Wharf transport equipment and crane interaction method, system, device and storage medium

Abstract

The application provides a wharf transportation equipment and crane interaction method, system, device and storage medium, and the method comprises the following steps: a first point cloud acquisition device and a second point cloud acquisition device are arranged at the front end and the rear end of the container carrying equipment respectively; original point cloud data is acquired in real time, and relative position information of the hoisting equipment based on the container carrying equipment is recognized to start the alignment task; the point cloud data of the front end and the point cloud data of the rear end of the container carrying equipment are fitted respectively to obtain the local bottom surface and the side surface of the container, and a state information combination is generated; the current hoisting operation state is obtained in a preset task state table based on the state information combination, and the state of the hoisting operation is switched according to the current hoisting operation state and the height of the lifting appliance. The application can accurately and timely detect and recognize various state information in the alignment process without changing the wharf mechanical equipment, has high system robustness, and improves the timeliness and safety of the hoisting operation.

Description

Technical Field

[0001] This invention relates to the field of navigation and positioning technology, and in particular to a method, system, device, and storage medium for interaction between dock transportation equipment and cranes. Background Technology

[0002] With the continuous optimization and upgrading of traditional container terminals through intelligent transformation, more and more automated equipment is being put into operation, and autonomous vehicles are becoming the vanguard of intelligent terminals. Alignment is a necessary part of the terminal operation process, responsible for the precise transfer of containers between container cranes (such as quay cranes and yard cranes) and vehicles. For intelligent container terminals, starting from the operation process and accurately starting and stopping the alignment task is an effective way to improve production efficiency.

[0003] In traditional terminals, alignment tasks rely solely on manual confirmation, resulting in poor accuracy and low efficiency. In intelligent terminals, however, the initiation and termination of single-vehicle alignment tasks require interaction with other intelligent systems, such as intelligent crane systems or terminal cargo handling systems. With the development of computer technology, automatic vehicle and container identification and positioning technologies are becoming increasingly widespread in Chinese ports and terminals, significantly reducing labor costs, accelerating work efficiency, and improving accuracy. Currently, commonly used vehicle positioning technology is based on onboard GPS devices. However, on quay cranes, signal strength is insufficient due to obstruction from large ships and / or gantry cranes, rendering GPS devices unable to perform positioning functions. Therefore, positioning methods based on traditional GPS devices are unsuitable for vehicle positioning and lifting operations in this environment.

[0004] In view of this, the present invention provides a method, system, device and storage medium for interaction between dock transportation equipment and crane.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] To address the problems in the prior art, the present invention aims to provide a method, system, equipment, and storage medium for interaction between terminal transportation equipment and cranes, overcoming the difficulties of the prior art. It can fully utilize the edge information of cargo ships to achieve vehicle self-positioning in scenarios where cargo ships are docked at the terminal and GPS positioning fails, thereby improving the alignment accuracy of container trucks and quay cranes.

[0007] An embodiment of the present invention provides a method for interaction between dock transportation equipment and cranes, comprising the following steps:

[0008] A first point cloud data collection device and a second point cloud data collection device are respectively installed at the front and rear of the container transport equipment.

[0009] Real-time acquisition of raw point cloud data; identification of the relative position information of the hoisting equipment based on the container transport equipment to initiate the alignment task.

[0010] By fitting the point cloud data from the front and rear ends of the container transport equipment respectively, the local bottom and side surfaces of the container are obtained, and a combination of container status information at the corresponding locations is generated; and

[0011] Based on the combination of the status information, the current hoisting operation status is obtained in the preset task status table, and the hoisting operation status is switched according to the current hoisting operation status and the height of the lifting device.

[0012] Preferably, the first point cloud acquisition device and the second point cloud acquisition device are respectively provided at the front end and the rear end of the container transport equipment, including:

[0013] The container transport equipment is a truck. A first point cloud acquisition device for collecting overhead point clouds is installed vertically on the top of the truck's cab, and a second point cloud acquisition device for collecting overhead point clouds is installed vertically at the rear of the truck; or

[0014] The container transport equipment is a flatbed unmanned transport vehicle. A first point cloud acquisition device for collecting overhead point clouds is set at the front of the flatbed unmanned transport vehicle along the vertical direction, and a second point cloud acquisition device for collecting overhead point clouds is set at the rear of the flatbed unmanned transport vehicle along the vertical direction.

[0015] Preferably, the real-time acquisition of raw point cloud data and the identification of the relative position information of the hoisting equipment based on the container transport equipment to initiate the alignment task include:

[0016] The first point cloud acquisition device and the second point cloud acquisition device respectively collect raw point cloud data of the front and rear of the vehicle in real time.

[0017] The original point cloud data is mapped onto the vehicle coordinate system of the container transport equipment and merged to obtain the first point cloud data.

[0018] When the first point cloud data detects local features of the hoisting equipment and satisfies a preset spatial position relationship, the alignment task is initiated.

[0019] Preferably, when the first point cloud data detects local features of the hoisting equipment and satisfies a preset spatial relationship, the alignment task is initiated, including:

[0020] When the container transport equipment stops moving, if the first point cloud data detects that at least one of the preset partial surface structure features of the hoisting equipment matches, and whether the matching partial surface structure feature and the container transport equipment satisfy a preset spatial position relationship, then the alignment task is initiated.

[0021] Preferably, the lifting equipment is a container crane, and the partial external structural features are the spatial data of the inner side of the crossbeam, the spatial data of the outer side of the crossbeam, the spatial data of the inner leg of the crossbeam, and the spatial data of the outer leg of the crossbeam.

[0022] Preferably, the point cloud data corresponding to the matching local surface structured features are sorted along the travel direction of the container transport equipment, and the center position of the container crane along the travel direction of the container transport equipment is obtained in real time through the maximum and minimum values. If the center position is located in the preset alignment start area of ​​the container transport equipment, the alignment task is started.

[0023] Preferably, the step of obtaining the local bottom and side surfaces of the container by respectively fitting the point cloud data of the front end and the point cloud data of the rear end of the container transport equipment, and generating a combination of container status information at the corresponding location, includes:

[0024] By fitting the point cloud data of the front end of the container transport equipment, it is detected whether there is a local bottom surface and side surface of the container at the front end of the vehicle. If so, the state flag a of the front end of the vehicle is updated to 1; otherwise, the state flag a of the front end of the vehicle is updated to 0.

[0025] By fitting the point cloud data of the rear end of the container transport equipment, it is detected whether there is a local bottom surface and side surface of the container at the rear end of the vehicle. If so, the state flag b of the rear end of the vehicle is updated to 1; otherwise, the state flag b of the rear end of the vehicle is updated to 0.

[0026] Update the container status information combination (a, b).

[0027] Preferably, the step of obtaining the current hoisting operation status based on the status information combination in a preset task status table, and switching the hoisting operation status according to the current hoisting operation status and the lifting device height, includes:

[0028] Based on the combination of the status information, the current hoisting operation status is matched in the preset task status table;

[0029] Obtain the relative height of the spreader; and

[0030] The hoisting operation status is switched based on the current hoisting operation status and whether the lifting height meets the threshold.

[0031] Preferably, obtaining the relative height of the lifting device includes:

[0032] Local point cloud data corresponding to the spreader is obtained based on the preset spreader position and the relative position of the container transport equipment;

[0033] Filter out the point cloud data of points outside the local point cloud data and the point cloud data of the container transport equipment's on-board containers from the local point cloud data;

[0034] If the filtered local point cloud data can fit the horizontal plane of the container bottom, then the relative height of the spreader is obtained based on the spatial position of the horizontal plane of the container bottom and the preset height of the container. If not, the relative height of the spreader is obtained based on the spatial position of the horizontal plane of the container bottom and the preset height of the container. If the number of point clouds of the spreader in the filtered local point cloud data is greater than the threshold, then the minimum height of the point cloud is taken as the relative height of the spreader.

[0035] Embodiments of the present invention also provide a dock transportation equipment and crane interaction system for implementing the above-described dock transportation equipment and crane interaction method. The dock transportation equipment and crane interaction system includes:

[0036] The point cloud acquisition module has a first point cloud acquisition device and a second point cloud acquisition device at the front and rear ends of the container transport equipment, respectively.

[0037] The alignment module is activated to acquire raw point cloud data in real time and identify the relative position information of the hoisting equipment based on the container transport equipment in order to initiate the alignment task.

[0038] The status information module obtains the local bottom and side surfaces of the container by fitting the point cloud data from the front and rear ends of the container transport equipment, respectively, and generates a combination of status information for the container at the corresponding location; and

[0039] The switching operation module obtains the current hoisting operation status based on the status information combination in the preset task status table, and switches the hoisting operation status according to the current hoisting operation status and the lifting equipment height.

[0040] Embodiments of the present invention also provide a dock transportation equipment and crane interaction device, comprising:

[0041] processor;

[0042] Memory, which stores the processor's executable instructions;

[0043] The processor is configured to execute the steps of the above-described method for interaction between the dock transport equipment and the crane by executing executable instructions.

[0044] Embodiments of the present invention also provide a computer-readable storage medium for storing a program that, when executed, implements the steps of the above-described method for interaction between dock transportation equipment and crane.

[0045] The dock transportation equipment and crane interaction method, system, equipment and storage medium of the present invention can accurately and timely detect and identify multiple status information in the alignment process without changing the dock machinery and equipment, which has high system robustness and improves the timeliness and safety of hoisting operations. Attached Figure Description

[0046] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0047] Figure 1 This is a flowchart of the interaction method between dock transportation equipment and crane according to the present invention.

[0048] Figure 2 This is a schematic diagram of one implementation scenario of the dock transportation equipment and crane interaction method of the present invention.

[0049] Figure 3 This is a schematic diagram of another implementation scenario of the dock transportation equipment and crane interaction method of the present invention.

[0050] Figure 4 This is a schematic diagram illustrating one implementation process of the dock transportation equipment and crane interaction method of the present invention.

[0051] Figure 5 This is a schematic diagram of the interaction system between the dock transportation equipment and the crane of the present invention.

[0052] Figure 6 This is a structural schematic diagram of the dock transportation equipment and crane interaction device of the present invention.

[0053] Figure 7 This is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention. Detailed Implementation

[0054] The following specific examples illustrate the implementation methods of this application. Those skilled in the art can easily understand the other advantages and effects of this application from the content disclosed herein. This application can also be implemented or applied through other different specific embodiments, and various details in this application can be modified or changed according to different viewpoints and application systems without departing from the spirit of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0055] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily implement the application. This application may be embodied in many different forms and is not limited to the embodiments described herein.

[0056] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics represented in connection with that embodiment or example, which are included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate different embodiments or examples represented in this application, as well as features of different embodiments or examples.

[0057] Furthermore, the terms "first" and "second" are used for illustrative purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the representation of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0058] For the purpose of clearly describing this application, devices that are not relevant to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0059] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0060] When we say that a device is "above" another device, this can mean that it is directly above the other device, or it can mean that other devices are present in between. Conversely, when we say that a device is "directly" "above" another device, there are no other devices present in between.

[0061] While the terms first, second, etc., are used in some instances to denote various elements in this invention, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are to be interpreted inclusively, or mean any one or any combination thereof. Therefore, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0062] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this application. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in the specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0063] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the content of this present application, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0064] Figure 1 This is a flowchart of the interaction method between dock transportation equipment and cranes according to the present invention. Figure 1 As shown, an embodiment of the present invention provides a method for interaction between dock transportation equipment and a crane, including the following steps:

[0065] S110. A first point cloud collection device and a second point cloud collection device are respectively installed at the front and rear ends of the container transport equipment.

[0066] S120: Real-time acquisition of raw point cloud data; identification of the relative position information of the hoisting equipment based on the container transport equipment to initiate the alignment task.

[0067] S130. By fitting the point cloud data from the front and rear ends of the container transport equipment respectively, the local bottom and side surfaces of the container are obtained, and a combination of container status information at the corresponding locations is generated.

[0068] S140. Obtain the current hoisting operation status from the preset task status table based on the status information combination, and switch the hoisting operation status according to the current hoisting operation status and the height of the lifting device.

[0069] The invention relies solely on autonomous vehicles to detect crane equipment information using sensors such as lidar, and makes autonomous judgments based on the information of the onboard containers. This avoids interaction with other systems, simplifies the single-vehicle process logic, and improves operational efficiency.

[0070] For unmanned flatbed trucks, there should be at least one multi-line lidar at the front and one at the rear. The lidar should be installed perpendicular to the ground to ensure that the laser field of view is upward, enabling the vehicle to detect crane equipment and containers. For unmanned container trucks, a multi-line lidar perpendicular to the ground should be installed on the roof and a detector (such as multi-line lidar / ultrasonic radar / single-line lidar, etc.) should be installed behind the trailer. In this invention, the radar behind the trailer is only used to detect the status of the container. Figure 2 This is a schematic diagram of one implementation scenario of the interaction method between dock transportation equipment and crane according to the present invention. For example... Figure 2 As shown, in a preferred embodiment, step S110 includes: the container transport equipment is a flatbed unmanned transport vehicle 11; a first point cloud acquisition device 10 for acquiring the point cloud above is set at the front of the flatbed unmanned transport vehicle 11 in a vertical direction; and a second point cloud acquisition device 12 for acquiring the point cloud above is set at the rear of the flatbed unmanned transport vehicle in a vertical direction. Subsequently, the point cloud data of the container 13 and the spreader 17 are acquired by the first point cloud acquisition device 10 and the second point cloud acquisition device 12. The center position of the container 13 is obtained based on the point cloud positions of the frontmost end 16 and the rearmost end 14 of the container 13, but this is not a limitation.

[0071] Figure 3 This is a schematic diagram of another implementation scenario of the interaction method between dock transportation equipment and cranes according to the present invention. For example... Figure 3 As shown, in a preferred embodiment, step S110 includes: the container transport equipment is a container truck 18; a first point cloud acquisition device 10 for acquiring the overhead point cloud is set on the top of the truck's cab in a vertical direction; and a second point cloud acquisition device 12 for acquiring the overhead point cloud is set on the rear of the truck in a vertical direction.

[0072] In a preferred embodiment, step S120 includes:

[0073] S121. The first point cloud acquisition device and the second point cloud acquisition device respectively collect the original point cloud data of the front and rear of the vehicle in real time.

[0074] S122. Map the original point cloud data to the vehicle coordinate system of the container transport equipment and merge them to obtain the first point cloud data.

[0075] S123. When the first point cloud data detects local features of the hoisting equipment and satisfies the preset spatial position relationship, the alignment task is started, but this is not the only limitation.

[0076] In a preferred embodiment, step S123 includes,

[0077] S1231. The container transport equipment stops moving. Determine whether the first point cloud data detection matches at least one of the pre-set partial external structured features of the hoisting equipment. If yes, proceed to step S1232. If no, return to step S1231.

[0078] S1232. Determine whether the matching local external structured features meet the preset spatial positional relationship with the container transport equipment. If yes, proceed to step S1233; otherwise, proceed to step S1231.

[0079] S1233. Start the alignment task and execute step S130, but not limited to this step.

[0080] In a preferred embodiment, in step S1231, the lifting equipment is a container crane, and the partial external structural features are the spatial data of the inner side of the crossbeam, the spatial data of the outer side of the crossbeam, the spatial data of the inner leg of the crossbeam, and the spatial data of the outer leg of the crossbeam, but are not limited thereto.

[0081] In a preferred embodiment, in step S1232, the point cloud data corresponding to the matching local surface structured features are sorted along the travel direction of the container transport equipment. The center position of the container crane along the travel direction of the container transport equipment is obtained in real time by the maximum and minimum values. If the center position is located in the preset alignment starting area of ​​the container transport equipment, step S1233 is executed; otherwise, step S1231 is executed, but this is not a limitation.

[0082] In a preferred embodiment, step S130 includes:

[0083] S131. By fitting the point cloud data of the front end of the container transport equipment, detect whether there is a local bottom surface and side surface of the container at the front end of the vehicle. If so, update the state flag a of the front end of the vehicle to 1; otherwise, update the state flag a of the front end of the vehicle to 0.

[0084] S132. By fitting the point cloud data of the rear end of the container transport equipment, detect whether there is a local bottom surface and side surface of the container at the rear end of the vehicle. If so, update the state flag b of the rear end of the vehicle to 1; otherwise, update the state flag b of the rear end of the vehicle to 0.

[0085] S133. Update the container status information combination (a, b), but not limited to this.

[0086] In a preferred embodiment, step S140 includes:

[0087] S141. Match the current hoisting operation status in the preset task status table based on the status information combination.

[0088] S142. Obtain the relative height of the lifting device.

[0089] S143. The hoisting operation status is switched according to the current hoisting operation status and whether the lifting height meets the threshold, so as to automatically end the alignment task, but not limited to this.

[0090] In a preferred embodiment, step S141 includes:

[0091] The changes in the front and rear box states when the alignment task begins and when the alignment task ends are as follows:

[0092] (1) (without the rear 20 boxes) The front 20 feet grab boxes, (a, b) = (1, 0) becomes (a, b) = (0, 0).

[0093] (2) (Later 20 boxes) The front 20 feet grab boxes, (a, b) = (1, 1) becomes (a, b) = (0, 1).

[0094] (3) (20 boxes without front box) The rear 20 feet grab box, (a, b) = (0, 1) becomes (a, b) = (0, 0).

[0095] (4) (with front box 20 boxes) rear 20 feet grab box, (a, b) = (1, 1) becomes (a, b) = (1, 0).

[0096] (5) For 40ft / 45ft / double 20ft medium-sized boxes, (a,b)=(1,1) becomes (a,b)=(0,0).

[0097] (6) (Without the last 20 boxes) Place the boxes in the first 20 feet, and (a, b) = (0, 0) becomes (a, b) = (1, 0).

[0098] (7) (20 boxes in the back) Place boxes in the first 20 feet, (a, b) = (0, 1) becomes (a, b) = (1, 1).

[0099] (8) (20 boxes without front box) Place the box 20 feet behind, (a, b) = (0, 0) becomes (a, b) = (0, 1).

[0100] (9) (20 boxes with front box) Place the box 20 feet behind, (a, b) = (1, 0) becomes (a, b) = (1, 1).

[0101] (10) When placing a 40-foot / 45-foot / double 20-foot box, (a, b) = (0, 0) becomes (a, b) = (1, 1).

[0102] In a preferred embodiment, step S142 includes:

[0103] S1421. Obtain local point cloud data corresponding to the spreader based on the preset spreader position and the relative position of the container transport equipment.

[0104] S1422. Filter out point cloud data of out-of-point points and point cloud data of container transport equipment's on-board containers from local point cloud data.

[0105] S1423. Can the horizontal plane of the container bottom be fitted in the local point cloud data after self-filtering? If yes, proceed to step S1424; if no, proceed to step S1425.

[0106] S1424. The relative height of the spreader is obtained based on the spatial position of the horizontal plane of the container bottom and the preset height of the container.

[0107] S1425. When the number of point clouds of the lifting device in the filtered local point cloud data is greater than the threshold, the minimum height of the point cloud is taken as the relative height of the lifting device, but this is not a limitation.

[0108] This invention improves the alignment process by providing various status information, such as waiting for operation (container placement / loading), in operation (container placement / loading), operation completed, and container information on the vehicle (front / rear container), without requiring any internal or external modifications to port machinery or equipment, such as cranes. The system exhibits high robustness.

[0109] Figure 4 This is a schematic diagram illustrating one implementation process of the dock transportation equipment and crane interaction method of the present invention. For example... Figure 4 As shown, this invention provides a robust laser detection algorithm for large vehicles and containers, which mainly includes the following steps:

[0110] S201. Point Cloud Preprocessing. Acquire raw laser point cloud data, obtain point coordinates through structured decoding, and perform noise filtering. This noise mainly originates from noise caused by the characteristics of the LiDAR and rain noise due to the upward field of view in rainy weather. Downsampling processing is then applied to the denoised point cloud.

[0111] S202. Detect crane equipment status information. The point cloud data of crane equipment (quay crane, yard crane, etc.) has highly structured features (such as crossbeams / legs). The arrival status of the equipment can be determined by calculating the center of the equipment through the detection of equipment features. For safety reasons, the vehicle will generally start the alignment task only when the crane equipment stops.

[0112] S203. The specific algorithm for the arrival status of the crane equipment is as follows: Based on the preset relative position relationship between the vehicle and the crane, the ROI point cloud of the crane point cloud within the normal alignment range is obtained (in this embodiment, the existing ROI-cloud, a 3D point cloud key region extraction method, can be used, but is not limited to it). The inner edge and outer edge of the crane beam, the inner leg and outer leg are extracted. All extracted features are sorted in the x-direction of the vehicle coordinate system. The center position of the maximum and minimum x-features is taken as the center position of the crane equipment, that is: Center_crane = (Max_Feature(x) + Min_Feature(x)) / 2. The center position Center_crane of each equipment is saved. When the center positions do not change within a certain time sequence or the difference between them is within the detection error range, the crane is considered to be in a stopped state. In this embodiment, existing point cloud matching algorithms are used to find local point clouds in the ROI point cloud that satisfy the preset high-precision model such as the inner and outer sides of the beam, the inner and outer legs, etc., but this is not a limitation.

[0113] S204. If the center position and the vehicle container position are within the alignment range, the vehicle is considered to be in the arrival state. If the vehicle is in the waiting alignment task stage, the alignment task can be started directly.

[0114] S205. Detect vehicle-mounted container information. Based on the preset relative positions of the containers in the vehicle, obtain the point cloud within the ROI area of ​​the front and rear containers, and fit the bottom surface of the front and rear containers and the vertical surface of the containers (front and rear container surfaces). If there is no bottom surface but a vertical door surface, then the front (or rear) container is recorded as existing. Therefore, each of the front and rear containers needs to maintain an existing ("1") or non-existent ("0") state.

[0115] S206. Detect spreader height information. Based on the preset spreader position and the vehicle's relative position, obtain the point cloud within the spreader's ROI area. First, remove points outside the point cloud. If there is a container on the vehicle, remove the container point cloud as well, ensuring that the remaining point clouds are all valid spreader lifting clouds. Second, fit the container's horizontal plane. If it exists, the spreader height is the sum of the container height and the horizontal plane height. If the horizontal plane does not exist, determine if the current number of spreader point clouds exceeds a threshold. If it does, return the minimum point cloud value as the spreader height.

[0116] S207. If the status of the container changes and the spreader height is higher than the threshold, the alignment task ends. Container status change refers to the comparison between the current container status and the status when the alignment task started. The status changes are listed below for container grabbing and releasing tasks:

[0117] Task Front and rear box status when the alignment task is activated Front and rear box status at the end of alignment and closure (Without the rear 20 boxes) Front 20-foot grab box (front, back) = (1, 0) (front, back) = (0, 0) (Later 20 boxes) First 20 feet grab box (front, back) = (1, 1) (front, back) = (0, 1) (20 boxes without front box) Rear 20-foot grab box (front, back) = (0, 1) (front, back) = (0, 0) (20 boxes with front box) Rear 20-foot grab box (front, back) = (1, 1) (front, back) = (1, 0) 40ft / 45ft / Double 20ft and other medium-sized box grabbers (front, back) = (1, 1) (front, back) = (0, 0) (Without the rear 20 boxes) First 20 feet of boxes (front, back) = (0, 0) (front, back) = (1, 0) (Last 20 boxes) Place the first 20 feet of boxes (front, back) = (0, 1) (front, back) = (1, 1) (20 boxes without front box) Rear 20 feet box placement (front, back) = (0, 0) (front, back) = (0, 1) (20 boxes including front box) Rear 20 feet for box placement (front, back) = (1, 0) (front, back) = (1, 1) 40ft / 45ft / double 20ft and other medium-sized boxes (front, back) = (0, 0) (front, back) = (1, 1)

[0118] In (front, rear), "front" indicates the status marker at the front of the vehicle, and "rear" indicates the status marker at the rear of the vehicle. In this embodiment, the status changes of the front and rear containers can also be used to provide information about the onboard container (front container / rear container / middle container) to other modules or systems to perform other auxiliary tasks.

[0119] Figure 5 This is a schematic diagram of the interaction system between the dock transportation equipment and the crane according to the present invention. Figure 5 As shown, the dock transportation equipment and crane interaction system 5 of the present invention includes:

[0120] The point cloud acquisition module 51 has a first point cloud acquisition device and a second point cloud acquisition device at the front and rear ends of the container transport equipment, respectively.

[0121] The alignment module 52 is activated to acquire raw point cloud data in real time and identify the relative position information of the hoisting equipment based on the container transport equipment to initiate the alignment task.

[0122] The status information module 53 obtains the local bottom and side surfaces of the container by fitting the point cloud data from the front and back ends of the container transport equipment, respectively, and generates a combination of status information for the container at the corresponding location.

[0123] The switching operation module 54 obtains the current hoisting operation status from the preset task status table based on the status information combination, and switches the hoisting operation status according to the current hoisting operation status and the height of the lifting device.

[0124] In a preferred embodiment, the point cloud acquisition module 51 is configured such that, when the container transport equipment is a truck, a first point cloud acquisition device for acquiring the overhead point cloud is vertically positioned at the top of the truck's cab, and a second point cloud acquisition device for acquiring the overhead point cloud is vertically positioned at the rear of the truck. Alternatively, when the container transport equipment is a flatbed unmanned transport vehicle, a first point cloud acquisition device for acquiring the overhead point cloud is vertically positioned at the front of the flatbed unmanned transport vehicle, and a second point cloud acquisition device for acquiring the overhead point cloud is vertically positioned at the rear of the flatbed unmanned transport vehicle.

[0125] In a preferred embodiment, the alignment module 52 is configured to collect raw point cloud data of the front and rear of the vehicle in real time using a first point cloud acquisition device and a second point cloud acquisition device, respectively. The raw point cloud data is then mapped to the vehicle coordinate system of the container transport equipment and merged to obtain the first point cloud data. When the first point cloud data detects local features of the lifting equipment and satisfies a preset spatial relationship, the alignment task is initiated.

[0126] In a preferred embodiment, the alignment module 52 is further configured to stop the container transport equipment when at least one local surface structured feature preset by the first point cloud data detection hoisting equipment matches, and whether the matching local surface structured feature and the container transport equipment satisfy a preset spatial positional relationship.

[0127] In a preferred embodiment, the initiation alignment module 52 is further configured as a container crane as the lifting device, and the partial external structural features are the spatial data of the inner side of the crossbeam, the spatial data of the outer side of the crossbeam, the spatial data of the inner leg of the crossbeam, and the spatial data of the outer leg of the crossbeam.

[0128] In a preferred embodiment, the alignment module 52 is further configured to sort the point cloud data corresponding to the matching local surface structured features along the travel direction of the container transport equipment, obtain the center position of the container crane along the travel direction of the container transport equipment in real time through the maximum and minimum values, and stop the container transport equipment if the center position is located in the preset alignment start area of ​​the container transport equipment.

[0129] In a preferred embodiment, the state information module 53 is configured to detect whether there is a partial bottom surface and side surface of the container at the front of the vehicle head by fitting point cloud data of the front end of the container transport equipment. If so, the state flag a of the front end of the vehicle head is updated to 1; otherwise, the state flag a of the front end of the vehicle head is updated to 0. Similarly, the module detects whether there is a partial bottom surface and side surface of the container at the rear end of the vehicle by fitting point cloud data of the rear end of the vehicle. If so, the state flag b of the rear end of the vehicle head is updated to 1; otherwise, the state flag b of the rear end of the vehicle head is updated to 0. The state information combination (a, b) of the container is then updated.

[0130] In a preferred embodiment, the operation switching module 54 is configured to match the current lifting operation status in a preset task status table based on a combination of status information, obtain the relative height of the spreader, and switch the lifting operation status according to the current lifting operation status and whether the spreader height meets a threshold.

[0131] In a preferred embodiment, the switching operation module 54 is further configured to obtain local point cloud data corresponding to the spreader based on the preset spreader position and the relative position of the container transport equipment. Point cloud data of out-of-point points and the on-board container of the container transport equipment are filtered out from the local point cloud data. The system checks whether the filtered local point cloud data can fit the horizontal plane of the container bottom. If so, the relative height of the spreader is obtained based on the spatial position of the horizontal plane of the container bottom and the preset height of the container. If not, the relative height of the spreader is obtained based on the spatial position of the horizontal plane of the container bottom and the preset height of the container. If the number of spreader point clouds in the filtered local point cloud data is greater than a threshold, the minimum height of the point clouds is used as the relative height of the spreader.

[0132] The dock transportation equipment and crane interaction system of the present invention can accurately and timely detect and identify various status information in the alignment process without changing the dock machinery and equipment. It has high system robustness and improves the timeliness and safety of hoisting operations.

[0133] This invention also provides a dock transportation equipment and crane interaction device, including a processor and a memory storing executable instructions of the processor. The processor is configured to execute steps of a dock transportation equipment and crane interaction method by executing the executable instructions.

[0134] As described above, the dock transportation equipment and crane interaction equipment of the present invention can accurately and timely detect and identify various status information in the alignment process without changing the dock machinery and equipment, which has high system robustness and improves the timeliness and safety of hoisting operations.

[0135] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "platform."

[0136] Figure 6 This is a structural schematic diagram of the dock transportation equipment and crane interaction device of the present invention. See below for reference. Figure 6 To describe an electronic device 600 according to this embodiment of the present invention. Figure 6 The electronic device 600 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0137] like Figure 6As shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0138] The storage unit stores program code, which can be executed by the processing unit 610 to perform the steps described in the above-described section on the electronic prescription transfer processing method according to various exemplary embodiments of the present invention. For example, the processing unit 610 can perform actions such as... Figure 1 The steps are shown in the figure.

[0139] Storage unit 620 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include a read-only memory (ROM) 6203.

[0140] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0141] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0142] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0143] This invention also provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of a method for interaction between dock transportation equipment and a crane. In some possible embodiments, various aspects of the invention can also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the above-described electronic prescription processing method section of this specification according to various exemplary embodiments of the invention.

[0144] As shown above, when the program of the computer-readable storage medium of this embodiment is executed, it can accurately and timely detect and identify various status information in the alignment process without changing the dock machinery and equipment. It has high system robustness and improves the timeliness and safety of hoisting operations.

[0145] Figure 7 This is a schematic diagram of the structure of the computer-readable storage medium of the present invention. (Reference) Figure 7 As shown, a program product 800 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0146] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0147] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0148] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute 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. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0149] In summary, the dock transportation equipment and crane interaction method, system, equipment and storage medium of the present invention can accurately and timely detect and identify multiple status information in the alignment process without changing the dock machinery and equipment, which has high system robustness and improves the timeliness and safety of hoisting operations.

[0150] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A method for interaction between dock transportation equipment and cranes, characterized in that, Includes the following steps: A first point cloud data collection device and a second point cloud data collection device are respectively installed at the front and rear of the container transport equipment. Real-time acquisition of raw point cloud data; identification of the relative position information of the hoisting equipment based on the container transport equipment to initiate the alignment task. By fitting the point cloud data of the front end of the container transport equipment, it is detected whether there is a partial bottom surface and side surface of the container at the front of the vehicle. If so, the state flag a of the front end of the vehicle is updated to 1; otherwise, the state flag a of the front end of the vehicle is updated to 0. By fitting the point cloud data of the rear end of the container transport equipment, it is detected whether there is a partial bottom surface and side surface of the container at the rear end of the vehicle. If so, the state flag b of the rear end of the vehicle is updated to 1; otherwise, the state flag b of the rear end of the vehicle is updated to 0. The container state information combination (a, b) is updated. Based on the combination of the status information, the current hoisting operation status is obtained in the preset task status table, and the hoisting operation status is switched according to the current hoisting operation status and the height of the lifting device.

2. The method for interaction between dock transportation equipment and cranes according to claim 1, characterized in that, The first point cloud acquisition device and the second point cloud acquisition device are respectively installed at the front and rear ends of the container transport equipment, including: The container transport equipment is a truck. A first point cloud acquisition device for collecting overhead point clouds is installed vertically on the top of the truck's cab, and a second point cloud acquisition device for collecting overhead point clouds is installed vertically at the rear of the truck; or The container transport equipment is a flatbed unmanned transport vehicle. A first point cloud acquisition device for collecting overhead point clouds is set at the front of the flatbed unmanned transport vehicle along the vertical direction, and a second point cloud acquisition device for collecting overhead point clouds is set at the rear of the flatbed unmanned transport vehicle along the vertical direction.

3. The method for interaction between dock transportation equipment and cranes according to claim 1, characterized in that, The real-time acquisition of raw point cloud data and the identification of the relative position information of the hoisting equipment based on the container transport equipment to initiate the alignment task include: The first point cloud acquisition device and the second point cloud acquisition device respectively collect raw point cloud data of the front and rear of the vehicle in real time. The original point cloud data is mapped onto the vehicle coordinate system of the container transport equipment and merged to obtain the first point cloud data. When the first point cloud data detects local features of the hoisting equipment and satisfies a preset spatial position relationship, the alignment task is initiated.

4. The method for interaction between dock transportation equipment and cranes according to claim 3, characterized in that, When the first point cloud data detects local features of the hoisting equipment and satisfies a preset spatial relationship, the alignment task is initiated. include, When the container transport equipment stops moving, if the first point cloud data detects that at least one of the preset partial surface structure features of the hoisting equipment matches, and whether the matching partial surface structure feature and the container transport equipment satisfy a preset spatial position relationship, then the alignment task is initiated.

5. The method for interaction between dock transportation equipment and cranes according to claim 4, characterized in that, The lifting equipment is a container crane, and the local external structural features are the spatial data of the inner side of the crossbeam, the spatial data of the outer side of the crossbeam, the spatial data of the inner leg of the crossbeam, and the spatial data of the outer leg of the crossbeam.

6. The method for interaction between dock transportation equipment and cranes according to claim 5, characterized in that, The point cloud data corresponding to the matching local surface structured features are sorted along the travel direction of the container transport equipment. The center position of the container crane along the travel direction of the container transport equipment is obtained in real time through the maximum and minimum values. When the center position is located in the preset alignment start area of ​​the container transport equipment, the alignment task is started.

7. The method for interaction between dock transportation equipment and cranes according to claim 1, characterized in that, The step of obtaining the current lifting operation status based on the status information combined in a preset task status table, and switching the lifting operation status according to the current lifting operation status and the lifting equipment height, includes: Based on the combination of the status information, the current hoisting operation status is matched in the preset task status table; Obtain the relative height of the spreader; and The hoisting operation status is switched based on the current hoisting operation status and whether the lifting height meets the threshold.

8. The method for interaction between dock transportation equipment and cranes according to claim 7, characterized in that, The process of obtaining the relative height of the lifting device includes: Local point cloud data corresponding to the spreader is obtained based on the preset spreader position and the relative position of the container transport equipment; Filter out the point cloud data of points outside the local point cloud data and the point cloud data of the container transport equipment's on-board containers from the local point cloud data; If the filtered local point cloud data can fit the horizontal plane of the container bottom, then the relative height of the spreader is obtained based on the spatial position of the horizontal plane of the container bottom and the preset height of the container. If not, the relative height of the spreader is obtained based on the spatial position of the horizontal plane of the container bottom and the preset height of the container. If the number of point clouds of the spreader in the filtered local point cloud data is greater than the threshold, then the minimum height of the point cloud is taken as the relative height of the spreader.

9. A dock transportation equipment and crane interaction system, characterized in that, The system includes: The point cloud acquisition module has a first point cloud acquisition device and a second point cloud acquisition device at the front and rear ends of the container transport equipment, respectively. The alignment module is activated to acquire raw point cloud data in real time and identify the relative position information of the hoisting equipment based on the container transport equipment in order to initiate the alignment task. The status information module detects whether there are partial bottom and side surfaces of a container at the front of the vehicle head by fitting point cloud data from the front of the container transport equipment. If so, it updates the status flag 'a' of the front of the vehicle head to 1; otherwise, it updates the status flag 'a' to 0. It also detects whether there are partial bottom and side surfaces of a container at the rear of the vehicle by fitting point cloud data from the rear of the container transport equipment. If so, it updates the status flag 'b' of the rear of the vehicle head to 1; otherwise, it updates the status flag 'b' to 0. Finally, it updates the container status information combination (a, b). The switching operation module obtains the current hoisting operation status based on the status information combination in the preset task status table, and switches the hoisting operation status according to the current hoisting operation status and the lifting equipment height.

10. A dock transportation equipment and crane interaction device, characterized in that, include: processor; A memory in which executable instructions of the processor are stored; The processor is configured to perform the steps of the dock transport equipment and crane interaction method according to any one of claims 1 to 8 by executing the executable instructions.

11. A computer-readable storage medium for storing a program, characterized in that, When the program is executed, it implements the steps of the dock transportation equipment and crane interaction method as described in any one of claims 1 to 8.

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