distance between the obstacle and the multi-line laser; The obstacle height information obtained by scanning the target laser at each period is subjected to sliding filtering processing to obtain obstacle height information on the scanning path of multiple lasers of the multi-line laser.

4. The method according to claim 1, wherein Also includes: Obstacle height information of adjacent bays scanned by the multi-line laser is obtained by scanning along the length direction of the hull with a first laser; the first laser may be a single-line laser or another multi-line laser; The height of the container outline is updated according to the obstacle height information of the adjacent bays to obtain an updated container outline.

5. A container outline construction device, characterized in that: include: a scanning unit configured to scan along the width of the hull using a multi-line laser to obtain obstacle height information along the scanning path of the multiple laser beams of the multi-line laser; wherein, when the multi-line laser scans along the width of the hull, the multi-line laser emits multiple laser beams along an emission center at different emission angles; the obstacle height information along the scanning path of any one of the multiple laser beams includes obstacle height information of multiple obstacle scanning points along the scanning path; the obstacle height information is used to represent the distance between the obstacle scanning point and the ground; A construction unit is configured to stitch together the obstacle height information on the scanning paths of the multiple lasers and construct a container outline map at the scanning locations of the multi-line lasers according to the stitching result; the stitching together the obstacle height information on the scanning paths of the multiple lasers and constructing a container outline map at the scanning locations of the multi-line lasers according to the stitching result comprises: For the scanning paths of the multiple lasers, along each scanning path, each obstacle scanning point in each scanning path is used as a target obstacle scanning point; Obtaining obstacle height information of the target obstacle scanning points in each scanning path; splicing the height information of the target obstacle scanning points in each of the scanning paths, and determining the height information of the position corresponding to the target obstacle scanning point in the container outline map according to the splicing result; The plurality of lasers of the multi-line laser include: a first group of lasers determined from the multi-line lasers and capable of constantly scanning the scanning range based on a correspondence between a distance between an obstacle and the multi-line laser and a scanning range of each laser in the multi-line laser; The step of splicing the height information of the target obstacle scanning points in the respective scanning paths and determining the height information of the position corresponding to the target obstacle scanning point in the container outline map according to the splicing result includes: Calculating a maximum value of obstacle height information of a target obstacle scanning point in a scanning path of each laser beam of the first group of laser beams, and using the maximum value as first height information of a position corresponding to the target obstacle scanning point in the container outline map; Obtaining a first distance between the target obstacle and the multi-line laser according to first height information of a corresponding position of a scanning point of the target obstacle; Determining a second group of lasers having a scanning range at the scanning position according to a correspondence between the first distance and the scanning range of each laser of the multi-line laser; Obtaining height information of the target obstacle scanning point obtained by the second group of laser scanning; The height information of the target obstacle scanning point obtained by the second set of laser scanning is spliced ​​with the first height information to determine the height information of the position corresponding to the target obstacle scanning point in the container outline map.

6. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the container outline construction method according to any one of claims 1 to 4 by running instructions in the memory.

7. A quay crane, characterized in that: include: Multi-line laser installed on the quay crane trolley platform; And, a server, wherein the server is used to execute the method for constructing a container outline map according to any one of claims 1 to 4.

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