A control method and device of a hoisting equipment, the hoisting equipment and a storage medium

Abstract

The application provides a control method and device of a hoisting device, the hoisting device and a storage medium. The specific implementation scheme is as follows: in the case that a trolley of the hoisting device moves to a target stacking area, container information in the target stacking area is determined according to three-dimensional point cloud data collected by a laser radar; the arrangement of containers in the target stacking area is determined according to the container information; an operation instruction of a double-container spreader mounted on the trolley is determined by using the arrangement of the containers; and the double-container spreader is controlled to work according to the operation instruction of the double-container spreader. According to the technical scheme of the application, the working efficiency of the hoisting device can be improved.

Description

Technical Field

[0001] This application relates to the field of industrial control technology, and in particular to a control method, device, lifting equipment, and storage medium for lifting equipment. Background Technology

[0002] With the rapid development of terminal automation, automated double-container operations in container yards are becoming increasingly common. Currently, the typical operation process for lifting equipment involves the trolley of the lifting equipment moving to the target position, lowering the double-container spreader to a certain height, and then scanning the containers using radar on the spreader. Based on the scan results, it is determined whether the spreader can handle both containers. This method cannot predict the status of containers in the yard in advance, resulting in low efficiency for the lifting equipment. Summary of the Invention

[0003] To address the aforementioned problems, this application proposes a control method, device, lifting equipment, and storage medium for lifting equipment, which can improve the working efficiency of the lifting equipment.

[0004] According to a first aspect of the embodiments of this application, a control method for lifting equipment is provided, comprising:

[0005] When the trolley of the lifting equipment moves to the target storage area, the container information in the target storage area is determined based on the three-dimensional point cloud data collected by the lidar.

[0006] The placement of containers in the target storage area is determined based on the container information;

[0007] The operation instructions for the double-box spreader installed on the trolley are determined based on the placement of the containers;

[0008] The double-box spreader is controlled to perform operations according to the operation instructions of the double-box spreader.

[0009] According to a second aspect of the embodiments of this application, a control device for lifting equipment is provided, comprising:

[0010] The acquisition module is used to determine the container information in the target storage area based on the three-dimensional point cloud data collected by the lidar when the trolley of the lifting equipment moves to the target storage area.

[0011] The location determination module is used to determine the placement of containers in the target storage area based on the container information;

[0012] The instruction determination module is used to determine the operation instructions of the double-box spreader installed on the trolley based on the placement of the containers;

[0013] The control module is used to control the double-box spreader to perform operations according to the operation instructions of the double-box spreader.

[0014] A third aspect of this application provides a lifting device, which includes a trolley, a double-box lifting device mounted on the trolley, a memory, and a processor. The double-box lifting device is used for loading and unloading items. The memory stores program instructions. When the processor runs the program instructions, it executes the above-described control method for the lifting device.

[0015] A fourth aspect of this application provides a storage medium storing a computer program, which, when executed by a processor, implements the aforementioned control method for the lifting equipment.

[0016] One embodiment of the above application has the following advantages or beneficial effects:

[0017] When the trolley of the lifting equipment moves to the target storage area, the container information in the target storage area is determined based on the 3D point cloud data collected by the lidar; the container placement in the target storage area is determined based on the container information; the operation instructions of the double-container spreader mounted on the trolley are determined based on the container placement; and the double-container spreader is controlled to perform operations according to the operation instructions. In this way, when the trolley of the lifting equipment moves to the target storage area, the placement of the containers in the target storage area can be determined in a timely manner, so that the lifting equipment can use different operation instructions to control the double-container spreader to operate according to different placement situations, thereby improving the operating efficiency of the lifting equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating a control method for a lifting device provided in an embodiment of this application.

[0020] Figure 2 This is a schematic diagram illustrating the use of the lifting equipment provided in the embodiments of this application.

[0021] Figure 3 This is a schematic diagram illustrating the height difference of containers provided in an embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the rotation angle of two rows of containers provided in an embodiment of this application.

[0023] Figure 5This is a schematic diagram showing the lateral spacing information of two rows of containers provided in an embodiment of this application.

[0024] Figure 6 This is a schematic diagram showing the longitudinal spacing information of two rows of containers provided in an embodiment of this application.

[0025] Figure 7 This is a schematic diagram of the structure of a control device for a lifting equipment provided in an embodiment of this application.

[0026] Figure 8 This is a structural schematic diagram of a lifting device provided in an embodiment of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Exemplary methods

[0029] Figure 1 This is a flowchart of a control method for a lifting device according to an embodiment of this application. In an exemplary embodiment, a control method for a lifting device is provided, including:

[0030] S110. When the trolley 1 of the lifting equipment moves to the target storage area 2, the container information in the target storage area 2 is determined based on the three-dimensional point cloud data collected by the lidar.

[0031] S120. Determine the placement of containers in the target storage area 2 based on the container information;

[0032] S130. Determine the operation instructions for the double-box spreader installed on the trolley 1 based on the placement of the containers;

[0033] S140. Control the double-box lifting device to perform operations according to the operation instructions of the double-box lifting device.

[0034] In step S110, exemplarily, as follows: Figure 2As shown, lidar is installed at each of the two corners below the trolley 1, with lidar 3 being a long-range 3D lidar. The yard can have multiple storage areas, each representing a region for stacking containers. For example, containers are typically stacked in columns within a storage area, thus the storage area includes multiple columns of containers. The target storage area 2 can be a pre-designated storage area or any arbitrary storage area; no limitation is made here. Container information represents the container's specifications, such as length, height, and location.

[0035] Specifically, the target storage area 2 is predetermined, and the target location within it is extracted. Then, the trolley 1 of the lifting equipment is controlled to move to the target location. The 3D point cloud data of the containers in the target storage area 2 is acquired from the LiDAR 3 located beneath the trolley 1. The 3D point cloud data is then processed through segmentation and filtering to obtain the container information for each column of containers in the target storage area 2.

[0036] In step S120, exemplarily, the container placement refers to the positional relationship between containers in the target storage area 2. The container placement includes a desired placement state and an abnormal placement state. The desired placement state represents the positional relationship between two rows of containers when the double-column spreader can grasp and release both rows. The abnormal placement state represents the positional relationship between two rows of containers that does not meet the desired placement state, i.e., the positional relationship between the two rows of containers when the double-column spreader cannot grasp and release both rows.

[0037] Specifically, based on the container information of each column of containers, multiple adjacent pairs of containers are identified. For each pair of adjacent pairs of containers, the relative positional relationship between the two adjacent columns is determined based on the container information of each column within those columns. The placement of each pair of adjacent pairs of containers is then determined based on this relative positional relationship.

[0038] In step S130, exemplarily, the operation instructions include a double-container operation instruction and a single-container operation instruction. A double-container operation instruction indicates that the spreader simultaneously grabs and places two containers, while a single-container operation instruction indicates that the spreader grabs and places only one container.

[0039] Preferably, step S130 includes: when two adjacent rows of containers are in the desired placement state, the operation command of the double container spreader on the trolley 1 is a double container operation command;

[0040] When two adjacent rows of containers are in an abnormal arrangement, the operating command of the double container spreader on the trolley 1 is a single container operating command.

[0041] Specifically, a correspondence between placement status and operation instructions is pre-set. After determining the placement status of the container, the corresponding operation instructions are searched in the correspondence between placement status and operation instructions.

[0042] In step S140, exemplarily, when the operation instruction is a double-container operation instruction, the double-container spreader is controlled to operate to simultaneously grab two containers. When the operation instruction is a single-container operation instruction, a target container that can be grabbed is determined, and one clamp of the double-container spreader corresponding to the target container is controlled to operate to grab the target container.

[0043] In the technical solution of this application, when the trolley 1 of the lifting equipment moves to the target storage area 2, the container information in the target storage area 2 is determined based on the three-dimensional point cloud data collected by the lidar 3; the container placement in the target storage area 2 is determined based on the container information; the operation instructions of the double-container spreader installed on the trolley 1 are determined based on the container placement; and the double-container spreader is controlled to perform operations according to the operation instructions. In this way, when the trolley 1 of the lifting equipment moves to the target storage area 2, the placement of the containers in the target storage area 2 can be determined in a timely manner, allowing the lifting equipment to use different operation instructions to control the double-container spreader operation for different placement situations, thereby improving the operating efficiency of the lifting equipment.

[0044] In one implementation, determining the container information in the target storage area 2 based on the three-dimensional point cloud data collected by the lidar 3 includes:

[0045] The 3D point cloud data is segmented to obtain the point cloud data of the edge region of each column of containers;

[0046] The height and location information of each container are determined based on the point cloud data of the edge area of ​​each container.

[0047] For example, LiDAR 3 acquires three-dimensional point cloud data of containers in target storage area 2, segments the three-dimensional point cloud data according to the region edges to obtain initial point cloud data for each column of containers, and filters the initial point cloud data to obtain multiple point cloud data of the edge region of each column of containers. It can be understood that the three-dimensional spatial coordinates of the point cloud data are represented as (X, Y, Z). Therefore, the position information of each column of containers can be determined based on the boundary point coordinates of the edge region of each column of containers. Then, the multiple point cloud data p = {p1, p2, ... p} of the edge region of each column of containers are calculated. n The average height (i.e., Z) of the container in the target storage area 2 is used to obtain the height information of each column of containers. In this way, the container information in the target storage area 2 can be accurately determined.

[0048] In one embodiment, step S120, which involves determining the placement of containers in the target storage area 2 based on the container information of the containers, includes:

[0049] The relative positional relationship between two adjacent rows of containers is determined based on their container information.

[0050] If the relative positional relationship between two adjacent rows of containers meets the preset double-container matching conditions, then the two adjacent rows of containers are determined to be in the desired placement state.

[0051] If the relative positions of two adjacent rows of containers do not meet the preset double-container matching conditions, the two adjacent rows of containers are determined to be in an abnormal placement state.

[0052] For example, the relative positional relationship between two adjacent rows of containers represents the position of one row of containers relative to another row of containers. Optionally, the relative positional relationship includes at least one of the following: the height difference between the two rows of containers, spacing information, and the rotation angle between the two adjacent rows of containers. Optionally, the height difference between the two rows of containers represents the height difference between the two rows of containers. The spacing information between the two rows of containers represents the distance between the two rows of containers. The rotation angle between the two rows of containers represents the rotation angle of one row of containers relative to another row of containers.

[0053] For example, the preset double-container matching condition means that two rows of containers can be grabbed and released simultaneously. Optionally, the double-container matching condition is preset based on the relative positional relationship.

[0054] Preferably, when the relative positional relationship includes the height difference between two adjacent rows of containers, the preset double-container matching condition includes that the height difference between two adjacent rows of containers is less than a preset error value.

[0055] When the relative positional relationship includes the spacing information of two adjacent rows of containers, the preset double-container matching condition includes that the spacing information of two adjacent rows of containers is less than a preset distance value.

[0056] When the relative positional relationship includes the rotation angle of two adjacent rows of containers, the corresponding preset double-container matching condition includes that the rotation angle of two adjacent rows of containers is less than a preset angle threshold. The preset error value, preset distance value, and preset angle threshold are all set according to actual conditions and are not limited here.

[0057] Specifically, if the relative position information is the height difference or spacing between two rows of containers or the rotation angle of two adjacent rows of containers, and the matching condition of the two containers corresponding to the relative position information is met, then the two adjacent rows of containers are determined to be in the desired placement state; if the matching condition of the two containers corresponding to the relative position information is not met, then the two adjacent rows of containers are determined to be in the abnormal placement state.

[0058] If, under any two or three of the following relative position information conditions—height difference, spacing, or rotation angle of adjacent container rows—then all the acquired relative position information satisfies the corresponding double-container matching condition, then the adjacent container rows are determined to be in the desired placement state; if any relative position information does not satisfy the corresponding double-container matching condition, then the adjacent container rows are determined to be in an abnormal placement state. In this way, the placement state of adjacent container rows can be accurately determined through the relative positional relationship of the containers. Furthermore, by employing multiple relative positional relationships, such as the height difference, spacing, and rotation angle of adjacent container rows, the positional relationship of the two container rows is determined from multiple angles, thereby more accurately determining the placement state of adjacent container rows. This ensures that the operational commands determined by the placement state can control the double-container spreader to operate correctly.

[0059] In one embodiment, the relative positional relationship includes: the height difference between two adjacent rows of containers, spacing information, and the rotation angle between two adjacent rows of containers;

[0060] Accordingly, determining the relative positional relationship between two adjacent rows of containers based on their container information includes:

[0061] The spacing between two adjacent rows of containers and their rotation angle are determined based on their position information.

[0062] The height difference between two adjacent rows of containers is determined based on their height information.

[0063] Specifically, such as Figure 3 As shown, the height difference between the two rows of containers is the difference between the height information of the two rows of containers. The spacing information between the two rows of containers is obtained by calculating the coordinates of the boundary points of the adjacent sides of the two rows of containers.

[0064] like Figure 4 As shown, the rotation angle of the two rows of containers is calculated by first calculating the normal vector of the edge region of the containers, extracting the boundary points of the two rows of containers based on the boundary of the normal vector, and fitting the boundary points to a first straight line and a second straight line respectively. The angle between the first straight line and the second straight line is taken as the rotation angle. The angle mentioned above can be calculated using the least squares method.

[0065] Further, determining the spacing information between two adjacent rows of containers based on their position information includes:

[0066] Obtain the coordinates of the boundary points of two adjacent columns of containers;

[0067] Based on the coordinates of the boundary points of two adjacent columns of containers, the longitudinal spacing information along the direction of movement of the trolley 1 and the lateral spacing information perpendicular to the direction of movement of the trolley 1 are calculated respectively.

[0068] For example, the normal vector of the edge region of the container is calculated, and then the boundary points of the container outline boundary are extracted. The boundary points are divided into longitudinal boundary points along the movement direction of the trolley 1 and transverse boundary points perpendicular to the movement direction of the trolley 1.

[0069] like Figure 5 As shown, the adjacent sides of the two rows of containers are determined. For each row of containers, the boundary point corresponding to the adjacent side in the lateral boundary points perpendicular to the direction of movement of trolley 1 is selected as the target boundary point. The distance between the target boundary points of the two rows of containers is calculated as the lateral spacing information. .

[0070] like Figure 6 As shown, target edges perpendicular to adjacent sides of two rows of containers are determined. For each row of containers, the boundary point corresponding to the target edge is selected from the longitudinal boundary points along the movement direction of trolley 1. The distance between the boundary points corresponding to the target edges of the two rows of containers is calculated as the longitudinal spacing information. .

[0071] Exemplary device

[0072] Correspondingly, Figure 7 This is a schematic diagram of the structure of a control device for a lifting device according to an embodiment of this application. In an exemplary embodiment, a control device for a lifting device is provided, comprising:

[0073] The acquisition module 710 is used to determine the container information in the target storage area based on the three-dimensional point cloud data collected by the lidar when the trolley of the lifting equipment moves to the target storage area.

[0074] The location determination module 720 is used to determine the placement of containers in the target storage area based on the container information;

[0075] The instruction determination module 730 is used to determine the operation instructions of the double-box spreader installed on the trolley based on the placement of the containers;

[0076] The control module 740 is used to control the double-box spreader to perform operations according to the operation instructions of the double-box spreader.

[0077] In one implementation, determining the container information in the target storage area based on the three-dimensional point cloud data collected by lidar includes:

[0078] The 3D point cloud data is segmented to obtain the point cloud data of the edge region of each column of containers;

[0079] The height and location information of each container are determined based on the point cloud data of the edge area of ​​each container.

[0080] In one embodiment, the position determination module 720 includes:

[0081] The processing module is used to determine the relative positional relationship between two adjacent rows of containers based on the container information of the two adjacent rows of containers;

[0082] The first response module is used to determine that the two adjacent rows of containers are in the desired placement state when the relative positional relationship between the two adjacent rows of containers meets the preset double-box matching conditions.

[0083] The second response module is used to determine that the two adjacent rows of containers are in an abnormal placement state when the relative positional relationship between the two adjacent rows of containers does not meet the preset double-box matching conditions.

[0084] In one embodiment, the relative positional relationship includes: the height difference between two adjacent rows of containers, spacing information, and the rotation angle between two adjacent rows of containers;

[0085] Accordingly, the processing module is also used for:

[0086] The spacing between two adjacent rows of containers and their rotation angle are determined based on their position information.

[0087] The height difference between two adjacent rows of containers is determined based on their height information.

[0088] In one embodiment, determining the spacing information between two adjacent rows of containers based on their position information includes:

[0089] Obtain the coordinates of the boundary points of two adjacent columns of containers;

[0090] Based on the coordinates of the boundary points of two adjacent columns of containers, the longitudinal spacing along the direction of the trolley's movement and the lateral spacing perpendicular to the direction of the trolley's movement are calculated respectively.

[0091] In one implementation, the preset dual-box matching conditions include:

[0092] In cases where the relative positional relationship includes the height difference between two adjacent rows of containers, the preset double-container matching condition includes a height difference between two adjacent rows of containers that is less than a preset error value.

[0093] When the relative positional relationship includes the spacing information of two adjacent rows of containers, the preset double-container matching condition includes that the spacing information of two adjacent rows of containers is less than a preset distance value.

[0094] When the relative positional relationship includes the rotation angle of two adjacent rows of containers, the preset double-container matching condition includes that the rotation angle of two adjacent rows of containers is less than a preset angle threshold.

[0095] In one implementation, the instruction determining module 730 is further configured to:

[0096] When two adjacent rows of containers are in the desired placement state, the operating command for the double container spreader on the trolley is a double container operating command.

[0097] When two adjacent rows of containers are in an abnormal arrangement, the operating instructions for the double-container spreader on the trolley are single-container operating instructions.

[0098] The control device for lifting equipment provided in this embodiment belongs to the same concept as the control method for lifting equipment provided in the above embodiments of this application. It can execute the control method for lifting equipment provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects for executing the control method for lifting equipment. Technical details not described in detail in this embodiment can be found in the specific processing content of the control method for lifting equipment provided in the above embodiments of this application, and will not be repeated here.

[0099] Exemplary electronic devices

[0100] Another embodiment of this application also proposes a lifting device, see [link to relevant documentation] Figure 8 As shown, the device includes a trolley 840, a double-box lifting device 850 mounted on the trolley, a memory 800, and a processor 810. The double-box lifting device is used for loading and unloading items, and the memory 800 is connected to the processor 810 for storing programs.

[0101] The processor 810 is used to implement the control method of the lifting equipment disclosed in any of the above embodiments by running the program stored in the memory 800.

[0102] In this embodiment, since the lifting equipment adopts the control method of the lifting equipment, the lifting equipment can use different operation commands to control the double box lifting device to operate according to different placement conditions, thereby improving the operating efficiency of the lifting equipment.

[0103] Specifically, the aforementioned lifting equipment may also include: a bus, a communication interface 820, an input device 830, and an output device 840.

[0104] The processor 810, memory 800, communication interface 820, input device 830, trolley 840, and double-box lifting device 850 mounted on the trolley are interconnected via a bus. Among them:

[0105] A bus can include a pathway for transmitting information between various components of a computer system.

[0106] The processor 810 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0107] The processor 810 may include a main processor, as well as a baseband chip, modem, etc.

[0108] The memory 800 stores a program that executes the technical solution of this invention, and may also store an operating system and other key business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 800 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

[0109] Input device 830 may include a device for receiving user input data and information, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer or gravity sensor, lidar 3, etc.

[0110] The communication interface 820 may include a device that uses any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0111] The processor 810 executes the program stored in the memory 800 and calls other devices, which can be used to implement the various steps of any of the control methods for lifting equipment provided in the above embodiments of this application.

[0112] Exemplary computer program products and storage media

[0113] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the control methods of lifting equipment according to various embodiments of this application as described in the "Exemplary Methods" section of this specification.

[0114] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0115] Furthermore, embodiments of this application may also be storage media storing computer programs. The computer programs are executed by a processor using the steps of the control methods for lifting equipment according to various embodiments of this application described in the "Exemplary Methods" section above. The specific working content of the electronic devices described above, as well as the specific working content of the computer program products and the computer programs on the storage media being run by the processor, can all be found in the content of the above-described method embodiments, and will not be repeated here.

[0116] For the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0117] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0118] The steps in the methods of the various embodiments of this application can be adjusted, merged, or deleted in order according to actual needs, and the technical features described in each embodiment can be replaced or combined.

[0119] The modules and sub-modules in the various embodiments of the present application's devices and terminals can be merged, divided, and deleted according to actual needs.

[0120] It should be understood that the disclosed terminals, devices, and methods can be implemented in other ways, given the several embodiments provided in this application. For example, the terminal embodiments described above are merely illustrative. For instance, the division of modules or sub-modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple sub-modules or modules may be combined or integrated into another module, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0121] The modules or submodules described as separate components may or may not be physically separate. The components that constitute a module or submodule may or may not be physical modules or submodules; that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules can be selected to achieve the purpose of this embodiment's solution, depending on actual needs.

[0122] Furthermore, the functional modules or sub-modules in the various embodiments of this application can be integrated into one processing module, or each module or sub-module can exist physically separately, or two or more modules or sub-modules can be integrated into one module. The integrated modules or sub-modules described above can be implemented in hardware or in the form of software functional modules or sub-modules.

[0123] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0124] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software unit executed by a processor, or a combination of both. The software unit can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0125] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0126] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for lifting equipment, characterized in that, include: When the trolley of the lifting equipment moves to the target storage area, the container information in the target storage area is determined based on the three-dimensional point cloud data collected by the lidar, including: segmenting the three-dimensional point cloud data to obtain the point cloud data of the edge area of ​​each row of containers; and determining the height and position information of each row of containers based on the point cloud data of the edge area of ​​each row of containers. Determining the placement of containers in the target storage area based on the container information includes: determining the relative positional relationship between two adjacent rows of containers based on their container information; wherein the relative positional relationship includes: the height difference, spacing information, and rotation angle of the two adjacent rows of containers; correspondingly, determining the spacing information and rotation angle of the two adjacent rows of containers based on their position information; determining the height difference between the two adjacent rows of containers based on their height information; determining that the two adjacent rows of containers are in the desired placement state if their relative positional relationship meets a preset double-container matching condition; and determining that the two adjacent rows of containers are in an abnormal placement state if their relative positional relationship does not meet the preset double-container matching condition. The operation instructions for the double-box spreader installed on the trolley are determined based on the placement of the containers; The double-box spreader is controlled to perform operations according to the operation instructions of the double-box spreader.

2. The method according to claim 1, characterized in that, The step of determining the spacing information between two adjacent rows of containers based on their position information includes: Obtain the coordinates of the boundary points of two adjacent columns of containers; Based on the coordinates of the boundary points of two adjacent columns of containers, the longitudinal spacing along the direction of the trolley's movement and the lateral spacing perpendicular to the direction of the trolley's movement are calculated respectively.

3. The method according to claim 1, characterized in that, in, The preset dual-box matching conditions include: In cases where the relative positional relationship includes the height difference between two adjacent rows of containers, the preset double-container matching condition includes a height difference between two adjacent rows of containers that is less than a preset error value. When the relative positional relationship includes the spacing information of two adjacent rows of containers, the preset double-container matching condition includes that the spacing information of two adjacent rows of containers is less than a preset distance value. When the relative positional relationship includes the rotation angle of two adjacent rows of containers, the preset double-container matching condition includes that the rotation angle of two adjacent rows of containers is less than a preset angle threshold.

4. The method according to claim 1, characterized in that, The step of determining the operation instructions for the double-box spreader installed on the trolley based on the placement of the containers includes: When two adjacent rows of containers are in the desired placement state, the operating command for the double container spreader on the trolley is a double container operating command. When two adjacent rows of containers are in an abnormal arrangement, the operating instructions for the double-container spreader on the trolley are single-container operating instructions.

5. A control device for lifting equipment, used to execute the control method for the lifting equipment according to any one of claims 1-4, characterized in that, include: The acquisition module is used to determine the container information in the target storage area based on the three-dimensional point cloud data collected by the lidar when the trolley of the lifting equipment moves to the target storage area. The location determination module is used to determine the placement of containers in the target storage area based on the container information; The instruction determination module is used to determine the operation instructions of the double-box spreader installed on the trolley based on the placement of the containers; The control module is used to control the double-box spreader to perform operations according to the operation instructions of the double-box spreader.

6. A lifting device, characterized in that, The lifting equipment includes a trolley, a double-box spreader mounted on the trolley, a memory, and a processor. The double-box spreader is used for loading and unloading items. The memory stores program instructions. When the processor runs the program instructions, it executes the steps in the control method of the lifting equipment according to any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the control method for the lifting equipment as described in any one of claims 1 to 4.

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