Container hoisting control method, device, equipment and readable storage medium

Abstract

The application provides a container lifting control method, device and equipment and a readable storage medium. The method comprises the following steps: receiving a lifting height value of a spreader sent by a gantry crane device; when it is determined that the lifting height value of the spreader reaches a first preset value, controlling a scanner to perform three-dimensional scanning on a target side of a container and a truck to obtain target point cloud data; performing rasterization processing on the target point cloud data to obtain a target two-dimensional raster image, wherein each grid in the target two-dimensional raster image contains a distance value of an object in the grid from the target side to the scanner; judging whether the container and the truck are separated according to the target two-dimensional raster image and obtaining a judgment result; and sending decision information to the gantry crane device according to the judgment result, so that the gantry crane device controls lifting or lowering of the container according to the decision information. The method reduces energy consumption in the process of judging whether the container and the truck are separated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of information processing, and in particular to a container lifting control method, device and equipment and a readable storage medium. BACKGROUND

[0002] In the process of container hoisting operation, gantry crane is usually used to hoist the container, but if the pin that connects the container and the truck is not completely opened at this time, the gantry crane will lift the container and the truck together, causing damage to the truck or the gantry crane.

[0003] At present, in order to determine whether the container and the truck are separated, the existing technology usually uses the method of continuous laser ranging.

[0004] However, the method of continuous laser ranging has the problem of high energy consumption. SUMMARY

[0005] The present application provides a container lifting control method, device and equipment and a readable storage medium to solve the problem of high energy consumption of the method of continuous laser ranging used to determine whether the container and the truck are separated in the prior art.

[0006] In a first aspect, the present application provides a container lifting control method, comprising: receiving a height value of a spreader lifted by a gantry crane device, when it is determined that the height value of the spreader lifted reaches a first preset value, controlling a scanner to perform three-dimensional scanning on a target side of a container and a truck, and obtaining target point cloud data; performing rasterization processing on the target point cloud data to obtain a target two-dimensional grid image, wherein each grid in the target two-dimensional grid image contains a distance value of an object in the grid from the scanner at the target side; determining whether the container and the truck are separated according to the target two-dimensional grid image and obtaining a determination result; and sending decision information to the gantry crane device according to the determination result, so that the gantry crane device controls the lifting or lowering of the container according to the decision information.

[0007] In a possible implementation, according to the two-dimensional grid image, determining whether the container and the truck are separated and obtaining a determination result comprises: determining the grid with a distance value less than a second preset value in the target two-dimensional grid image as a target qualified grid; determining whether the target qualified grid can be divided into two independent and unconnected areas, if yes, determining that the determination result is that the container and the truck have been separated; and if not, determining that the determination result is that the container and the truck have not been separated.

[0008] In a possible implementation, the determining whether the target meeting grid can be divided into two independent and unconnected regions comprises: taking the target meeting grid as a sample point, performing clustering analysis on the position of the target meeting grid to obtain a clustering result, wherein the clustering result is one or more than one clustering cluster; if there are two clustering clusters with a radius greater than a third preset value in the clustering result, it is determined that the target meeting grid can be divided into two independent and unconnected regions, and the determination result is that the target meeting grid has been separated; if there is not more than one clustering cluster with a radius greater than the third preset value in the clustering result, it is determined that the target meeting grid cannot be divided into two independent and unconnected regions, and the determination result is that the target meeting grid has not been separated.

[0009] In a possible implementation, before receiving the lifting height value of the spreader sent by the gantry crane device, the method further comprises: when receiving the spreader container loading information sent by the gantry crane device, controlling the scanner to perform three-dimensional scanning on the target side of the container and the truck to obtain initial point cloud data; performing grid processing on the initial point cloud data to obtain an initial two-dimensional grid image, wherein each grid in the initial two-dimensional grid image contains a distance value of an object in the grid from the target side to the scanner; and comparing the initial two-dimensional grid image and the target two-dimensional grid image to determine whether the container and the truck are separated, and obtaining a determination result.

[0010] In a possible implementation, the comparing the initial two-dimensional grid image and the target two-dimensional grid image to determine whether the container and the truck are separated, and obtaining a determination result comprises: determining, as initial meeting grids, grids in the initial two-dimensional grid image with a distance value less than a second preset value; determining, as target meeting grids, grids in the target two-dimensional grid image with a distance value less than the second preset value; counting the number of the initial meeting grids and the target meeting grids to obtain an initial meeting grid number and a target meeting grid number respectively; if the target meeting grid number is greater than the initial meeting grid number, determining that the determination result is that the container and the truck have not been separated; and if the target meeting grid number is not greater than the initial meeting grid number, determining that the determination result is that the container and the truck have been separated.

[0011] In a possible implementation, before controlling the scanner to perform three-dimensional scanning on the target side of the container and the truck to obtain target point cloud data, the method further comprises: receiving a pre-adjustment instruction sent by the gantry crane device; and controlling the scanner to perform three-dimensional scanning on the target side of the container and the truck according to the pre-adjustment instruction to obtain pre-adjustment point cloud data; performing grid processing on the pre-adjustment point cloud data to obtain a pre-adjustment grid image, wherein each grid in the pre-adjustment two-dimensional grid image contains a distance value of an object in the grid from the target side to the scanner; determining a plane height of the container according to the distance value contained in each grid in the pre-adjustment two-dimensional grid image; and controlling the scanner to reach the plane height of the container.

[0012] In a possible implementation, the decision information is sent to the gantry crane device according to the judgment result, so that the gantry crane device controls lifting or lowering of the container according to the decision information, including: if the judgment result is that the container and the truck are separated, lifting information is sent to the gantry crane cab, so that the gantry crane device controls lifting of the container; if the judgment result is that the container and the truck are not separated, lowering information is sent to the gantry crane cab, so that the gantry crane device controls lowering of the container.

[0013] In a second aspect, the present application provides a container lifting control device, including: a point cloud data obtaining module, configured to receive a lifting height value of a spreader sent by a gantry crane device, and control a scanner to perform three-dimensional scanning on a target side of a container and a truck when it is determined that the lifting height value of the spreader reaches a first preset value, to obtain target point cloud data; a target two-dimensional grid image obtaining module, configured to perform grid processing on the target point cloud data, to obtain a target two-dimensional grid image, wherein each grid in the target two-dimensional grid image contains a distance value of an object in the grid from the scanner on the target side; a judgment result obtaining module, configured to judge whether the container and the truck are separated according to the target two-dimensional grid image, and obtain a judgment result; and a decision information sending module, configured to send decision information to the gantry crane device according to the judgment result, so that the gantry crane device controls lifting or lowering of the container according to the decision information.

[0014] In a third aspect, the present application provides an electronic device, including: a processor, and a memory connected with the processor in communication; the memory stores computer execution instructions; and the processor executes the computer execution instructions stored in the memory, to implement the container lifting control method of any one of the first aspect.

[0015] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer execution instructions, and the computer execution instructions are executed by a processor to implement the container lifting control method of any one of the first aspect.

[0016] The container lifting control method, device, equipment and readable storage medium provided by the present application receive a lifting height value of a spreader sent by a gantry crane device, control a scanner to perform three-dimensional scanning on a target side of a container and a truck when it is determined that the lifting height value of the spreader reaches a first preset value, obtain target point cloud data, perform grid processing on the target point cloud data, obtain a target two-dimensional grid image, judge whether the container and the truck are separated according to the target two-dimensional grid image, obtain a judgment result, and send decision information to the gantry crane device according to the judgment result, so that the gantry crane device controls lifting or lowering of the container according to the decision information. This realizes that the container and the truck are judged to be separated or not separated only by one scanning, and decision information is sent to the gantry crane device to further realize lifting or lowering of the container, and solves the problem of high energy consumption in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are incorporated herein and constitute part of this specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.

[0018] Figure 1 The application scenario schematic diagram of the container lifting control method provided by the embodiment of the application is shown in the figure.

[0019] Figure 2 The flowchart of the container lifting control method provided by the embodiment of the application is shown in the figure.

[0020] Figure 3 The two-dimensional grid image provided by the embodiment of the application is shown in the figure.

[0021] Figure 4 The schematic diagram of the application scenario top view provided by the embodiment of the application is shown in the figure.

[0022] Figure 5 The target two-dimensional grid image schematic diagram of the container and the truck completely separated provided by the embodiment of the application is shown in the figure.

[0023] Figure 6 The target two-dimensional grid image schematic diagram of the container and the truck not completely separated provided by the embodiment of the application is shown in the figure.

[0024] Figure 7 The rear side schematic diagram of the container and the truck not completely separated provided by the embodiment of the application is shown in the figure.

[0025] Figure 8 The container lifting control device provided by the embodiment of the application is shown in the figure. Figure 1 ;

[0026] Figure 9 The container lifting control device provided by the embodiment of the application is shown in the figure. Figure 2 ;

[0027] Figure 10 The structure schematic diagram of the second judgment result obtaining module provided by the embodiment of the application is shown in the figure.

[0028] Figure 11 The structure schematic diagram of the electronic device provided by the embodiment of the application is shown in the figure.

[0029] Through the above-mentioned drawings, the specific embodiments of the application have been shown, and more detailed descriptions will be given in the following. These drawings and textual descriptions are not intended to limit the scope of the concept of the application by any means, but to illustrate the concept of the application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0030] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The following description of exemplary embodiments is not representative of all possible embodiments consistent with the present application. Instead, it is merely an example of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0031] In a region where freight is frequently transported, such as a port, a gantry crane is usually used to load and unload a container carried by a truck, and a locking pin is arranged between the truck and the container carried thereby to prevent the container from slipping. During unloading of the container from the truck by the gantry crane, the container and the truck may be hoisted together or the gantry crane may be damaged due to incomplete opening of the locking pin. At present, laser continuous ranging is usually used to determine whether the container and the truck are completely separated. However, the laser continuous ranging has the problem of high energy consumption.

[0032] To solve the problem of high energy consumption caused by the above-mentioned continuous laser ranging, the embodiments of the present application provide the following technical solutions: when the spreader is hoisted to a certain height, the scanner is controlled to perform three-dimensional scanning on the container and the truck to obtain point cloud data of the truck and the container, a target two-dimensional grid image is obtained by rasterizing the point cloud data, whether the container and the truck are separated can be determined based on distance values corresponding to grids in the target two-dimensional grid image, a corresponding determination result of whether the container and the truck are separated is obtained, and finally decision information of lifting or lowering is sent to the gantry crane equipment according to the determination result, so as to complete control of hoisting or lowering of the container.

[0033] Figure 1 An application scenario diagram of the container hoisting control method provided by the embodiments of the present application is shown in FIG. 1. Figure 1 In this scenario, there are a truck 101, a container 102, a scanner 103, a controller 104, and a gantry crane equipment 105.

[0034] In the specific implementation process, the truck 101 is used to carry the container 102.

[0035] The scanner 103 is used to scan a target side (usually the left side or the right side of the truck 101, but not the front side) of the truck 101 and the container 102 close to the scanner 103.

[0036] The controller 104 is used to receive information sent by the gantry crane equipment 105, control the scanner 103 to perform scanning, obtain point cloud data obtained by scanning, rasterize the point cloud data, analyze an image obtained by rasterization to obtain a determination result, and send decision information to the gantry crane equipment 105 according to the determination result.

[0037] The gantry crane device 105 includes a gantry crane body and various hoisting, processing and display devices on the gantry crane body, which are used to perform hoisting operations, obtain the height of the lifting appliance hoisted, display decision information and the like.

[0038] The installation height of the scanner 103 can be about 160 cm above the ground (because the height of a container truck is generally within 150 cm), and the controller 104 can be installed on the gantry crane body structure. The application does not specifically limit the installation position of the controller 104, and the controller 104 can be connected to the scanner 103 and the gantry crane device 105 through an interface including Ethernet, USB and / or 485.

[0039] It can be understood that the structure and connection mode shown in the embodiments of the application do not constitute a specific limitation on the container hoisting control method. In other feasible embodiments of the application, the above structure can include more or fewer components than the diagram, or combine certain components, or split certain components, or different component arrangements, which can be determined according to the actual application scene, and are not limited here. Figure 1 The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0040] The technical solutions of the application and how the technical solutions of the application solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the application will be described below with reference to the drawings.

[0041] Figure 2 The flowchart of the container hoisting control method provided by the embodiments of the application is shown. The execution subject of the embodiments of the application can be the controller 104 in the container hoisting control system 100. As shown in Figure 1 , the method comprises: Figure 2

[0042] S201: receiving the lifting appliance hoisted height value sent by the gantry crane device, and when it is determined that the lifting appliance hoisted height value reaches a first preset value, controlling the scanner to perform three-dimensional scanning on the target side of the container and the truck to obtain target point cloud data.

[0043] In this step, the hoisted height value can be the lifting appliance rising height, and can also be the container rising height. The first preset value can be a distance value, which should not be set too large to prevent the hoisted height from being too high when the pin is not completely opened.

[0044] ​Specifically, the lifting height value of the spreader can be obtained by measuring the length of the cable used by the spreader, or can be obtained by installing a distance sensor on the main beam of the gantry crane above the spreader and directly measuring the lifting height of the spreader or container using the distance sensor. The first preset value can be 20 cm, 25 cm or 30 cm, etc., and the present application does not make specific limitations thereto. The three-dimensional scanning can include time difference ranging or triangulation, etc. The target side of the container and the truck can include the left side or the right side of the truck driving direction.

[0045] For example, the controller receives that the lifting height of the spreader sent by the gantry crane equipment has reached 20 cm, and controls the scanner to perform three-dimensional scanning on the right side of the container and the truck to obtain target point cloud data.

[0046] S202: Perform rasterization processing on the target point cloud data to obtain a target two-dimensional grid image, wherein each grid in the target two-dimensional grid image contains a distance value of an object in the grid to the scanner on the target side.

[0047] In this step, rasterization can convert point cloud data into a two-dimensional image, i.e., a target two-dimensional grid image, which is composed of uniformly divided grids, and each grid has a corresponding distance value of an object in the grid to the scanner.

[0048] Figure 3 A two-dimensional grid image provided by an embodiment of the present application is shown in the following figure. Specifically, the two-dimensional grid image can be as shown in Figure 3 The solid line in the figure is the truck and the container, and the dashed line is the grid boundary (the boundary will not be displayed in the actual figure), and the grid can be more dense. The distance value can be the vertical distance of the object in the grid to the scanner. If there is no object in the grid, the distance value can be converted to infinity.

[0049] Figure 3 In the case shown in the following figure, the distance value of the truck and the container is smaller than that of the blank area without objects.

[0050] S203: Determine whether the container and the truck are separated according to the target two-dimensional grid image, and obtain a determination result.

[0051] In this step, whether the container and the truck are separated can be determined according to the numerical value corresponding to the grid and the position of the grid. The determination result can include separated or not separated.

[0052] S204: Send decision information to the gantry crane equipment according to the determination result, so that the gantry crane equipment controls the lifting or lowering of the container according to the decision information.

[0053] In this step, the decision information can include lifting information and lowering information, and the gantry crane device includes a spreader, a gantry crane cab and a control component therein, a motor or engine for lifting or lowering the spreader, a winch, etc.

[0054] In a possible implementation, if the judgment result is that the container and the truck have been separated, the lifting information is sent to the gantry crane cab so that the gantry crane device controls the container to be lifted. If the judgment result is that the container and the truck have not been separated, the lowering information is sent to the gantry crane cab so that the gantry crane device controls the container to be lowered.

[0055] Specifically, the lifting information is, for example, “the container and the truck have been separated, and the lifting can continue”, “the lifting can continue”, etc., and the lowering information is, for example, “the container and the truck have not been separated, please slowly lower the container”, etc. The specific content of the lifting information and the lowering information is not limited in the present application.

[0056] As can be seen from the description of the above embodiments, the container lifting control method provided by the embodiments of the present application receives the lifting height value of the spreader sent by the gantry crane device, when it is determined that the lifting height value of the spreader reaches the first preset value, controls the scanner to perform three-dimensional scanning on the target side of the container and the truck to obtain target point cloud data, performs rasterization processing on the target point cloud data to obtain a target two-dimensional raster image, and according to the target two-dimensional raster image, judges whether the container and the truck are separated and obtains a judgment result. Finally, according to the judgment result, decision information is sent to the gantry crane device, so that the gantry crane device controls the lifting or lowering of the container according to the decision information. It is realized that whether the truck and the container are separated can be judged only by one scanning, and decision information is sent to the gantry crane device to further realize the lifting or lowering of the container, thereby solving the problem of high energy consumption in the prior art.

[0057] In a possible implementation, in the step S203, according to the two-dimensional raster image, whether the container and the truck are separated is judged and a judgment result is obtained, specifically including:

[0058] S2031: The grid with a distance value less than the second preset value in the target two-dimensional raster image is determined as a target qualified grid.

[0059] In this step, the distance values of all grids in the image are compared with the second preset value to screen out the grids with distance values less than the second preset value. Figure 4 A schematic diagram of an application scenario top view provided by the embodiments of the present application is shown in FIG. 2. Figure 4 As shown in FIG. 2, the second preset value can be the vertical distance from the side of the truck away from the scanner to the scanner, that is, Figure 4S, and can also be slightly smaller or larger than S in the figure, as long as it is convenient to locate the positions of the truck and the container. In the target two-dimensional grid image, the grid smaller than the second preset value is the grid corresponding to the truck and the container, so the target qualified grid is the grid corresponding to the truck and the container.

[0060] S2032: It is judged whether the target qualified grid can be divided into two independent and non-connected regions, if yes, it is determined that the judgment result is separated; if no, it is determined that the judgment result is not separated.

[0061] Specifically, Figure 5 The target two-dimensional grid image in the case that the container and the truck are completely separated is provided for the embodiment of the present application. As shown in Figure 5 When the container and the truck are completely separated, the grid corresponding to the container and the grid corresponding to the truck are separated by the grid with a distance value exceeding the second preset value, and become two independent and non-connected regions. Figure 6 The target two-dimensional grid image in the case that the container and the truck are not completely separated is provided for the embodiment of the present application. As shown in Figure 6 If the container and the truck are not completely separated, the distance value of the grid corresponding to the contact position of the container and the truck is also smaller than the second preset value, so the grid smaller than the second preset value can be connected into one whole.

[0062] From the description of the above embodiment, it can be known that the container and the truck can be determined to be separated or not by determining the target qualified grid and judging whether the target qualified grid can be divided into two independent and non-connected regions.

[0063] In a possible implementation, in the step S2032, it is judged whether the target qualified grid can be divided into two independent and non-connected regions, and specifically includes:

[0064] S2032A: The target qualified grid is taken as a sample point, and clustering analysis is performed on the position of the target qualified grid to obtain a clustering result, wherein the clustering result is one or more than one clustering cluster.

[0065] In this step, the clustering analysis can use a density-based clustering algorithm. In the case that the container and the truck are separated, the grid corresponding to the truck in the target qualified grid is relatively dense, and will be divided into one clustering cluster, and the grid corresponding to the container is also relatively dense, and will be divided into another clustering cluster. In the case that the container and the truck are not separated, the grids corresponding to the container and the truck are connected, and will be divided into the same clustering cluster.

[0066] Specifically, the density-based clustering algorithm includes a DBSCAN algorithm.

[0067] S2032B: If there are two clustering clusters with a radius greater than the third preset value in the clustering result, it is determined that the target qualified grid can be divided into two independent and unconnected regions, and the determination result is separated.

[0068] In this step, the third preset value can be the smaller one of the container height or the truck tail height, or can be any value large enough to distinguish the container and / or truck corresponding clustering cluster, which is not limited in the present application.

[0069] S2032C: If there is no more than one clustering cluster with a radius greater than the third preset value in the clustering result, it is determined that the target qualified grid cannot be divided into two independent and unconnected regions, and the determination result is not separated.

[0070] In this step, when there is only one clustering cluster with a radius greater than the third preset value, the grid corresponding to the clustering cluster is the grid corresponding to the container and the truck, indicating that the container and the truck are not separated.

[0071] From the description of the above embodiments, it can be seen that the embodiments of the present application use clustering analysis method to determine whether the container corresponding grid and the truck corresponding grid can be divided into two regions, so as to achieve the purpose of determining whether the container and the truck are separated. At the same time, the clustering cluster is obtained by using clustering analysis method, and the size of the clustering cluster is screened by using the third preset value, so as to remove some small clustering clusters, and avoid the case that the unexpected object appears in the target two-dimensional grid image, resulting in the case that the non-separated misjudgment is mistaken for the separated.

[0072] In a possible implementation, before the step S201 receives the lifting height value of the spreader sent by the gantry crane device, it further includes:

[0073] S2011: When receiving the container lifting information of the spreader sent by the gantry crane device, the scanner is controlled to perform three-dimensional scanning on the target side of the container and the truck, and initial point cloud data is obtained.

[0074] In this step, the container lifting of the spreader means that the spreader has contacted the box body, and the container lifting state of the spreader can be determined by the pressure sensor arranged on the spreader, or can be determined by the force sensor arranged on the cable.

[0075] S2012: The initial point cloud data is rasterized to obtain an initial two-dimensional grid image, wherein each grid in the initial two-dimensional grid image contains the distance value of the object in the grid from the target side to the scanner.

[0076] In this step, the initial two-dimensional image is the image of the container in the state of not being lifted.

[0077] S2013: comparing the initial two-dimensional grid image and the target two-dimensional grid image to determine whether the container and the truck are separated, and obtaining a determination result.

[0078] Specifically, step S2013 includes:

[0079] S2013A: determining the grid with a distance value less than the second preset value in the initial two-dimensional grid image as an initial qualified grid.

[0080] In this step, the determination method of the initial qualified grid is similar to the determination method of the target qualified grid in step S2031, which will not be described here.

[0081] S2013B: determining the grid with a distance value less than the second preset value in the target two-dimensional grid image as a target qualified grid.

[0082] In this step, the determination method of the target qualified grid will not be described here.

[0083] S2013C: counting the number of the initial qualified grid and the target qualified grid, and obtaining an initial qualified grid number and a target qualified grid number, respectively.

[0084] In this step, the initial qualified grid number is the number of the corresponding grid of the container and the truck in the state that the container is not lifted, and the target qualified grid number is the number of the corresponding grid of the container and the truck in the state that the container is lifted.

[0085] S2013D: comparing the number of the target qualified grid number and the initial qualified grid number, if the target qualified grid number is greater than the initial qualified grid number, determining that the determination result is not separated, and if the target qualified grid number is not greater than the initial qualified grid number, determining that the determination result is separated.

[0086] Figure 7 FIG. 6 is a rear view of the container and the truck that are not completely separated according to an embodiment of the present application. Figure 7 As shown in the figure, if the pin is not completely opened, the container or the truck may be inclined to one side, which causes the area scanned by the scanner to increase, so that the target qualified grid number in the target two-dimensional grid image also increases after the point cloud data is rasterized into the target two-dimensional grid image, which causes the target qualified grid number to be greater than the initial qualified grid number.

[0087] From the description of the above embodiment, it can be seen that the number of the target qualified grid number and the initial qualified grid number are compared, so that whether the container and the truck are separated can be determined.

[0088] In a possible implementation, considering that the container is also likely to be lifted in the separated case, the container bottom or the truck pallet can be scanned by the scanner, the embodiment of the present application provides another solution of S2013D: the number of target qualified grid numbers is subtracted from the number of initial qualified grid numbers to obtain a difference value, if the difference value is greater than a fourth preset value, it is determined that the judgment result is not separated, and if the difference value is not greater than the fourth preset value, it is determined that the judgment result is separated.

[0089] The number of the fourth preset value can be obtained according to experience data, and the experience data can include the number of grids corresponding to the container bottom or the truck pallet in the target two-dimensional grid image.

[0090] As can be seen from the description of the above embodiment, by comparing the difference value between the target qualified grid number and the initial qualified grid number with the fourth preset value, whether the container and the truck are separated can be determined.

[0091] In a possible implementation, the step S203 of determining whether the container and the truck are separated according to the two-dimensional grid image and obtaining a judgment result specifically includes: determining the gap shape between the container and the truck according to the target two-dimensional grid image, if the gap shape contains an acute angle, the judgment result is not separated, otherwise the judgment result is separated.

[0092] In a possible implementation, before the step S201 of controlling the scanner to perform three-dimensional scanning on the target side of the container and the truck to obtain target point cloud data, the method further includes:

[0093] S701: receiving a pre-adjustment instruction sent by the gantry crane device, and controlling the scanner to perform three-dimensional scanning on the target side of the container and the truck according to the pre-adjustment instruction to obtain pre-adjustment point cloud data.

[0094] In this step, the pre-adjustment instruction contains a scanning instruction and an instruction for adjusting the position of the scanner, and the application does not limit the specific form of the instruction.

[0095] S702: performing grid processing on the pre-adjustment point cloud data to obtain a pre-adjustment grid image, wherein each grid in the pre-adjustment two-dimensional grid image contains a distance value of an object in the grid from the target side to the scanner.

[0096] In this step, the obtained pre-adjustment grid image is the same as the target two-dimensional grid image, which will not be described here.

[0097] S703: determining the height of the plane where the container is located according to the distance value contained in the grid in the pre-adjustment two-dimensional grid image.

[0098] In this step, since the surface of the container is generally a tank type bulkhead, the tank type bulkhead is composed of grooves or protrusions with regular triangular, rectangular, trapezoidal or arc-shaped cross-sections, so the distance value contained in the grid in the pre-adjusted two-dimensional grid image will also have obvious rules. According to the rules of such distance values, the position of the container can be located, and the plane height where the container is located can also be located.

[0099] S704: Control the scanner to reach the plane height where the container is located.

[0100] In this step, the scanner can include a device such as a motor that can adjust the overall position of the scanner to achieve the action of moving the scanner to the plane height where the container is located.

[0101] As can be seen from the description of the above embodiments, the embodiments of the present application achieve the effect of moving the scanner to the plane where the container is located by adding the step of adjusting the scanner before obtaining the target point cloud data, which can reduce or eliminate the error caused by scanning the bottom of the container or the truck loading platform after the container is lifted.

[0102] Figure 8 A container lifting control device provided by the embodiments of the present application is shown in Figure 1 . As shown in Figure 8 , the container lifting control device 800 includes a point cloud data obtaining module 801, a target two-dimensional grid image obtaining module 802, a first judgment result obtaining module 803, and a decision information sending module 804.

[0103] The point cloud data obtaining module 801 is configured to receive the lifting height value of the spreader sent by the gantry crane device, and when it is determined that the lifting height value of the spreader reaches a first preset value, control the scanner to perform three-dimensional scanning on the target side of the container and the truck to obtain target point cloud data.

[0104] The target two-dimensional grid image obtaining module 802 is configured to perform grid processing on the target point cloud data to obtain a target two-dimensional grid image, wherein each grid in the target two-dimensional grid image contains a distance value of an object in the grid from the scanner on the target side.

[0105] The first judgment result obtaining module 803 is configured to determine whether the container and the truck are separated according to the target two-dimensional grid image, and obtain a judgment result.

[0106] The decision information sending module 804 is configured to send decision information to the gantry crane device according to the judgment result, so that the gantry crane device controls the lifting or lowering of the container according to the decision information.

[0107] In a possible implementation, the judgment result obtaining module 803 is specifically configured to determine the grid with a distance value less than the second preset value in the target two-dimensional grid image as a target qualified grid. It is determined that the judgment result is separated if the target qualified grid can be divided into two independent and unconnected regions, and it is determined that the judgment result is not separated if the target qualified grid cannot be divided into two independent and unconnected regions.

[0108] In a possible implementation, the judgment result obtaining module 803 is specifically configured to take the target qualified grid as a sample point, perform cluster analysis on the position of the target qualified grid, and obtain a cluster result, where the cluster result is one or more than one cluster. It is determined that the target qualified grid can be divided into two independent and unconnected regions if there are two clusters with a radius greater than a third preset value in the cluster result, and the judgment result is separated. It is determined that the target qualified grid cannot be divided into two independent and unconnected regions if there is not more than one cluster with a radius greater than the third preset value in the cluster result, and the judgment result is not separated.

[0109] Figure 9 A container lifting control device provided by an embodiment of the present application Figure 2 As shown in Figure 9 , the container lifting control device 800 further includes an initial point cloud data obtaining module 805, an initial two-dimensional grid image obtaining module 806, and a second judgment result obtaining module 807.

[0110] Before receiving the lifting tool lifting height value sent by the gantry crane device, the initial point cloud data obtaining module 805 is configured to, when receiving the lifting tool container information sent by the gantry crane device, control the scanner to perform three-dimensional scanning on the target side of the container and the truck, and obtain initial point cloud data.

[0111] The initial two-dimensional grid image obtaining module 806 is configured to perform grid processing on the initial point cloud data, and obtain an initial two-dimensional grid image, where each grid in the initial two-dimensional grid image contains a distance value of an object in the grid to the target side and the scanner.

[0112] The second judgment result obtaining module 807 is configured to compare the initial two-dimensional grid image and the target two-dimensional grid image to determine whether the container and the truck are separated, and obtain a judgment result.

[0113] Still referring to 9, the container lifting control device 800 further includes a pre-adjustment point cloud data obtaining module 808, a distance value obtaining module 809, a plane height determining module 810, and a scanner adjusting module 811.

[0114] The pre-adjustment point cloud data obtaining module 808 is used for receiving a pre-adjustment instruction sent by the portal crane device, and controlling the scanner to perform three-dimensional scanning on the target side of the container and the truck according to the pre-adjustment instruction, so as to obtain pre-adjustment point cloud data.

[0115] The distance value obtaining module 809 is used for performing rasterization processing on the pre-adjustment point cloud data, so as to obtain a pre-adjustment raster image, wherein each grid in the pre-adjustment two-dimensional raster image contains a distance value of an object in the grid from the target side to the scanner.

[0116] The plane height determining module 810 is used for determining a plane height of the container according to the distance value contained in each grid in the pre-adjustment two-dimensional raster image.

[0117] The scanner adjusting module 811 is used for controlling the scanner to reach the plane height of the container.

[0118] Figure 10 A second judgment result obtaining module structure diagram is provided for the embodiments of the present application. Referring to Figure 10 , the second judgment result obtaining module 807 includes an initial qualified grid determining module 8071, a target qualified grid determining module 8072, and a comparison module 8073.

[0119] The initial qualified grid determining module 8071 is used for determining, as an initial qualified grid, a grid in the initial two-dimensional raster image whose distance value is less than a second preset value.

[0120] The target qualified grid determining module 8072 is used for determining, as a target qualified grid, a grid in the target two-dimensional raster image whose distance value is less than the second preset value.

[0121] The number of the initial qualified grids and the target qualified grids is counted, so as to obtain an initial qualified grid number and a target qualified grid number, respectively.

[0122] The comparison module 8073 is used for comparing the initial qualified grid number and the target qualified grid number, determining that the judgment result is not separated if the target qualified grid number is greater than the initial qualified grid number, and determining that the judgment result is separated if the target qualified grid number is not greater than the initial qualified grid number.

[0123] Figure 11 A structure diagram of an electronic device is provided for the embodiments of the present application. For example, as shown in Figure 11 , the electronic device 1100 can include a processor 1101 and a memory 1102 in communication with the processor.

[0124] The memory 1102 stores computer execution instructions.

[0125] The processor 1101 executes computer-executed instructions stored in the memory 1102 to implement the container lifting control method provided by any of the above embodiments.

[0126] Optionally, the memory 1102 can be independent or integrated with the processor 1101. When the memory 1102 is a device independent of the processor 1101, the electronic device can further include a bus for connecting the memory 1102 and the processor 1101.

[0127] The application also provides a computer-readable storage medium, which stores computer-executed instructions, and when the processor executes the computer-executed instructions, the technical solution of the container lifting control method in any of the above embodiments is implemented. The implementation principle and beneficial effects are similar to those of the container lifting control method, and can be referred to for the implementation principle and beneficial effects of the container lifting control method, which will not be described here.

[0128] The application also provides a computer program product, which includes a computer program, and when the processor executes the computer program, the technical solution of the container lifting control method in any of the above embodiments is implemented. The implementation principle and beneficial effects are similar to those of the container lifting control method, and can be referred to for the implementation principle and beneficial effects of the container lifting control method, which will not be described here.

[0129] In the several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, another division manner can be used, for example, a plurality of modules can be combined or integrated into another system, or some features can be omitted or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed modules can be indirect coupling or communication connection through some interfaces, devices or modules, and can be electrical, mechanical or other forms.

[0130] The modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, some or all of the modules can be selected to implement the embodiment scheme.

[0131] In addition, each functional module in the various embodiments of the present application can be integrated in one processing unit, or each module can be physically present alone, or two or more modules can be integrated in one unit. The above-mentioned modules can be realized in the form of hardware or in the form of hardware plus software function modules.

[0132] The integrated modules realized in the form of software function modules can be stored in a computer readable storage medium. The software function modules are stored in a storage medium, and include instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute part of the steps of the method in the various embodiments of the present application.

[0133] It should be understood that the above-mentioned processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor, or the processor can also be any conventional processor, etc. The steps of the method disclosed in the application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0134] The memory can include a high-speed RAM memory, and can also include a non-volatile storage NVM, for example at least one disk memory, and can also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0135] The bus can be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the bus in the drawings of the present application does not limit to only one bus or one type of bus.

[0136] The aforementioned storage media can be implemented by any type of volatile or non-volatile storage devices or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic storage devices, flash memory, magnetic disks or optical disks. The storage media can be any available media that can be accessed by a general purpose or special purpose computer.

[0137] An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can be a part of the processor. Consistent with the teachings provided herein, the processor and the storage medium can be located in an ASIC. Alternatively, the processor and the storage medium can be located in a circuit.

[0138] It is apparent that a person skilled in the art can make or think of various modifications and changes to the present application upon the basis of the foregoing description and practice of the application disclosed herein. It is intended to cover all such modifications and changes within the scope and spirit of the application. The foregoing description and examples with respect to the methods disclosed herein should not be construed in such a manner that the present application is limited thereto. It is intended to cover all modifications and changes as fall within the scope of the claims.

[0139] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the present application cover any and all variations of the application that come within the scope of the claims and their equivalents. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0140] It is to be understood that the application is not limited to the precise details of construction and the arrangement of components described above and illustrated in the drawings and that various modifications and changes can be made without departing from the scope thereof, the scope being indicated by the claims.

Claims

1. A container lifting control method, characterized in that, include: The system receives the lifting height value of the spreader sent by the gantry crane. When it is determined that the lifting height value of the spreader has reached the first preset value, the system controls the scanner to perform a three-dimensional scan of the target side of the container and the truck to obtain target point cloud data. The target point cloud data is rasterized to obtain a target two-dimensional raster image, wherein each grid in the target two-dimensional raster image contains the distance value between the object in the grid and the scanner on the target side; In the target 2D raster image, grates with distance values ​​less than a second preset value are identified as target compliant grates; the target compliant grates are the grates corresponding to the truck and the container; using the target compliant grates as sample points, cluster analysis is performed on the positions of the target compliant grates to obtain clustering results, wherein the clustering results are more than one cluster; if the clustering results have two clusters with radii greater than a third preset value, it is determined that the target compliant grates can be divided into two independent and unconnected regions, and the judgment result is determined that the container and the truck have been separated; If the clustering results contain no more than one cluster with a radius greater than a third preset value, it is determined that the target compliance grid cannot be divided into two independent and unconnected regions, and the judgment result is determined that the container and the truck have not been separated. Based on the judgment result, decision information is sent to the gantry crane equipment so that the gantry crane equipment can control the lifting or lowering of the container according to the decision information; Before the control scanner performs a 3D scan of the target side of the container and truck to obtain the target point cloud data, it also includes: The system receives a pre-adjustment command from the gantry crane and controls the scanner to perform a 3D scan of the target side of the container and truck according to the command, obtaining pre-adjustment point cloud data. The pre-adjustment point cloud data is then rasterized to obtain a pre-adjustment 2D raster image, where each grid cell contains the distance value between the object in the grid on the target side and the scanner. Based on the distance values ​​contained in the grid cells of the pre-adjustment 2D raster image, the plane height of the container is determined. The system then controls the scanner to reach the plane height of the container.

2. The method according to claim 1, characterized in that, Before receiving the lifting height value of the lifting device sent by the gantry crane equipment, the process also includes: When the gantry crane receives the container landing information sent by the spreader, it controls the scanner to perform a three-dimensional scan of the target side of the container and the truck to obtain initial point cloud data. The initial point cloud data is rasterized to obtain an initial two-dimensional raster image, wherein each grid in the initial two-dimensional raster image contains the distance value between the object in the grid and the scanner on the target side; The initial two-dimensional raster image and the target two-dimensional raster image are compared to determine whether the container and the truck are separated, and the determination result is obtained.

3. The method according to claim 2, characterized in that, The comparison of the initial two-dimensional raster image and the target two-dimensional raster image to determine whether the container and the truck have separated, and the determination result, includes: The grid cells in the initial two-dimensional grid image whose distance value is less than the second preset value are identified as the initial qualified grid cells; The target compliance grid is defined as the grid in the target two-dimensional grid image whose distance value is less than the second preset value. The number of the initial qualified grid cells and the target qualified grid cells are counted to obtain the initial qualified grid cell count and the target qualified grid cell count, respectively; If the target number of qualified grid cells is greater than the initial number of qualified grid cells, then the judgment result is determined to be not separated; If the target number of qualified grid cells is not greater than the initial number of qualified grid cells, then the judgment result is determined to be that the grid cells have been separated.

4. The method according to any one of claims 1 to 3, characterized in that, The step of sending decision information to the gantry crane based on the judgment result, so that the gantry crane controls the lifting or lowering of the container according to the decision information, includes: If the judgment result is that the container has been separated, a lifting message is sent to the gantry crane cab so that the gantry crane equipment can control the container to lift. If the judgment result is that the container has not been separated, a lowering information is sent to the gantry crane cab so that the gantry crane equipment can control the lowering of the container.

5. A container lifting control device, characterized in that, include: The point cloud data acquisition module is used to receive the lifting height value of the spreader sent by the gantry crane equipment. When it is determined that the lifting height value of the spreader reaches the first preset value, the module controls the scanner to perform a three-dimensional scan of the target side of the container and the truck to obtain the target point cloud data. A target two-dimensional raster image acquisition module is used to perform rasterization processing on the target point cloud data to obtain a target two-dimensional raster image, wherein each grid in the target two-dimensional raster image contains the distance value between the object in the grid and the scanner on the target side; The judgment result acquisition module is used to identify grids in the target two-dimensional grid image whose distance value is less than a second preset value as target compliant grids; the target compliant grids are the grids corresponding to the truck and the container; using the target compliant grids as sample points, cluster analysis is performed on the positions of the target compliant grids to obtain clustering results, wherein the clustering results are more than one cluster; if there are two clusters in the clustering results with radii greater than a third preset value, it is determined that the target compliant grid can be divided into two independent and unconnected regions, and the judgment result is determined that the container and the truck have been separated; If the clustering results contain no more than one cluster with a radius greater than a third preset value, it is determined that the target compliance grid cannot be divided into two independent and unconnected regions, and the judgment result is determined that the container and the truck have not been separated. The decision information sending module is used to send decision information to the gantry crane equipment according to the judgment result, so that the gantry crane equipment can control the lifting or lowering of the container according to the decision information; The container lifting control device also includes a pre-adjustment point cloud data acquisition module, a distance value acquisition module, a plane height determination module, and a scanner adjustment module; Before the scanner performs a 3D scan of the target side of the container and truck to obtain target point cloud data, the pre-adjustment point cloud data acquisition module is used to receive the pre-adjustment instruction sent by the gantry crane equipment, and control the scanner to perform a 3D scan of the target side of the container and truck according to the pre-adjustment instruction to obtain pre-adjustment point cloud data. The distance value acquisition module is used to perform rasterization processing on the pre-adjusted point cloud data to obtain a pre-adjusted two-dimensional raster image, wherein each grid in the pre-adjusted two-dimensional raster image contains the distance value between the object in the grid and the scanner on the target side. The plane height determination module is used to determine the plane height of the container based on the distance values ​​contained in the grid in the pre-adjusted two-dimensional grid image. The scanner adjustment module is used to control the scanner to reach the plane height of the container.

6. An electronic device, comprising: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the container lifting control method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the container lifting control method as described in any one of claims 1 to 4.

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