A quay crane load identification method, device and ship scanning system

Abstract

The application discloses a quay crane load identification method, which comprises the following steps: recording an initial lifting height after a spreader completes locking at the load; determining a Benes initial average height according to point cloud data obtained by scanning in the direction of the trolley; recording a current lifting height and a Benes part point cloud current average height when the lifting height of the load is greater than a preset height, and calculating a lifting height difference and an average height difference; when the lifting height difference is greater than a second error, if the average height difference is greater than a first error, it is determined that the load is a hatch cover; if the average height difference is less than the first error, it is determined that the load is a container; and the first error is less than the second error. By analyzing and comparing the lifting height difference of the load and the Benes part point cloud height difference obtained by scanning in the direction of the trolley, whether the load is a hatch cover can be effectively determined.

Description

Technical Field

[0001] This application relates to the field of lifting machinery, specifically to a method, device, and ship sweeping system for identifying cargo carried by a quay crane. Background Technology

[0002] In recent years, with the continuous development of economic globalization, the importance of port trade has been increasing, and the economic benefits brought by port trade are significant. Therefore, in order to increase throughput and accelerate port economic development, it is necessary to improve port operation efficiency as soon as possible.

[0003] During port vessel transportation, hatch covers are often used to cover hatch openings or cargo to ensure the safety of the cargo during transportation. To avoid collisions during operations, quay cranes typically use ship scanning systems to obtain the outline information of the cargo on board during remote control operations. However, when the load is a hatch cover, due to the size limitations of the spreader, both the local and adjacent shell point clouds are on the hatch cover. During the process of lifting the hatch cover, it is impossible to distinguish whether the load is a hatch cover or a container, resulting in incorrect ship scanning results and affecting subsequent lifting operations. Summary of the Invention

[0004] In view of this, the embodiments of this application aim to provide a method, device and ship scanning system for identifying quay crane loads. By analyzing and comparing the lifting height difference of the load and the height difference of the point cloud inside the hull with a set error value, it is determined whether the load is a hatch cover. At the same time, the method described in this proposal can also combine the linear change of the point cloud inside the hull to determine the load during the identification process, effectively identifying whether the load is a hatch cover and avoiding the failure of ship scanning results from affecting subsequent lifting operations.

[0005] According to a first aspect of the embodiments of this application, a method for identifying cargo carried on a quay crane is provided, the method comprising:

[0006] After the lifting device locks at the load, the initial lifting height is recorded. The initial lifting height refers to the distance between the locked position and the ground. The initial average height of the inner part is determined based on the point cloud data obtained by the laser equipment scanning along the direction of the trolley.

[0007] When the lifting height of the load exceeds the preset height, record the current lifting height and the current average height of the point cloud inside the shell, and calculate the lifting height difference and the average height difference.

[0008] When the lifting height difference is greater than the second error, if the average height difference is greater than the first error, then the hoisted object is determined to be a hatch cover; if the average height difference is less than the first error, then the hoisted object is determined to be a container; wherein the first error is less than the second error.

[0009] In one embodiment, determining the initial average height of the inner portion based on the point cloud data obtained by scanning along the direction of the vehicle using a laser device includes:

[0010] Obtain the point cloud height value during the scanning process along the direction of the vehicle;

[0011] The number of point clouds inside the shell is determined based on the dimensions of the lifting device.

[0012] The initial average height of the inner part of the shell is determined based on the point cloud height value and the number of point clouds in the inner part of the shell.

[0013] In one embodiment, the method further includes: when the lifting height difference is greater than the second error, performing a linear judgment on the change of the point cloud value of the inner part of the shell during the lifting process of the suspended object.

[0014] In one embodiment, the linear determination of the point cloud values ​​within the shell during the lifting process includes:

[0015] Select a point cloud dataset of the inner part of the Bénix at a preset time. The point cloud dataset contains a set of point cloud values ​​obtained when scanning the inner part of the Bénix.

[0016] Calculate the difference between each point in the point cloud dataset and the midpoint along the rising direction, and record the points whose difference exceeds a preset threshold as out-of-range points;

[0017] If the number of out-of-range points is greater than the preset number, then the point cloud within the preset time interval is a linear point cloud;

[0018] If the number of out-of-range points is less than or equal to a preset number, then the point cloud within the preset time period is a nonlinear point cloud.

[0019] In one embodiment, when the lifting height difference is greater than the second error, if the point cloud inside the shell at the preset time is a linear point cloud and the average height difference of the point cloud inside the shell is greater than the first error, then the hoisted object at the preset time is determined to be a hatch cover.

[0020] In one embodiment, the laser device is installed at the middle position on the seaward side of the quay crane trolley, and the laser beam emitted by the laser device scans along the direction of the trolley.

[0021] According to a second aspect of this application, a quay crane load identification device is provided, the device comprising:

[0022] Initial recording unit: used to record the initial lifting height after the lifting device has locked at the load, and to determine the initial average height of the inner part of the shell by using laser equipment to scan along the direction of the trolley.

[0023] Calculation unit: used to record the current lifting height and the current average height of the point cloud inside the shell when the lifting height of the load is greater than the preset height, and to calculate the lifting height difference and the average height difference;

[0024] Identification unit: When the lifting height difference is greater than the second error, if the average height difference is greater than the first error, then determine that the hoisted object is a hatch cover; if the average height difference is less than the first error, then determine that the hoisted object is a container; wherein the first error is less than the second error.

[0025] According to a third aspect of this application, a ship sweeping system is provided, the ship sweeping system including the above-mentioned shore crane load identification device.

[0026] According to a fourth aspect of this application, an electronic device is provided, including a processor and a memory; wherein the memory is connected to the processor and is used to store a computer program; the processor is used to implement the above-described method for identifying quay crane loads by running the computer program stored in the memory.

[0027] According to a fifth aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the aforementioned method for identifying quay crane loads.

[0028] The quay crane cargo identification method, device, and ship scanning system provided in this application utilize point cloud data scanned along the gantry direction to determine the average height of the point cloud values ​​within the hull. During lifting operations, the average height difference within the hull and the lifting height difference of the cargo are calculated and compared with a set error to determine whether the cargo is a hatch cover or a container. To improve identification accuracy, a linear judgment of the average height of the point cloud within the hull is added to ultimately determine whether the cargo is a hatch cover. Based on this cargo identification method, the effective identification of hatch covers allows the subsequent ship scanning system to accurately grasp the outline information of cargo on board, avoiding misidentification of hatch covers as containers or other cargo, and effectively improving the efficiency of lifting operations. Attached Figure Description

[0029] 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.

[0030] Figure 1 This is a flowchart illustrating a method for identifying cargo carried on a quay crane, provided in one embodiment of this application.

[0031] Figure 2 This is a flowchart illustrating a method for identifying loads on a quay crane, provided as another embodiment of this application.

[0032] Figure 3 This is a structural schematic diagram of a quay crane load identification device provided in another embodiment of this application.

[0033] Figure 4 A simplified structural diagram of an exemplary marine sweeping system provided for another embodiment of this application.

[0034] Figure 5 A simplified structural diagram of a quayside container crane provided for another embodiment of this application. Detailed Implementation

[0035] 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.

[0036] Exemplary methods

[0037] This application provides a method for identifying cargo carried by a quay crane. This method relates to the field of lifting machinery, specifically a method for identifying cargo carried by a quay crane. The quay crane is often a shortened term for a quay-side container crane, a specialized piece of equipment used in container terminals for loading and unloading container ships. It is generally installed on the quay side of a port terminal. A simplified structural diagram of the quay-side container crane can be found here. Figure 5 As shown.

[0038] Figure 1 This is a flowchart illustrating the method for identifying the load on a quay crane provided in this application embodiment, as shown below. Figure 1 As shown, in this embodiment, the proposed method for identifying cargo carried by a quay crane includes the following steps:

[0039] S101. After the lifting device completes locking at the load, record the initial lifting height, which refers to the distance between the locked position and the ground; determine the initial average height of the inner part of the shell based on the point cloud data obtained by the laser equipment scanning along the direction of the trolley.

[0040] To lift and transport cargo, a spreader is needed to grip the goods. In container lifting, this gripping operation refers to connecting and securing the container to the spreader. Typically, the method of connecting and securing the spreader to the container depends on the type of spreader used. Common methods include hooks, slings / wire ropes, return clamps, or container suction cups. In this embodiment, a hook may be used for lifting. As one of the most common types of spreaders, the hook can be suspended from the container's lifting lugs and secured to the container by gravity. Hooks usually have an anti-slip design to ensure they do not slip accidentally during transport.

[0041] Taking a lifting hook as an example, once the hook is lowered and rests on the upper surface of the container and connected and secured to the lifting lugs on the container, the lifting device is locked at the load. During actual lifting operations, the locking operation must be confirmed before the lifting device raises or lowers the load to ensure that the hook will not accidentally open or release during lifting operations, increasing the safety of lifting operations and protecting the safety of workers and the surrounding environment. Optionally, the hook locking method can be bolt locking, locking pin locking, spring locking, or safety pin locking, etc.

[0042] In this embodiment, after ensuring the spreader completes locking, the height of the locking point above the horizontal ground is recorded, and this height is considered the initial lifting height. It should be noted that when recording the initial lifting height, the spreader has completed locking but the load has not yet been lifted. As a feasible approach, a landing signal can be added in practical applications to determine whether to start recording the initial lifting height. The landing signal disappears just before the load is lifted, so in practical applications, recording the initial lifting height can begin after the landing signal disappears. In this embodiment, the lifting height distance can be the distance from the ground to the locked position of the load; therefore, the lifting height will continuously change as the spreader is lifted.

[0043] Furthermore, before the load is lifted or when the landing signal disappears, the average height of the point cloud data inside the container is obtained. The point cloud data can be obtained by scanning along the direction of the trolley using a laser device. The laser device can refer to a device that uses laser technology to generate a beam of light. It has a wide range of applications in various fields and can perform functions such as ranging, cutting, or image generation. Common laser devices include laser printers, lidar, or lasers.

[0044] In an optional embodiment, a single-line laser is selected as the laser device for scanning along the direction of the trolley. The single-line laser can be used to generate a single-mode laser output, thereby acquiring the point cloud data obtained by the single-line laser scanning. At the same time, the point cloud dataset of the "core" portion is determined according to actual needs or the size of the lifting device, and the average height of the point cloud within the core is further calculated and recorded as the initial average height of the core portion. "Core" is a commonly used technical term in lifting operations and can be determined according to the size of the object to be lifted, while other lifting object areas located near the object to be lifted are called adjacent core areas.

[0045] In some implementations, the aforementioned steps for determining the initial average height of the inner portion based on point cloud data obtained by scanning along the direction of the trolley using a laser device are as follows: Figure 2 As shown, it specifically includes:

[0046] S1011. Obtain the point cloud height value during the scanning process along the direction of the vehicle.

[0047] The trolley of a quay crane (quayside container crane) can refer to the moving mechanism installed on the main beam of the quay crane, used to move laterally along the main beam of the crane to move and position the lifting spreader (such as a hook) for loading and unloading containers. The direction of the trolley scanned by the laser equipment in this embodiment can be referenced. Figure 5 The direction of the large vehicle is marked.

[0048] After determining the scanning direction of the laser device, the laser point cloud data generated when the laser device scans along that direction is acquired. In this embodiment, the height values ​​of the point cloud data generated by the laser device are statistically analyzed.

[0049] S1012. Determine the number of point clouds inside the shell based on the dimensions of the lifting device.

[0050] After obtaining all point cloud data scanned along the direction of the trolley, the number of point clouds located in the inner part of the shell is further confirmed. The division of the inner part of the shell can be determined according to the size of the spreader or actual needs. Optionally, in this embodiment of the application, the number of point clouds in the inner part of the shell is determined based on the size of the spreader.

[0051] S1013. Determine the initial average height of the inner part of the shell based on the point cloud height value and the number of point clouds in the inner part of the shell.

[0052] Based on the point cloud height values ​​obtained in steps S1011 and S1012 and the number of point clouds in the inner part of the shell, the initial average height of the inner part is calculated. Specifically, after determining the number of point clouds in the inner part of the shell, the height values ​​of the point clouds in the inner part of the shell are counted, and finally the average value of the point clouds in the inner part of the shell is calculated, which is the initial average height of the inner part of the shell.

[0053] S102. When the lifting height of the load is greater than the preset height, record the current lifting height and the current average height of the point cloud inside the shell, and calculate the lifting height difference and the average height difference.

[0054] After completing the above S101 step, the lifting device starts the lifting operation to raise the load and complete the transfer. When the lifting height of the load is greater than the preset height, the lifting height difference between the current lifting height and the initial lifting height is calculated; and the average height difference between the current average height of the point cloud values ​​in the inner part of the shell and the initial average height is calculated.

[0055] In this embodiment of the application, after the hoisted object is lifted to a height greater than the preset height by the lifting device, the current lifting height of the hoisted object is recorded, that is, the distance between the ground and the locking point of the lifting device on the current hoisted object. The change between the current lifting height and the aforementioned initial lifting height is further compared, and the lifting height difference between the current lifting height and the initial lifting height is calculated. For example, if the initial lifting height is h0 and the current lifting height is h1, then the lifting height difference Δh=|h1-h0|.

[0056] Similarly, after the hoisted object's lifting height exceeds the preset height, the current average height of the point cloud values ​​within the shell is recorded. The calculation method is the same as when calculating the initial average height. For example, if the initial average height is H0 and the current lifting height is H1, then the average height difference ΔH = |H1 - H0|. Furthermore, the calculated lifting height difference and average height difference are used to determine the type of the hoisted object to ascertain whether it is a hatch cover.

[0057] As an optional embodiment, when the load is a hatch cover, since the hatch cover has a large coverage area, including both the main hatch and adjacent hatches, the difference between the average point cloud height and the lifting height difference is small. The only difference is due to unavoidable errors, which can be determined based on long-term lifting experience. However, when the load is not a hatch cover, and the spreader only lifts containers or other loads located within the main hatch, after the load has been raised for a preset time, the calculated average point cloud height of the hatch contains both the point cloud height obtained when scanning the container and the point cloud height of other loads within the main hatch. In this case, the difference between the calculated average point cloud height and the lifting height difference will be larger.

[0058] Furthermore, based on the above discussion, it is possible to determine whether the hoisted object is a hatch cover by calculating the lifting height difference and average height difference.

[0059] S103. When the lifting height difference is greater than the second error, if the average height difference is greater than the first error, then the hoisted object is determined to be a hatch cover; if the average height difference is less than the first error, then the hoisted object is determined to be a container; wherein the first error is less than the second error.

[0060] In this embodiment of the application, the determination of the first error and the second error can be based on the experience of the on-site personnel or the type of lifting equipment used and the actual situation of the load. For example, it can be verified by multiple lifting experiments, recording the distance between the actual lifting height difference and the average height difference during the lifting process, and finally determining the value of the first error or the second error within the allowable error range. It should be noted that the first error is smaller than the second error.

[0061] After obtaining the average height difference and the lifting height difference, the average height difference can be compared with the first error to determine whether the load is a hatch cover. Generally, the first error is small. When the lifting height difference is greater than the second error, if the average height difference is greater than the first error, it means that the load is a hatch cover. However, when the lifting height difference is greater than the second error but the average height difference is less than the first error, it means that the load is not a hatch cover, but may be a container or other cargo.

[0062] In one feasible embodiment of the above process for determining hatch covers, if the loads are hatch covers and containers respectively, when the internal dimensions of the hatch are the same, after the lifting height of the load exceeds the preset height, the average height of the internal point cloud calculated when lifting the hatch cover is less than the average height of the internal point cloud calculated when lifting the container. Therefore, if the lifting height difference is greater than the second error, and the average height difference is less than the first error, it indicates that the load is not a hatch cover.

[0063] Optionally, to make the identification results of the hoisted object more accurate, when the lifting height difference is greater than the second error, the change of the point cloud value of the inner part of the shell during the hoisted object lifting process can be linearly judged.

[0064] Since quay cranes (quay cranes) are large-scale engineering machinery, large errors are inevitable during their lifting process. Therefore, this application embodiment adds linear judgment of the internal point cloud as an auxiliary calculation for the load identification method.

[0065] As a possible scenario for error, for example, during the actual lifting process, if the trolley moves along the quay bridge beam to the seaward side and is close to the end of the beam, the trolley will inevitably sway due to gravity. In this case, if the average height of the point cloud inside the shell is calculated to determine whether the load is a hatch cover, the calculation result will be inaccurate.

[0066] Among them, the trolley of a quay container crane can refer to a mobile structure installed on the main trolley, which is used to move longitudinally along the main trolley and support and operate lifting spreaders (such as hooks, spreaders, etc.) to load and unload containers. It plays an important role in container loading and unloading operations. By moving the trolley, the crane can accurately position the spreaders on the cargo to achieve efficient and safe loading and unloading operations.

[0067] Specifically, linearly determining the change in the point cloud values ​​within the shell during the lifting process can include:

[0068] A point cloud dataset of the inner portion of the Bénix at a preset time is selected. The point cloud dataset contains a set of point cloud values ​​obtained when scanning the inner portion of the Bénix. The difference between each point in the point cloud dataset and the midpoint is calculated, and points whose differences exceed a preset threshold are recorded as out-of-range points. If the number of out-of-range points is greater than a preset number, the point cloud of the inner portion of the Bénix at the preset time is a linear point cloud. If the number of out-of-range points is less than or equal to the preset number, the point cloud of the inner portion of the Bénix at the preset time is a nonlinear point cloud.

[0069] When the trolley is less than a preset distance from the end point of the quay crane beam at the seaward end, a linear judgment is added on the changes of the point cloud inside the shell during the lifting process. After the aforementioned specific steps of linear judgment, after knowing the linear judgment result of the point cloud inside the shell at this time, it can be further determined whether the hoisted object is a hatch cover. When the hoisted object is a hatch cover, it is conceivable that the average height of the point cloud inside the shell will change linearly with the increase of the lifting height.

[0070] In one feasible embodiment of load identification, when the trolley is less than a preset distance from the end point of the seaward end of the quay crane beam, if the point cloud inside the shell is a linear point cloud and the average height difference of the point cloud inside the shell is greater than a first error at the preset time, then the load is determined to be a hatch cover plate.

[0071] Optionally, the linear judgment of the point cloud inside the bay during the aforementioned process is not limited to the case where the position of the trolley on the quay crane beam is less than a preset distance from the end point of the beam near the sea. In other lifting operations where errors may occur, the linear judgment of the point cloud inside the bay can still be used to make the identification of the hoisted object more accurate. The process described in this application where the trolley moves to the seaside, causing the beam to sway and resulting in errors, can be one case where linear judgment is used. In addition, it should be noted that if the accuracy of the identification results is to be higher, the linear judgment of the average height of the part inside the bay at the current moment can be added before calculating the average height difference. This application does not limit this.

[0072] In some embodiments, the laser device, which serves as the source of the aforementioned point cloud data, may be installed at the middle position on the seaward side of the quay crane trolley, and the laser beam emitted by the laser device scans along the direction of the trolley.

[0073] To make the proposed method for identifying the load on a quay crane more concrete, and in conjunction with practical applications, an exemplary case can be used to describe the implementation process of the proposed method for identifying the load on a quay crane. The steps are as follows:

[0074] Step 1: When the spreader is locked and the box-landing signal disappears, record the initial lifting height h0, and at the same time record the average height of the part inside the laser point cloud in the direction of the trolley (determined according to the current spreader size);

[0075] Step 2: As the lifting height increases, continue to record the average height value of the inner part of the point cloud and calculate the linearity of the point cloud. Determine whether the average height changes more than σ2. If it does, it is a hatch cover.

[0076] Step 3: If the lifting height changes by more than σ1 compared to the initial height h0, but the average height of the point cloud does not exceed σ2, then it is not a hatch cover.

[0077] Step 4: Furthermore, during actual verification, it was found that when the vehicle moves to the seaside, the front beam will sway (mainly in the vertical direction), which will have a certain impact on the recorded Bennet point cloud height. Therefore, a method for determining the linearity of the laser scanning point cloud in the direction of the vehicle was added, as follows:

[0078] Let the extracted point cloud of the inner part of the Bayesian region be:

[0079] {P0,P1,......,P i ,......,P n}

[0080] The deviation of each point from the midpoint in the calculated lifting direction value:

[0081]

[0082] |Δx i |<σ3

[0083] Points exceeding the threshold σ3 are recorded as out-of-tolerance points, and the number of out-of-tolerance points k is counted:

[0084] If k < τ, then the point cloud in the current frame is linear; otherwise, it is nonlinear.

[0085] Step 5: Before determining the hatch cover in Step 3, add the linearity determination result of the Bennet point cloud. If the average height change of the point cloud exceeds σ2 and the point cloud is linear, then it is a hatch cover.

[0086] Step 6: In practical applications, the above control thresholds can be taken as follows:

[0087] σ1≥1200mm; σ2≥1000mm

[0088] σ3≥400mm

[0089] τ∈[5,10]

[0090] Exemplary device

[0091] This application also provides a quay crane load identification device, the simplified structural diagram of which is shown below. Figure 3 As shown, the quay crane cargo identification device can be composed of three functional units, and the functions of each component are as follows:

[0092] Initial recording unit: used to record the initial lifting height after the lifting device has locked at the load, and to determine the initial average height of the inner part of the shell by using laser equipment to scan along the direction of the trolley.

[0093] Calculation unit: used to record the current lifting height and the current average height of the point cloud inside the shell when the lifting height of the load is greater than the preset height, and to calculate the lifting height difference and the average height difference;

[0094] Identification unit: used to determine that the hoisted object is a hatch cover if the average height difference is greater than the first error when the lifting height difference is greater than the second error; and to determine that the hoisted object is a container if the average height difference is less than the first error; wherein the first error is less than the second error.

[0095] Specifically, the method for determining the initial average height of the inner portion of the structure using point cloud data obtained by scanning along the direction of the vehicle using a laser device in the aforementioned initial recording unit can be implemented according to the following steps:

[0096] First, the point cloud height value is obtained during the scanning process along the direction of the trolley; second, the number of point clouds inside the shell is determined based on the size of the lifting device; finally, the initial average height of the inner part of the shell is determined based on the point cloud height value and the number of point clouds inside the shell.

[0097] Furthermore, when identifying a suspended object, if the lifting height difference is greater than the second error, this exemplary device can perform a linear judgment on the change of the point cloud values ​​within the shell during the lifting process to identify the suspended object. The linear judgment process includes:

[0098] Select a point cloud dataset of the inner part of the Bénix at a preset time. The point cloud dataset contains a set of point cloud values ​​obtained when scanning the inner part of the Bénix. Calculate the difference between each point in the point cloud dataset and the midpoint, and record points whose differences exceed a preset threshold as out-of-range points.

[0099] If the number of out-of-range points is greater than the preset number, then the point cloud within the preset time interval is a linear point cloud;

[0100] If the number of out-of-range points is less than or equal to a preset number, then the point cloud within the preset time period is a nonlinear point cloud.

[0101] When the lifting height difference is greater than the second error, by judging the linear change of the average height of the partial point cloud inside the shell as the load rises, it can be determined whether the load is a hatch cover. If the partial point cloud inside the shell is a linear point cloud at the preset time and the average height difference of the partial point cloud inside the shell is greater than the first error, then it is determined that the load at the preset time is a hatch cover.

[0102] Hatch covers, also known as hatch panels, are plate-like structures used to cover hatch openings. Their primary function is to protect cargo from external environmental influences and ensure its safety during transport. In the maritime transport sector, hatch covers are commonly used to cover and seal cargo hatch openings to prevent seawater, rainwater, or waves from entering the cargo hold, and to prevent cargo from falling out of the hold or being damaged. Hatch covers are typically made of metal, wood, or composite materials, possessing sufficient strength and rigidity to withstand the weight requirements of ship operation and load-bearing at sea.

[0103] The aforementioned laser equipment refers to devices that generate light beams using laser technology. These devices have wide applications in various fields and can perform functions such as ranging, cutting, or image generation. Common examples of laser equipment include laser printers, lidar, or lasers. In some embodiments, the laser equipment serving as the source of the aforementioned point cloud data can be installed at the middle position on the seaward side of the quay crane trolley, and the light beam emitted by the laser equipment scans along the direction of the trolley.

[0104] Furthermore, the quay crane load identification device provided in this embodiment belongs to the same application concept as the quay crane load identification method provided in the above embodiments of this application. It can execute the quay crane load identification method provided in any of the above embodiments of this application and has the corresponding functional units and beneficial effects for executing the quay crane load identification method. Technical details not described in detail in this embodiment can be found in the specific processing content of the quay crane load identification method provided in the above embodiments of this application, and will not be repeated here.

[0105] The readable storage media used in the various functional units of the exemplary quay crane load identification device proposed in this application can be any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. Readable storage media can be, for example, including but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0106] Exemplary marine sweeping system

[0107] This application also provides a ship sweeping system, which may include the functional units of the quay crane load identification device described in the exemplary device above. For example, the ship sweeping system may also include a visual interface. A simplified structural diagram of the ship sweeping system can be found here. Figure 4 As shown, in actual use, staff can directly click on the load identification module of the visual interface to activate the quay crane load identification device on the ship sweeping system to determine whether the load is a hatch cover. The composition, structure and function of the quay crane load identification device included in the ship sweeping system are described in the exemplary device section of this application above, and will not be repeated here.

[0108] Furthermore, each unit and / or module in the embodiments of this application can be configured with corresponding electronic components. The optional implementation methods of the embodiments of this application have been described in detail above with reference to the accompanying drawings. However, the embodiments of this application are not limited to the specific details of the above-described embodiments. Within the scope of the technical concept of the embodiments of this application, various simple modifications can be made to the technical solutions of the embodiments of this invention, and these simple modifications all fall within the protection scope of the embodiments of this application.

[0109] Exemplary electronic devices

[0110] This application also provides an electronic device, which includes a processor and a memory;

[0111] The memory is connected to the processor, and the memory is used to store computer programs; the processor is used to implement the quay crane load identification method described in any of the preceding claims by running the computer programs stored in the memory.

[0112] Exemplary computer-readable storage media

[0113] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it implements the quay crane load identification method described in the aforementioned exemplary method. For specific steps, please refer to the description in the exemplary method section of this application, which will not be repeated here.

[0114] 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.

[0115] 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 method for identifying cargo loaded on a quay crane, applied to a quay container crane, characterized in that, The method includes: After the lifting device locks at the load, the initial lifting height is recorded. The lifting height refers to the distance between the locked position and the ground. The initial average height of the inner part is determined based on the point cloud data obtained by the laser equipment scanning along the direction of the trolley. The step of determining the initial average height of the inner part of the shell based on the point cloud data obtained by the laser device scanning along the direction of the trolley includes: obtaining the point cloud height value during the scanning process along the direction of the trolley; determining the number of point clouds in the inner part of the shell based on the size of the lifting device; and determining the initial average height of the inner part of the shell based on the point cloud height value and the number of point clouds in the inner part of the shell. When the lifting height of the load exceeds the preset height, record the current lifting height and the current average height of the point cloud inside the shell, and calculate the lifting height difference and the average height difference. When the lifting height difference is greater than the second error, if the average height difference is greater than the first error, then the hoisted object is determined to be a hatch cover; if the average height difference is less than the first error, then the hoisted object is determined to be a container; wherein the first error is less than the second error. The method further includes: when the lifting height difference is greater than the second error, making a linear judgment on the change of the point cloud value of the inner part of the shell during the lifting process of the suspended object; The linear determination of the change in point cloud values ​​within the shell during the lifting process includes: selecting a point cloud dataset of the shell at a preset time, wherein the point cloud dataset contains a set of point cloud values ​​obtained when scanning the shell; calculating the difference between each point in the point cloud dataset and the midpoint along the lifting direction, and marking points whose differences exceed a preset threshold as out-of-tolerance points; if the number of out-of-tolerance points is greater than a preset number, then the point cloud of the shell at the preset time is a linear point cloud; if the number of out-of-tolerance points is less than or equal to the preset number, then the point cloud of the shell at the preset time is a non-linear point cloud.

2. The method for identifying cargo carried by a quay crane according to claim 1, characterized in that, If, when the lifting height difference is greater than the second error, the point cloud of the inner part of the shell at the preset time is a linear point cloud and the average height difference of the point cloud of the inner part of the shell is greater than the first error, then the hoisted object at the preset time is determined to be a hatch cover.

3. The method for identifying cargo carried by a quay crane according to claim 1, characterized in that, The laser device is installed in the middle of the seaside side of the quay crane trolley, and the laser beam emitted by the laser device scans along the direction of the trolley.

4. A device for identifying cargo loaded on a quay crane, characterized in that, The device is applied to the quay crane load identification method according to any one of claims 1-3, and the device comprises: Initial recording unit: used to record the initial lifting height after the lifting device has locked at the load, and to determine the initial average height of the inner part of the shell by using laser equipment to scan along the direction of the trolley. Calculation unit: used to record the current lifting height and the current average height of the point cloud inside the shell when the lifting height of the load is greater than the preset height, and to calculate the lifting height difference and the average height difference; Identification unit: When the lifting height difference is greater than the second error, if the average height difference is greater than the first error, then determine that the hoisted object is a hatch cover; if the average height difference is less than the first error, then determine that the hoisted object is a container; wherein the first error is less than the second error.

5. A ship sweeping system, characterized in that, The ship sweeping system includes the quay crane load identification device as described in claim 4.

6. An electronic device, characterized in that, Including processor and memory; The memory is connected to the processor and is used to store computer programs; The processor is configured to implement the quay crane load identification method as described in any one of claims 1-3 by running a computer program stored in the memory.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the quay crane load identification method according to any one of claims 1-3.

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