Truck anti-lifting method and device, electronic equipment and yard crane

Abstract

The application provides a container truck anti-lifting method and device, electronic equipment and a yard crane. A target reference point cloud set is obtained by detecting a region of interest. Target gap values and target distance values of a plurality of sub-regions divided based on the target reference point cloud set are determined. If the target gap value of any sub-region in the plurality of sub-regions is less than the target distance value of any sub-region, the spreader is controlled to stop moving to stop lifting the container. When the container is lifted, the gap between the container and the truck plate is large, and the change in the target gap value in each sub-region is not affected by the height of the truck plate. By judging the size of the target gap value and the corresponding target distance value of each sub-region, it is not necessary to improve the detection height based on the height of the truck plate, the container truck can be determined whether it can be lifted in time and accurately, the loss of the safety distance of the anti-lifting protection is avoided, and the effect of the anti-lifting protection is ensured.

Description

Technical Field

[0001] This application relates to the technical field of container trucks (hereinafter referred to as container trucks, container trucks, etc.), specifically to a method, device, electronic equipment and yard crane for preventing container trucks from being lifted. Background Technology

[0002] The lifting and transportation of goods (i.e., cargo handling) is a core link in the logistics industry and presents serious safety hazards. For example, during the unloading of containers loaded with goods from trucks by automated yard cranes at a terminal, if the truck's twist lock and the container's locking hole are not completely separated when the automated yard crane's spreader lifts the container from the truck, the truck may be pulled up by the container, resulting in a serious safety accident.

[0003] To prevent the dangerous situation of trucks being lifted during the loading and unloading of containers by automated yard cranes due to the truck's twist lock not being completely separated from the container's lock hole, and to achieve anti-lift protection for trucks, thereby improving the competitiveness of yard cranes, anti-lift systems for trucks are usually included as one of the essential safety subsystems of automated yard cranes to protect trucks from being lifted.

[0004] Currently, anti-lifting systems for container trucks typically rely on 2D single-line LiDAR scanning or visual image recognition to detect whether a container truck has been lifted. When using 2D single-line LiDAR scanning, the front of the truck is generally higher than the rear; for example, the front of a 40-foot container truck is typically 30 centimeters higher than its rear. This necessitates increasing the detection height. Consequently, situations where lifting may not be detected promptly can occur, leading to a loss of the safety distance for anti-lifting protection and resulting in poor protection effectiveness. Summary of the Invention

[0005] Based on the defects and deficiencies of the prior art, this application proposes a method, device, electronic equipment, and yard crane for preventing trucks from being lifted. The method divides the region of interest (ROI) between the truck bed and the container loaded on the truck, and determines in a timely manner whether the truck has been lifted based on the relationship between the target gap value and the target distance value of the multiple sub-regions, thereby minimizing the loss of the safety distance for the anti-lifting protection and ensuring the effectiveness of the anti-lifting protection.

[0006] According to a first aspect of the embodiments of this application, a method for preventing trucks from being lifted is provided, comprising:

[0007] The region of interest is detected to obtain a target reference point cloud set, wherein the region of interest is the area where the gap between the truck bed and the container loaded on the truck is located;

[0008] Based on the target reference point cloud set, target gap values ​​and target spacing values ​​are determined for multiple sub-regions; the multiple sub-regions are obtained by dividing the region of interest.

[0009] If the target gap value of any sub-region is less than the target spacing value of any sub-region, the spreader is controlled to stop moving to stop lifting the container.

[0010] According to a second aspect of the embodiments of this application, a truck anti-lifting device is provided, comprising:

[0011] The detection module is used to detect the region of interest and obtain a target reference point cloud set, wherein the region of interest is the area where the gap between the truck bed and the container loaded on the truck is located;

[0012] The determination module is used to determine the target gap value and target spacing value of multiple sub-regions based on the target reference point cloud set; the multiple sub-regions are obtained by dividing the region of interest;

[0013] The control module is configured to stop the spreader from operating if the target gap value of any sub-region in the plurality of sub-regions is less than the target spacing value of any sub-region, so as to stop the lifting of the container.

[0014] According to a third aspect of the embodiments of this application, an electronic device is provided, including a memory and a processor;

[0015] The memory is connected to the processor and is used to store programs;

[0016] The processor is used to implement the anti-lifting method for trucks as described in the first aspect by running a program in the memory.

[0017] According to a fourth aspect of the embodiments of this application, a storage medium is provided, on which a computer program is stored, and when the computer program is run by a processor, it implements the anti-lifting method for trucks as described in the first aspect.

[0018] According to a fifth aspect of the embodiments of this application, a yard bridge is provided, wherein the yard bridge is provided with electronic equipment as described in the third aspect, the electronic equipment being used to perform the truck anti-lifting method as described in the first aspect.

[0019] In the aforementioned methods, devices, electronic equipment, and yard cranes for preventing container trucks from being lifted, a target reference point cloud is obtained by detecting the region of interest (ROI). The ROI is then divided into multiple sub-regions. Based on the target reference point cloud, the target gap value and target spacing value of each sub-region are determined. If the target gap value of any sub-region is less than the target spacing value of any sub-region, the spreader is controlled to stop moving to halt container lifting. In other words, the magnitude of the target gap value and corresponding target spacing value of each sub-region obtained from the division of the ROI is judged, and if a target gap value is less than the corresponding target spacing value, it is determined that the container truck may be lifted. Since the change in the target gap value is not affected by the truck bed height, and the magnitude of the target gap value and target spacing value at different positions on the truck bed in the ROI is compared across multiple sub-regions, the influence of different truck bed heights or truck bed tilt can be better avoided. There is no need to increase the detection height based on the truck bed height, enabling timely and accurate judgment of whether the container truck may be lifted, reducing the loss of the safety distance for anti-lifting protection, and ensuring the effectiveness of anti-lifting protection. Attached Figure Description

[0020] 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.

[0021] Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0022] Figure 2 This is a flowchart illustrating a method for preventing a truck from being lifted, as provided in an embodiment of this application.

[0023] Figure 3 This is a schematic diagram of a region of interest provided in an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of a process for preventing a truck from being lifted according to an embodiment of this application;

[0025] Figure 5 This is a schematic diagram illustrating the change in the movement speed of a lifting device according to an embodiment of this application;

[0026] Figure 6 This is a schematic diagram of the structure of a truck anti-lifting device proposed in an embodiment of this application;

[0027] Figure 7 This is a schematic diagram of the structure of an electronic device proposed in an embodiment of this application. Detailed Implementation

[0028] 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.

[0029] Overview

[0030] As described in the background section, current truck lifting protection systems typically employ 2D single-line lidar scanning to detect whether a truck has been lifted. Since the front of a truck is usually higher than its rear (for example, the front of a 40-foot truck is generally 30 centimeters higher than its rear), using 2D single-line lidar scanning to detect lifting usually requires increasing the detection height. However, increasing the detection height may result in the truck being lifted too high before it is detected, leading to a loss of the safety distance for lifting protection and a poorer protection effect.

[0031] Among them, the safety distance for anti-lifting protection refers to the height of the truck above the ground when the lifting control device stops lifting (or raising) after a lifting event occurs, i.e., after the truck is lifted, the lifting event occurs.

[0032] Based on this, the inventors further discovered that when a spreader is lifting a container loaded on a truck, if the truck is not lifted, a large gap will appear between the truck bed and the container after the spreader lifts the container to a certain height. This gap value is only affected by the height the container is lifted, not by the height of the truck bed. Therefore, for the region of interest—the sub-region containing the gap between the truck bed and the container—multiple sub-regions can be divided. If the target gap value in any sub-region is less than the corresponding target distance value, it is determined that the truck may be lifted. This avoids the influence of different truck bed heights and eliminates the need to increase the detection height based on the truck bed height. Timely and accurate judgment of potential truck lifting allows for the control of the spreader to stop lifting the container, effectively reducing the loss of the anti-lifting protection safety distance and ensuring the effectiveness of the anti-lifting protection.

[0033] Based on the above concept, this specification provides a method for preventing container trucks from being lifted. The method for preventing container trucks from being lifted will be described exemplarily below with reference to the accompanying drawings.

[0034] Exemplary scenario

[0035] refer to Figure 1 , Figure 1 This provides a feasible application scenario for methods to prevent container trucks from being lifted.

[0036] like Figure 1 As shown, this scenario includes a truck, a container, and a spreader. The spreader is used to lift the container, which is loaded onto the truck and comes into contact with the truck's deck. Generally, containers are used to load goods.

[0037] Depending on their intended use, the aforementioned container trucks can be either internal or external. Internal container trucks typically refer to vehicles used for transporting cargo containers within a port or freight station, primarily for short-distance cargo transport within the port or freight station. External container trucks typically refer to vehicles used for transporting cargo containers outside the port or freight station, primarily for medium- to long-distance transport outside the port or freight station. Furthermore, based on their size or length, the aforementioned container trucks can also be single 20-foot trucks, double 20-foot trucks, 40-foot trucks, or 45-foot trucks, etc.

[0038] exist Figure 1 In the application scenario shown, if it is necessary to move the container loaded on the truck to another location, the spreader lifts the container loaded on the truck and moves it, for example, by raising it. At this time, the container separates from the truck bed, and a gap appears between the container and the truck bed. As the spreader rises, the container also rises, and the gap between the container and the truck bed also widens.

[0039] Exemplary methods

[0040] Please see Figure 2 In one exemplary embodiment, a method for preventing container trucks from being lifted is provided, which is applied to any electronic device. The electronic device can be communicatively connected to a spreader for lifting containers or to a control device that controls the spreader, and can control the spreader to continue or stop its operation.

[0041] like Figure 2 As shown, the method for preventing trucks from being lifted includes steps S201-S203:

[0042] S201: Detect the region of interest to obtain a set of target reference point clouds.

[0043] The region of interest is the area between the truck bed and the container loaded on the truck.

[0044] Generally, the area of ​​the region of interest is larger than the area of ​​the gap between the vehicle platform and the container to ensure that the area containing the gap can be detected more comprehensively, avoid omissions, and achieve better detection results.

[0045] For example, the region of interest on a container truck can be as follows: Figure 3 As shown, the area enclosed by the dashed box is the region of interest. This region of interest is larger than the gap between the truck bed and the container. In addition to this gap, the region of interest also includes a portion of the area within a certain distance above and below the gap, as well as a portion of the truck cab. Of course, the region of interest can also only include the gap and a portion of the area within a certain distance above and below the gap.

[0046] Specifically, 3D LiDAR can be used to detect the region of interest and obtain a set of target reference point clouds.

[0047] More specifically, a 3D LiDAR is used to scan the region of interest laterally to detect the region of interest and obtain a set of target reference point clouds.

[0048] Understandably, the more scanning lines a 3D LiDAR has, the higher its detection accuracy and the better its anti-lifting protection effect.

[0049] In this embodiment, the 3D LiDAR has at least 7 lines.

[0050] S202: Based on the target reference point cloud set, determine the target gap value and target spacing value of multiple sub-regions.

[0051] The target reference point cloud set is obtained by detecting the region of interest, and the multiple sub-regions are obtained by dividing the region of interest. In other words, the target reference point cloud set is obtained by detecting these multiple sub-regions. Therefore, the target reference point cloud set includes multiple sets of point cloud data obtained from detecting these multiple sub-regions, and these multiple sets of point cloud data correspond one-to-one with multiple sub-regions.

[0052] Specifically, the region of interest can be divided into multiple sub-regions along the vehicle body direction, or along the lane direction, i.e., the lane direction of the truck's travel lane.

[0053] For example, the region of interest is divided into n sub-regions along the vehicle body direction, and these n sub-regions are distributed sequentially from the rear to the front of the vehicle. For example, the first sub-region is located at the rear of the vehicle, and the nth sub-region is closest to the front of the vehicle compared to the other sub-regions, or the first sub-region is closest to the front of the vehicle compared to the other sub-regions, and the nth sub-region is located at the rear of the vehicle.

[0054] Specifically, the region of interest can be divided into multiple sub-regions of equal length, where these sub-regions are of the same length.

[0055] For example, a region of interest with a length of 3m is divided into 6 sub-regions of equal length, with a preset length of, for example, 50cm. The preset length can be determined based on actual working conditions.

[0056] Alternatively, specifically, regions of interest that are not of equal length can be divided into multiple sub-regions.

[0057] Specifically, the region of interest can be divided into a preset number of sub-regions. Generally, this preset number is greater than 1.

[0058] Understandably, the more sub-regions the region of interest is divided into, the better the impact of different platform heights in each sub-region can be avoided, the more accurately the possibility of the truck being lifted can be determined, the better the loss of the safety distance of the anti-lifting protection can be reduced, and the more effectively the anti-lifting protection can be guaranteed.

[0059] In addition, for each of these multiple sub-regions, the target gap value and target spacing value of the sub-region are calculated and determined based on the point cloud data corresponding to that sub-region in the target reference point cloud set.

[0060] Specifically, for each sub-region, based on the point cloud data corresponding to that sub-region in the target reference point cloud set, the maximum gap value of that sub-region is calculated and determined, and this maximum gap value is used as the target gap value for that sub-region. Generally, within the same sub-region, the gap value at higher points on the truck bed is relatively smaller than the gap value at lower points on the truck bed, but the change in gap value at different positions on the truck bed is basically consistent. Therefore, within the same sub-region, if the truck and container are normally separated, i.e., the truck is not lifted, the maximum gap value in that sub-region will reach, i.e., be greater than or equal to, the target gap value for that sub-region first. Using the maximum gap value in the sub-region as the target gap value allows for a faster determination of whether the truck bed and container in that sub-region can be normally separated, i.e., whether the truck has been lifted, effectively reducing the loss of the safety distance for anti-lifting protection and ensuring the effectiveness of anti-lifting protection.

[0061] Specifically, when calculating and determining the maximum gap value of a sub-region based on the point cloud data corresponding to that sub-region in the target reference point cloud set, the maximum gap value in the vertical direction can be determined in a top-to-bottom order. "Top-to-bottom" means from the height of the vehicle panel to its lowest point, which means calculating and determining the maximum gap value at each location within that sub-region.

[0062] Of course, depending on the actual needs, for each sub-region, the minimum gap value can be calculated and determined based on the point cloud data corresponding to that sub-region in the target reference point cloud set. This minimum gap value can then be used as the target gap value for that sub-region. Since in the same sub-region, if the truck and container are properly separated, even the minimum gap value of that sub-region should exceed the target gap value, using the minimum gap value in the sub-region as the target gap value can more accurately determine whether the truck and container are properly separated in that sub-region, i.e., whether the truck has been lifted, effectively ensuring the effect of anti-lifting protection.

[0063] Alternatively, for each sub-region, based on the point cloud data corresponding to that sub-region in the target reference point cloud set, the gap value corresponding to each position of the vehicle platform in that sub-region can be calculated and determined. The median or average gap value in that sub-region can be used as the target gap value to determine in a more timely and accurate manner whether the vehicle platform and the container are properly separated in that sub-region, reduce the loss of the safety distance of the anti-lifting protection, and ensure the effectiveness of the anti-lifting protection.

[0064] In addition, specifically, the target spacing value of each sub-region obtained by dividing the region of interest is determined based on the normal spacing of the scan lines in each sub-region when the 3D LiDAR scans each sub-region.

[0065] Generally, when using 3D LiDAR to scan multiple sub-regions divided into regions of interest, if the container and the vehicle platform are normally separated in one of these sub-regions, the scan lines scanning to the gap between the container and the vehicle platform in that sub-region will be ignored. In this case, the target gap value determined by scanning the gap in that sub-region using 3D LiDAR will be greater than the normal spacing between the scan lines in that sub-region.

[0066] Therefore, the target spacing value for each of the multiple sub-regions can be set to be greater than or equal to the normal spacing of the scan lines in that sub-region. This ensures that, based on the target gap values ​​and target spacing values ​​of each sub-region, it is possible to accurately determine whether the container and the truck bed are properly separated in each sub-region, thus effectively guaranteeing the anti-lifting protection effect.

[0067] S203: If the target gap value of any sub-region is less than the target spacing value of that sub-region, the spreader is controlled to stop moving to stop lifting the container.

[0068] Accordingly, if the target gap value of all sub-regions in multiple sub-regions is greater than or equal to the target spacing value of the corresponding sub-region, the spreader is controlled to continue to operate in order to continue to lift the container.

[0069] In other words, after determining the target gap value and target spacing value for each sub-region, it is necessary to judge the relationship between the target gap value and the corresponding target spacing value for each sub-region. If it is determined that the target gap value of any sub-region is less than the target spacing value of that sub-region, the spreader is controlled to stop moving to stop lifting the container; conversely, if after judging the relationship between the target gap value and the corresponding target spacing value for all sub-regions, it is determined that the target gap value of all sub-regions is greater than or equal to the corresponding target spacing value, the spreader is controlled to continue moving to continue lifting the container.

[0070] Understandably, if the container and the truck bed can be separated normally, the gap between them will increase as the container is lifted. Conversely, if they cannot be separated, the truck will also be lifted, and the gap will not change significantly. Therefore, for any sub-region within the region of interest, if the target gap value is less than the target spacing value, it indicates that the container and the truck bed are not properly separated, and the truck may be lifted. Conversely, if the target gap value is greater than or equal to the target spacing value, it indicates that the container and the truck bed are properly separated, and the truck is not lifted.

[0071] Among them, when the truck is likely to be lifted, controlling the spreader to stop moving and thus stopping the container transport can effectively prevent the truck from being lifted further, achieving anti-lifting protection.

[0072] Specifically, the relationship between the target gap value and the corresponding target spacing value of each sub-region in these multiple sub-regions can be judged one by one until it is determined that the target gap value of any sub-region is less than the target spacing value of that sub-region, or until the judgment of the target gap value and target spacing value of all sub-regions is completed and the target gap value of all sub-regions is greater than or equal to the corresponding target spacing value.

[0073] For example, there are three sub-regions, designated as sub-regions 1-3. These three sub-regions are evaluated one by one according to the direction of the truck bed's ascent, for example, sub-regions 1-3 are evaluated sequentially. First, sub-region 1 is evaluated. If the target gap value of sub-region 1 is greater than or equal to its target spacing value, then sub-region 2 is evaluated. If the target gap value of sub-region 2 is less than its target spacing value, it can be determined that the container and the truck bed are not properly separated in this sub-region, and the truck may be lifted. At this point, the evaluation stops, and the spreader is stopped. If the target gap value of sub-region 2 is greater than or equal to its target spacing value, then sub-region 3 is evaluated. If the target gap value of sub-region 3 is greater than or equal to its target spacing value, then all sub-regions have been evaluated, and the target gap value of all sub-regions is greater than or equal to the target spacing value of the corresponding sub-region. Therefore, it can be determined that the container and the truck bed are completely separated, and the truck has not been lifted.

[0074] More specifically, steps S201-S204 can be performed after the spreader has risen to a certain height.

[0075] Alternatively, more specifically, steps S201-S204 can be executed when the spreader begins lifting the container. In step S204, if, after a preset time period, the target gap value of any sub-region is still less than the corresponding target spacing value, the spreader is controlled to stop moving to halt container lifting. It is understood that the container will only completely separate from the truck bed after the spreader has risen to a certain height; therefore, the length of the preset time period can be the time required for the spreader to rise to a certain height.

[0076] In this embodiment, the region of interest (ROI) is detected to obtain a target reference point cloud set; the ROI is then divided into multiple sub-regions; based on the target reference point cloud set, the target gap value and target spacing value of each sub-region are determined; if the target gap value of any sub-region is less than the target spacing value of any sub-region, the spreader is controlled to stop moving to halt container lifting. In other words, the magnitude of the target gap value and corresponding target spacing value of each sub-region obtained from the division of the ROI is judged, and if a target gap value is less than the corresponding target spacing value, it is determined that the truck may be lifted. When a spreader is lifting a container loaded on a truck, if the truck is not initially lifted, a significant gap will appear between the truck bed and the container once the spreader has raised the container to a certain height. This gap value is only affected by the height the container is lifted, not by the height of the truck bed. Furthermore, by comparing the target gap and target spacing values ​​at different locations on the truck bed within multiple sub-regions of interest, the system can better avoid the impact of different truck bed heights or tilting within the same sub-region. This eliminates the need to increase the detection height based on the truck bed height, enabling timely and accurate judgment of whether the truck may be lifted, reducing the loss of the safety distance for anti-lifting protection, and ensuring the effectiveness of anti-lifting protection.

[0077] For different operating conditions, the size and range of the sub-region where the gap between the truck bed and the container is located, i.e. the region of interest, may vary. Therefore, in some embodiments, before detecting the region of interest and obtaining the target reference point cloud set, it is necessary to obtain the operating condition information and determine the region of interest based on the operating condition information.

[0078] Specifically, the operating condition information must include at least the length of the truck. First, obtain the operating condition information including the truck length. Then, based on the truck length, determine the length of the region of interest, and thus determine the region of interest.

[0079] The length of the truck varies, resulting in different gap lengths between the truck bed and the container, and consequently, different lengths of the region of interest (ROI). Therefore, when obtaining operational information containing the truck's length and determining the ROI based on this information, this limitation can be effectively considered. This allows for the identification of the ROI matching the current truck's length, enabling a more comprehensive inspection of the gap area between the truck bed and the container. This avoids overlooking areas containing gaps, which could affect the accuracy of the final judgment on whether the truck can be lifted, and also avoids wasting resources by inspecting areas outside the gap area.

[0080] Of course, in addition to the length of the truck, the above operating information may also include the purpose of the truck, information about the 3D LiDAR used to detect the area of ​​interest, etc.

[0081] When detecting the region of interest, some interference may be detected in the gap between the truck and the container. In order to avoid the influence of these interferences on the calculation of the target gap value and target distance value of the sub-region, after detecting the region of interest, it is first determined whether there is any interference in the region of interest that affects the gap between the truck and the container based on the detected data. If interference is present, the detected data is filtered so that the target gap value and target distance value of the sub-region can be calculated more accurately based on the data.

[0082] Optionally, the region of interest is first detected to obtain an initial reference point cloud set. Based on the initial reference point cloud set, it is determined whether there is interference in the region of interest. If there is interference, the point cloud data in the initial reference point cloud set is filtered to obtain the target reference point cloud set. If there is no interference, the initial reference point cloud set is directly determined as the target reference point cloud set.

[0083] Generally, depending on the purpose or type of container truck, baffles may be installed on it. Of course, depending on the needs, baffles may be installed on some container trucks that do not originally have them installed during subsequent operations. The presence of these baffles may obstruct the gap between the truck bed and the container, causing interference. In addition, the locks between the truck bed and the container may also obstruct the gap.

[0084] Therefore, specifically, after detecting the region of interest and obtaining an initial reference point cloud set, it is possible to determine whether there are interfering objects on the truck based on the point cloud data in the initial reference point cloud set. If so, i.e., there are interfering objects on the truck, the point cloud data in the initial reference point cloud set located in the area where the interfering objects are located are filtered to obtain the target reference point cloud set; if not, i.e., there are no interfering objects on the truck, the initial reference point cloud set is directly determined as the target reference point cloud set.

[0085] Specifically, the point cloud data located in the area where the interference object is located in the initial reference point cloud set is filtered out. That is, the point cloud data obtained by detecting the area where the interference object is located is deleted from the initial reference point cloud set, while other point cloud data obtained by detecting the area of ​​interest other than the area where the interference object is located are retained in the initial reference point cloud set, thus obtaining the target reference point cloud set.

[0086] In addition, the aforementioned interfering objects are objects that obstruct the gap between the truck bed and the container in the truck. These may be objects such as the aforementioned baffles and locks, or other objects that obstruct the gap between the truck bed and the container.

[0087] In this embodiment, after detecting the region of interest to obtain an initial reference point cloud set, the presence of interfering objects on the truck is determined based on the point cloud data in the initial reference point cloud set. If interfering objects are present, the point cloud data of the region where the interfering objects are located in the initial reference point cloud set is filtered out to obtain a target reference point cloud set. In this way, when determining the target gap value and target spacing value of each sub-region obtained by dividing the region of interest based on the target reference point cloud set, more accurate target gap value and target spacing value can be obtained. This avoids the impact of interfering objects occluding the gap on the determination of the target gap value and target spacing value, thereby more accurately determining whether the truck has been lifted.

[0088] Optionally, when determining whether there are interfering objects on the truck based on the point cloud data in the initial reference point cloud set, the determination can be made based on the box surface density algorithm.

[0089] The box density algorithm is a specific density calculation method that divides a reference point cloud set into a series of adjacent small cubes and calculates the number of points within each cube to obtain the point density of each cube. This density calculation method is mainly used to analyze the distribution characteristics of objects in point clouds and can be applied in fields such as 3D reconstruction, object detection, and environmental perception.

[0090] Specifically, first, the density of multiple box surfaces in the initial reference point cloud set is determined. Then, based on the magnitude of these box surface densities, it is determined whether there are protruding regions in the region of interest. If so, it is determined that there are interfering objects on the container truck; otherwise, it is determined that there are no interfering objects on the container truck.

[0091] Generally, interfering objects protrude from the box surface. If interfering objects are present, there will be areas in the region of interest with higher density compared to other areas. Therefore, when determining whether there is a protruding area in the region of interest based on the density of multiple box surfaces in the initial reference point cloud set, if there is a box surface density that is relatively larger than the others, then it can be determined that there is a protruding area in the region of interest, which is the area with higher box surface density in the region of interest.

[0092] More specifically, based on the distribution of point cloud data in the initial reference point cloud set, multiple box surface densities of the initial reference point cloud set can be determined. Then, based on whether there is a higher box surface density among these multiple box surface densities, it can be determined whether there is a protruding region in the region of interest. If so, that is, if there is a protruding region in the region of interest, it is determined that there is interference on the truck; otherwise, that is, if there is no protruding region in the region of interest, it is determined that there is no interference on the truck.

[0093] The highlighted area is the region corresponding to the target container surface density among multiple container surface densities, where the target container surface density is greater than the other container surface densities among these multiple container surface densities.

[0094] Exemplarily, taking the case where the bin surface density of the initial reference point cloud set includes a1 - a5, if the values of a1 - a5 are the same, it is determined that there is no bin surface density that is relatively higher than other bin surface densities among these multiple bin surface densities, there is no prominent area in the region of interest, and there is no interference on the container truck; if among the values of a1 - a5, a3 < a1 = a2 = a4 = a5, it is determined that there is a bin surface density that is relatively higher than other bin surface densities in the region of interest, that is, a3, there is a prominent area in the region of interest, there is an interference on the container truck, and the interference is located in a partial area corresponding to the bin surface density a3 in the region of interest.

[0095] In this embodiment, based on the bin surface density of the initial reference point cloud set, it is determined whether there is a prominent area in the region of interest, and when there is a prominent area, it is determined that there is an interference on the container truck. At this time, the presence of the interference may affect the determination of the target gap value and the target spacing value of the multiple sub - regions obtained by dividing the region of interest. Since the interference generally protrudes from the container truck deck, when determining whether there is a prominent area in the region of interest based on the bin surface density of the initial reference point cloud set, it is possible to accurately determine whether there is an interference on the container truck, which is convenient for determining whether to filter the point cloud data in the initial reference point cloud set.

[0096] Compared with monitoring the magnitudes of the target gap value and the target spacing value of the multiple sub - regions obtained by dividing the region of interest for a long time, after the container starts to be lifted and the spreader rises to a certain height, judging the magnitudes of the target gap value and the target spacing value of the multiple sub - regions can save resources better.

[0097] At this time, in some embodiments, it is possible to first monitor whether the container in each sub - region starts to be lifted and the height to which the spreader rises, and when the container starts to be lifted and the spreader has risen a certain height, then determine the target gap value and the target spacing value of the multiple sub - regions based on the target reference point cloud set obtained by real - time detection of the region of interest.

[0098] Specifically, each sub - region among the multiple sub - regions has a corresponding container - landing signal. If the container - landing signal corresponding to a certain sub - region disappears, the container loaded on the container truck in that sub - region starts to be lifted. Correspondingly, if the container - landing signal corresponding to a certain sub - region does not disappear, the container loaded on the container truck in that sub - region has not been lifted.

[0099] That is to say, the disappearance of the container - landing signal corresponding to the sub - region indicates that in that sub - region, the container loaded on the container truck starts to be lifted. The non - disappearance of the container - landing signal of the sub - region indicates that in that sub - region, the container loaded on the container truck has not been lifted.

[0100] Specifically, if the box-attaching signal of a certain sub-region disappears, that sub-region can be identified as the target sub-region to distinguish it from other sub-regions where the box-attaching signal has not disappeared.

[0101] It is understandable that in the sub-region where the container contact signal has not disappeared, the container is in contact with the truck platform, i.e., not separated. At this time, the target gap value between the container and the truck platform must be 0, which is less than the target spacing value of the sub-region. Therefore, it is meaningless to judge the target gap value and target spacing value of the sub-region.

[0102] Specifically, after identifying the sub-region where the container engagement signal disappears as the target sub-region, if the truck is not lifted, the container will normally separate from the truck bed within this sub-region after the spreader rises to a certain height, resulting in a noticeable gap between the truck bed and the container. Therefore, after identifying the sub-region where the container engagement signal disappears as the target sub-region, the height of the spreader's ascent is monitored until it reaches a preset height. At this point, based on the real-time detected target reference point cloud set, the target gap value and target spacing value of the target sub-region are determined. Based on these target gap values ​​and target spacing values, an accurate judgment can be made as to whether the truck within the target sub-region is likely to be lifted.

[0103] The preset height can be determined based on the safety distance of the anti-lifting protection. For example, if the safety distance of the anti-lifting protection is 40cm, then the preset height is also set to 40cm. Alternatively, the value of the preset height can be determined based on factors such as the normal spacing of the sub-area and the speed of the lifting equipment, and is slightly smaller than the safety distance.

[0104] Monitoring the lifting height of the spreader here can effectively avoid the impact of factors such as changes in truck tire pressure or loosening of the lifting ropes, and promptly determine whether the truck in each sub-area has been lifted, thus achieving a better anti-lifting protection effect.

[0105] More specifically, given the characteristic of a container truck's platform being higher at the front and lower at the rear, the time it takes for the container landing signal to disappear will vary in different sub-regions derived from the region of interest. To promptly determine whether the truck platform and container have properly separated in a sub-region, when the container landing signal disappears, that sub-region is designated as the target sub-region, and the current spreader height is recorded. The spreader's ascent height is monitored, and once it reaches a preset height, the target gap value and target spacing value for that target sub-region are determined based on the target reference point cloud set. The magnitude of these values ​​is then assessed to promptly detect whether the truck platform and container have properly separated in that target sub-region.

[0106] In this way, based on the time sequence of the disappearance of the container landing signal in each sub-region, it is possible to judge whether the pallet and container are properly separated in each sub-region in order to detect as soon as possible whether there is a situation where the pallet and container are not properly separated in the region of interest.

[0107] Of course, after the landing signal of all sub-regions disappears, the target gap value and the corresponding target spacing value of each target sub-region can be determined based on the real-time detected target reference point cloud set, and the magnitude of the target gap value and the corresponding target spacing value of each target sub-region can be judged.

[0108] In this embodiment, the container landing signal of each sub-region is monitored. The sub-region where the container landing signal disappears, indicating that the container has begun to be lifted, is identified as the target sub-region. The height of the spreader is monitored until it reaches a preset height. Based on the real-time detected target reference point cloud set, the target gap value and target spacing value of the target sub-region are determined. This facilitates timely judgment on whether the truck bed and container have separated in each target sub-region and whether the truck has been lifted. This reduces the loss of lifting protection distance, ensures the effectiveness of lifting protection, and effectively reduces the workload compared to the target gap value and target spacing value of each sub-region within a preset monitoring time period.

[0109] In some embodiments, when determining the target spacing value of a target sub-region based on a target reference point cloud set, for each target sub-region, the target spacing value of that target sub-region is determined by combining the corresponding point cloud data in the target reference point cloud set.

[0110] Specifically, when determining the target spacing value for a certain target sub-region, the point cloud data within that target sub-region in the target point cloud set is first identified. This involves determining the point cloud data obtained by scanning the target sub-region within the target point cloud set, and then identifying this point cloud data as the target point cloud data. Since this target point cloud data is located within the target sub-region, the target spacing value for that target sub-region can be determined relatively accurately based on it.

[0111] Of course, the target gap value of the target sub-region can also be determined based on the target point cloud data. For an introduction on determining the target gap value, please refer to the above content.

[0112] In other words, similarly, when determining the target gap value of a certain target sub-region, first determine the point cloud data located in the target sub-region in the target reference point cloud set, determine the point cloud data as the target point cloud data, and determine the target gap value of the target sub-region based on the target point cloud data.

[0113] Specifically, for any target sub-region, when determining the target spacing value of the target sub-region based on the target point cloud data, the normal spacing value of the target sub-region is first determined based on the target point cloud data, and then the corresponding target spacing value is determined based on the normal spacing value.

[0114] More specifically, when determining the normal spacing value of a target sub-region based on points in the target point cloud data, first determine any point in the target point cloud data and the vertical resolution of the 3D LiDAR used for real-time detection of the region of interest. Then, calculate based on the position of the arbitrary point and the vertical resolution of the 3D LiDAR to obtain the normal spacing value of the target sub-region corresponding to the target point cloud data.

[0115] The vertical angular resolution of a 3D LiDAR refers to its ability to identify and measure height differences of target objects. Specifically, it refers to the accuracy of the scanning angle of the laser beam in the vertical direction. Generally, different types of LiDARs may have different vertical resolutions. For example, a certain 3D LiDAR may have a vertical angular resolution of 2°.

[0116] In addition, the normal spacing value of the target sub-region is the value of the normal spacing between the scan lines when the 3D LiDAR scans the target sub-region.

[0117] Based on the position of any point and the vertical resolution of the 3D LiDAR, according to X=[tan(π*d / 180)]*sqrt(a 2 +b 2 The normal spacing value of the target sub-region is obtained by calculation. Here, X represents the normal spacing value, d represents the vertical angular resolution of the 3D LiDAR, sqrt represents the square root, and (a, b) are the coordinates of any of the points mentioned above.

[0118] For example, if the safety distance for anti-lifting protection is limited to 40cm, and the edge dot cloud line spacing (normal spacing) of a 20-foot container is 10cm, then the number of scanning lines of the 3D LiDAR is generally required to be at least 7. In this way, a better anti-lifting protection effect can be achieved, limiting the anti-lifting protection distance to 40cm or less.

[0119] It should also be noted that any point mentioned above can be any point on the surface of the container in the target point cloud data, relative to any point at the pick-up location. Calculating the normal spacing value by taking any point on the surface of the container can more accurately determine the normal spacing value of the target sub-region.

[0120] More specifically, after determining the normal spacing value of the target sub-region, the normal spacing value is multiplied by a preset multiple, and the product of these two multiplications is determined as the target spacing value of the target sub-region.

[0121] The preset multiplier can be determined based on empirical values ​​to make the final judgment on whether the truck has been lifted more accurate.

[0122] For example, the preset multiplier can be 1.5 times, but it can also be 0.8, 1, etc., depending on the actual needs.

[0123] Of course, if the truck is lifted, regardless of whether it's due to several locks not opening, there must be at least one sub-region within the region of interest whose target gap value is less than the target spacing value of that sub-region, i.e., the product of the normal spacing value of that sub-region and a preset multiple. Theoretically, the maximum gap value when a truck is lifted within a certain sub-region should not exceed the normal spacing value of that sub-region. To ensure the accuracy of the judgment, it can be set to compare 1.5 times the normal spacing value of the sub-region with the maximum gap value to determine whether a truck has been lifted within the sub-region.

[0124] It is understandable that when the spreader is automatically stopped according to the above embodiments, it may not be able to stop automatically in time due to malfunctions or other reasons.

[0125] To avoid this situation, the system can determine whether the truck has been lifted according to the above embodiment. If it is determined that the truck may be lifted, an alarm signal can be issued to remind the driver that the truck has been lifted. This allows the driver to take timely measures to control the spreader to stop if it cannot stop automatically, thus avoiding safety accidents and achieving anti-lifting protection.

[0126] Specifically, if the target gap value of any sub-region is less than the target spacing value of that sub-region, an alarm signal is issued. For a description of the process for determining the target gap value and corresponding target spacing value of each sub-region, please refer to the above content.

[0127] In addition, controlling the spreader to stop the container lifting operation can be done automatically as described above, or it can be controlled manually by the user. When the user controls the spreader to stop, to avoid user error leading to delayed cessation of the spreader's movement, the user can simultaneously make the judgment as described above. If the target gap value in any sub-area is found to be less than the target gap value for that sub-area, an alarm signal should be issued. This prevents safety accidents caused by human error and promptly reminds the driver to stop the spreader, achieving anti-lifting protection.

[0128] In this embodiment, when the target gap value of a sub-region is less than the target spacing value of that sub-region, indicating that the truck may be lifted, an alarm signal is issued to promptly remind the driver that the truck may be lifted, so that the driver can take timely measures to control the spreader to stop its operation and better achieve anti-lifting protection.

[0129] For example, the process for preventing container trucks from being lifted can be as follows: Figure 4 As shown, the region of interest (ROI) is first selected based on the working conditions. Real-time detection is performed on the ROI to obtain an initial reference point cloud set. It is then determined whether there are any interferences such as baffles or locks on the container truck, and these interferences are filtered out. Subsequently, the container landing signals in the multiple sub-regions obtained from the division of the ROI disappear one by one. The system monitors the lifting height of the spreader to reach the preset height and detects or judges whether the container truck in the multiple sub-regions has been lifted. The target gap value and target spacing value of each sub-region are determined. For each sub-region, the magnitude of the target gap value and the target spacing value is judged. If the target gap value is greater than or equal to the corresponding target spacing value in all sub-regions, the process ends; otherwise, the anti-lifting protection is triggered, that is, the spreader is controlled to stop moving to stop lifting the container.

[0130] For example, the change in the speed of the lifting device during anti-lifting protection can be as follows: Figure 5 As shown in the diagram. The origin O represents the locking lifting point. The spreader begins to move to lift the container. The spreader speed gradually increases. After time t1, the truck is detected as being lifted, i.e., t1 is the lifting trigger point of the truck. At this time, the lifting speed S of the spreader is 2 / 60 ≈ 0.333 m / s. The delay time from the anti-lifting judgment point (i.e., the lifting trigger point t1) to the start of braking (braking point t2), i.e., the delay time T from the moment the truck is judged to be possibly lifted to the moment the spreader begins braking (i.e., t... delay The lifting braking distance is 0.5s, and the typical value L in the initial stage of lifting is 0.05m, that is, the spreader rises 0.05m from the braking point t2 to the stopping point t3. Taking a truck loaded with a 40-foot container as an example, using a 3D LiDAR with a vertical resolution of 2° and 16 lines to detect the region of interest, and taking the safe distance for anti-lifting protection, i.e., the preset height H, as 0.4m as an example, the highest height that triggers anti-lifting protection is h=HS*TL=0.4-(2 / 60)*0.5-0.05≈0.33m. The normal spacing of the scanning lines of the 16-line 3D LiDAR on the truck containing the 40-foot container is [tan(π*2° / 180)]*sqrt(a 2 +b 2= 0.22m. At this time, when the spreader rises 40cm, if the truck bed and container are completely separated, the target gap value will be at least 1.5 times larger than the normal spacing value of 0.22m, i.e., 0.33m. In other words, when the 16-line 3D LiDAR is used to detect the region of interest of the truck containing the 40-foot container, and the truck is judged to be lifted according to the method given in the above embodiment, measures can be taken in a timely manner within the safe distance of the anti-lifting protection to limit the distance at which the truck is lifted to within the safe distance, thereby achieving anti-lifting protection and achieving a better anti-lifting protection effect.

[0131] Exemplary device

[0132] Accordingly, this application also provides a truck anti-lifting device, including a detection module 601, a determination module 602, and a control module 603.

[0133] in,

[0134] The detection module 601 is used to detect the region of interest and obtain a target reference point cloud set, wherein the region of interest is the area where the gap between the truck bed and the container loaded on the truck is located;

[0135] The determination module 602 is used to determine the target gap value and target spacing value of multiple sub-regions based on the target reference point cloud set; the multiple sub-regions are obtained by dividing the region of interest.

[0136] The control module 603 is used to control the spreader to stop operating if the target gap value of any sub-region in the plurality of sub-regions is less than the target spacing value of any sub-region, so as to stop lifting the container.

[0137] The authorization device provided in this embodiment belongs to the same application concept as the truck anti-lifting method provided in the above embodiments of this application. It can execute the method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the specific processing content of the truck anti-lifting method provided in the above embodiments of this application, and will not be repeated here.

[0138] The functions implemented by the detection module 601, determination module 602 and control module 603 can be implemented by the same or different processors calling software, and this application embodiment does not limit this.

[0139] Exemplary electronic devices

[0140] Another embodiment of this application also provides an electronic device, see [link to relevant documentation] Figure 7As shown, the electronic device includes a memory 200 and a processor 210.

[0141] The memory 200 is connected to the processor 210 and is used to store programs;

[0142] The processor 210 is used to implement the truck anti-lifting method disclosed in any of the above embodiments by running the program stored in the memory 200.

[0143] Specifically, the electronic device may also include: a bus, a communication interface 220, an input device 230, and an output device 240.

[0144] The processor 210, memory 200, communication interface 220, input device 230, and output device 240 are interconnected via a bus. Among them:

[0145] A bus can include a pathway for transmitting information between various components of a computer system.

[0146] The processor 210 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 application. 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.

[0147] Processor 210 may include a main processor, as well as a baseband chip, modem, etc.

[0148] The memory 200 stores a program for executing the technical solution of this application, and may also store an operating system and other critical business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 200 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.

[0149] Input device 230 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.

[0150] Output device 240 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0151] The communication interface 220 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.

[0152] The processor 210 executes the program stored in the memory 200 and calls other devices, which can be used to implement any of the steps of the anti-lifting method for trucks provided in the above embodiments of this application.

[0153] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0154] This application also proposes a chip, which includes a processor and a data interface. The processor reads and runs a program stored in a memory through the data interface to execute the anti-lifting method for trucks described in any of the above embodiments. For the specific processing procedure and its beneficial effects, please refer to the above embodiments of the anti-lifting method for trucks.

[0155] This application embodiment also provides a yard bridge, which is provided with the above-mentioned features. Figure 7 The electronic device is used to perform the steps in the above-described method for preventing trucks from being lifted.

[0156] Among them, the yard bridge can be an automated yard bridge.

[0157] In addition to the methods and devices described above, embodiments of this application provide a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps of the truck anti-lifting method according to various embodiments of this application as described in the "Exemplary Methods" section of this specification.

[0158] 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.

[0159] Furthermore, embodiments of this application also propose a storage medium storing a computer program, which is executed by a processor in the steps of the truck anti-lifting method according to various embodiments of this application described in the "Exemplary Methods" section above.

[0160] It is understood that the specific examples in this document are only intended to help those skilled in the art better understand the implementation methods of this specification, and are not intended to limit the scope of this specification.

[0161] It is understood that in the various embodiments described in this specification, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments described in this specification.

[0162] It is understood that the various implementation methods described in this specification can be implemented individually or in combination, and the implementation methods in this specification are not limited in this respect.

[0163] Unless otherwise stated, all technical and scientific terms used in the embodiments of this specification have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this specification. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items. The singular forms "a," "the," and "the" as used in the embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0164] It is understood that the processor in the embodiments of this specification can be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method embodiments can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this specification. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this specification can be directly implemented by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory; the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above methods.

[0165] It is understood that the memory in the embodiments of this specification may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may be random access memory (RAM). It should be noted that the memory in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0166] Those skilled in the art will 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, or a combination of computer software and electronic hardware. 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 specification.

[0167] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the aforementioned method implementations, and will not be repeated here.

[0168] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0169] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0170] In addition, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0171] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of this specification, in essence, or the parts that contribute to the prior art, or parts of the technical solutions, can be embodied in the form of software products. These computer software products are stored in a storage medium and include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this specification. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0172] The above description is merely a specific embodiment of this specification, but the scope of protection of this specification is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this specification should be included within the scope of protection of this specification. Therefore, the scope of protection of this specification should be determined by the scope of the claims.

Claims

1. A method for preventing container trucks from being lifted, characterized in that, The method includes: The region of interest is detected to obtain a target reference point cloud set, wherein the region of interest is the area where the gap between the truck bed and the container loaded on the truck is located; Based on the target reference point cloud set, target gap values ​​and target spacing values ​​are determined for multiple sub-regions; the multiple sub-regions are obtained by dividing the region of interest. If the target gap value of any sub-region is less than the target spacing value of any sub-region, the spreader is controlled to stop moving to stop lifting the container; The step of determining the target gap value and target spacing value of the multiple sub-regions based on the target reference point cloud set includes: The system monitors whether the container landing signal in each sub-region disappears; the absence of the container landing signal in a sub-region indicates that the container loaded by the truck has not been lifted in that sub-region; the sub-region where the container landing signal disappears is identified as the target sub-region, and the height of the spreader's ascent is monitored until the spreader's ascent reaches a preset height. Based on the target reference point cloud set, determining the target gap value and target spacing value of the target sub-region includes: determining the point cloud data in the target reference point cloud set located in the target sub-region as target point cloud data; calculating the normal spacing value between scan lines in the target sub-region based on the position of any point on the container surface in the target point cloud data and the vertical resolution of the three-dimensional LiDAR; and determining the target spacing value by multiplying the normal spacing value by a preset multiple.

2. The method for preventing container trucks from being lifted according to claim 1, characterized in that, Before detecting the region of interest to obtain the target reference point cloud set, the method further includes: Obtain operating condition information, including the length of the truck; The region of interest is determined based on the length of the card.

3. The method for preventing container trucks from being lifted according to claim 1, characterized in that, The process of detecting the region of interest to obtain a target reference point cloud set includes: The region of interest is detected to obtain an initial set of reference point clouds; Based on the point cloud data in the initial reference point cloud set, it is determined whether there are interfering objects on the truck, and the interfering objects are objects that block the gap; If so, the point cloud data located in the sub-region where the interfering object is located in the initial reference point cloud set are filtered to obtain the target reference point cloud set; If not, then the initial reference point cloud set is directly determined as the target reference point cloud set.

4. The method for preventing container trucks from being lifted according to claim 3, characterized in that, The step of determining whether there are interfering objects on the truck based on the point cloud data in the initial reference point cloud set includes: Based on the distribution of point cloud data in the initial reference point cloud set, determine the density of multiple box surfaces in the initial reference point cloud set; Based on the multiple box surface densities, it is determined whether there is a protruding region in the region of interest. The protruding region is the region corresponding to the target box surface density among the multiple box surface densities, and the target box surface density is greater than the other box surface densities among the multiple box surface densities. If the protruding area exists in the region of interest, it is determined that the interfering object exists on the truck; otherwise, it is determined that the interfering object does not exist on the truck.

5. The method for preventing container trucks from being lifted according to claim 1, characterized in that, The method further includes: If the target gap value of any sub-region is less than the target spacing value of any sub-region, an alarm signal is issued to remind the truck that it has been lifted.

6. A device for preventing trucks from being lifted, characterized in that, The device includes: The detection module is used to detect the region of interest and obtain a target reference point cloud set, wherein the region of interest is the area where the gap between the truck bed and the container loaded on the truck is located; The determination module is used to determine target gap values ​​and target spacing values ​​for multiple sub-regions based on the target reference point cloud set; the multiple sub-regions are obtained by dividing the region of interest; the determination of target gap values ​​and target spacing values ​​for the multiple sub-regions based on the target reference point cloud set includes: monitoring whether the container landing signal of each sub-region disappears; the absence of the container landing signal in a sub-region indicates that the container loaded by the truck has not been lifted in the sub-region; determining the sub-region where the container landing signal disappears as the target sub-region, and monitoring the height of the spreader until the height of the spreader reaches a preset height; the determination of target gap values ​​and target spacing values ​​for the target sub-regions based on the target reference point cloud set includes: determining the point cloud data in the target reference point cloud set that is located in the target sub-region as target point cloud data; calculating the normal spacing value between scan lines in the target sub-region based on the position of any point on the container surface in the target point cloud data and the vertical resolution of the 3D LiDAR; and determining the target spacing value by multiplying the normal spacing value by a preset multiple. The control module is configured to stop the spreader from operating if the target gap value of any sub-region in the plurality of sub-regions is less than the target spacing value of any sub-region, so as to stop the lifting of the container.

7. An electronic device, characterized in that, Including memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the anti-lifting method for trucks as described in any one of claims 1 to 5 by running the program in the memory.

8. A field bridge, characterized in that, The field bridge is equipped with the electronic equipment as described in claim 7.

Images