Adjustment box anti-collision detection method, device and fixed crane system

Abstract

The present application relates to a method, device, and fixed crane system for detecting collision avoidance during container switching, and relates to the field of engineering machinery technology. The method comprises obtaining a side view image and / or a top view image of a first container and a second container; obtaining the minimum distance between the first container and / or the second container in a preset direction after simulated container switching based on the side view image and / or the top view image; and outputting an instruction to approve or prohibit container switching based on the minimum distance and a safety distance threshold. The method, device, and fixed crane system for detecting collision avoidance during container switching provided by the embodiments of the present application can improve the problem of mutual collision between the first container and / or the second container after the container switching operation, thereby enhancing operational safety.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a method and device for detecting anti-collision of a regulating box and a fixed crane system. Background Art

[0002] When loading containers on a container truck, a first container and a second container are placed adjacently on the same truck. To meet yard requirements or facilitate loading and unloading, the first and / or second containers need to be swung, swapping their front and rear sides and changing the orientation of their doors. In practice, the front and rear sidewalls of the first and / or second containers are prone to bulging and deforming, with varying distances. Consequently, after the swung operation, the first and / or second containers may collide, compromising operational safety. Summary of the Invention

[0003] In order to solve the above technical problems, the embodiments of the present application provide a container shunting anti-collision detection method, device and fixed crane system, which can improve the problem of mutual collision between the first container and / or the second container after the container shunting operation, thereby improving the operation safety.

[0004] In a first aspect, a method for detecting and preventing collisions during container switching is provided, which is applied to detecting a first container and a second container that are adjacently distributed along a preset direction. The method for detecting and preventing collisions during container switching comprises: obtaining a side view image and / or a top view image of the first container and the second container; obtaining, based on the side view image and / or the top view image, a minimum distance between the first container and / or the second container in the preset direction after a simulated container switching; and outputting an instruction to approve or prohibit container switching based on the minimum distance and a safety distance threshold; wherein the container switching represents an operation of switching the first container and / or the second container front to back in the preset direction.

[0005] According to a first aspect of the present application, the first container includes a first side wall and a second side wall distributed along the preset direction, and when the first container is not adjusted, the second side wall is close to the second container relative to the first side wall; the second container includes a third side wall and a fourth side wall distributed along the preset direction, and when the second container is not adjusted, the third side wall is close to the first container relative to the fourth side wall; the minimum distance between the first container and / or the second container in the preset direction after the simulated adjustment of the first container and / or the second container is obtained according to the side view image and / or the top view image includes: the minimum distance between the first side wall and the third side wall in the preset direction after the simulated adjustment of the first container is obtained according to the side view image and / or the top view image; and / or, the minimum distance between the second side wall and the fourth side wall in the preset direction after the simulated adjustment of the second container is obtained according to the side view image and / or the top view image; and / or the minimum distance between the first side wall and the fourth side wall in the preset direction after the simulated adjustment of the first container and the second container is obtained according to the side view image and / or the top view image.

[0006] According to the first aspect of the present application, the minimum distance between the first side wall and the third side wall in the preset direction after the first container is simulated and adjusted according to the side view image and / or the top view image includes: obtaining the coordinates of the first reference point, the second reference point, the first feature point and the second feature point in the preset direction according to the side view image and / or the top view image; wherein the first reference point represents one of the points in the undeformed part of the first side wall; the second reference point represents one of the points in the undeformed part of the second side wall, and the second reference point and the first reference point exchange positions with each other after the first container is adjusted; the first feature point represents the point with the largest protrusion distance in the deformed part of the first side wall; the second feature point represents the point with the largest protrusion distance in the deformed part of the third side wall; according to the coordinates of the first reference point, the second reference point, the first feature point and the second feature point in the preset direction, the minimum distance between the first feature point and the second feature point in the preset direction after the first container is simulated and adjusted is obtained.

[0007] According to the first aspect of the present application, the minimum distance between the second side wall and the fourth side wall in the preset direction after the second container is simulated and adjusted according to the side view image and / or the top view image includes: obtaining the coordinates of the third reference point, the fourth reference point, the third feature point and the fourth feature point in the preset direction according to the side view image and / or the top view image; wherein the third reference point represents one of the points in the undeformed part of the third side wall; the fourth reference point represents one of the points in the undeformed part of the fourth side wall, and the fourth reference point and the third reference point exchange positions with each other after the second container is adjusted; the third feature point represents the point with the largest protrusion distance in the deformation of the fourth side wall; the fourth feature point represents the point with the largest protrusion distance in the deformation part of the second side wall; according to the coordinates of the third reference point, the fourth reference point, the third feature point and the fourth feature point in the preset direction, the minimum distance between the third feature point and the fourth feature point in the preset direction after the second container is simulated and adjusted is obtained.

[0008] According to the first aspect of the present application, after the first container and the second container are simulated and switched according to the side view image and / or the top view image, the minimum distance between the first side wall and the fourth side wall in the preset direction includes: obtaining the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point, the first feature point, and the third feature point in the preset direction according to the side view image and / or the top view image; wherein, the first reference point represents one of the points on the first side wall where no deformation occurs; the second reference point represents one of the points on the second side wall where no deformation occurs, and the second reference point and the first reference point exchange positions with each other after the first container is switched; wherein, the third reference point represents the One of the points on the third side wall where no deformation occurs; the fourth reference point represents one of the points on the fourth side wall where no deformation occurs, and the fourth reference point and the third reference point exchange positions with each other after the second container is switched; wherein, the first characteristic point represents the point on the first side wall where the protrusion distance is the largest in the deformation occurs; the third characteristic point represents the point on the fourth side wall where the protrusion distance is the largest in the deformation occurs; based on the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point, the first characteristic point, and the third characteristic point in the preset direction, the minimum distance between the first characteristic point and the third characteristic point in the preset direction after the simulated switching of the first container and the second container is obtained.

[0009] According to the first aspect of the present application, the outputting of an instruction to approve or prohibit container switching based on the minimum distance and the safety distance threshold includes: if an application instruction to switch only the first container is received, and the minimum distance between the first side wall and the third side wall in the preset direction is greater than the safety distance threshold, outputting an instruction to approve the switch of the first container; if an application instruction to switch only the first container is received, and the minimum distance between the first side wall and the third side wall in the preset direction is less than or equal to the safety distance threshold, outputting an instruction to prohibit the switch of the first container.

[0010] According to the first aspect of the present application, the outputting of an instruction to approve or prohibit container switching based on the minimum distance and the safety distance threshold includes: if an application instruction to switch only the second container is received, and the minimum distance between the second side wall and the fourth side wall in the preset direction is greater than the safety distance threshold, outputting an instruction to approve the switch of the second container; if an application instruction to switch only the second container is received, and the minimum distance between the second side wall and the fourth side wall in the preset direction is less than or equal to the safety distance threshold, outputting an instruction to prohibit the switch of the second container.

[0011] According to the first aspect of the present application, the outputting of an instruction for approving or prohibiting container switching based on the minimum distance and the safety distance threshold includes: if an application instruction for switching the first container and the second container is received, and the minimum distance between the first sidewall and the fourth sidewall in the preset direction is greater than the safety distance threshold, outputting an instruction for approving the switching of the first container and the second container; if an application instruction for switching the first container and the second container is received, and the minimum distance between the first sidewall and the fourth sidewall in the preset direction is less than or equal to the safety distance threshold, and the minimum distance between the first sidewall and the third sidewall in the preset direction is greater than the safety distance threshold, outputting an instruction for approving the switching of the first container and an instruction for prohibiting the switching of the second container; if an application instruction for switching the first container and the second container is received, and the minimum distance between the first sidewall and the fourth sidewall in the preset direction is less than or equal to the safety distance threshold, and the minimum distance between the second sidewall and the fourth sidewall in the preset direction is greater than the safety distance threshold, outputting an instruction for approving the switching of the second container and an instruction for prohibiting the switching of the first container.

[0012] In the second aspect, a container switching anti-collision detection device is also provided, which is used to detect a first container and a second container distributed adjacent to each other along a preset direction. The container switching anti-collision detection device includes: an image acquisition module, used to acquire a side view image and / or a top view image of the first container and the second container; a first distance module, used to obtain the minimum distance between the first container and / or the second container in the preset direction after the simulated container switching based on the side view image and / or the top view image; a first output module, used to output an instruction to approve or prohibit the container switching based on the minimum distance and the safety distance threshold; wherein, the container switching represents an operation of swapping the first container and / or the second container front and back in the preset direction.

[0013] On the third aspect, a fixed lifting system is also provided, including: a lifting device for lifting the first container and / or the second container; a camera for photographing the first container and the second container; an electronic device for communicatively connecting the lifting device and the camera, and the electronic device is used to execute the container adjustment anti-collision detection method as described in the previous embodiment.

[0014] In a fourth aspect, a computer-readable storage medium is further provided, wherein the storage medium stores a computer program, and the computer program is used to execute the box adjustment anti-collision detection method described in the above embodiment.

[0015] The container shunting anti-collision detection method, device, and fixed crane system provided in the embodiments of the present application first simulate a container shunting operation on the first container and / or the second container, determine the minimum distance between the first container and the second container in a preset direction after the simulated container shunting, and then determine whether there is a risk of collision between the first container and the second container based on the relationship between the minimum distance and the safety distance threshold. Based on the judgment result, an instruction to approve the container shunting or an instruction to prohibit the container shunting is output. In this way, before the actual container shunting, the risk of collision between the first container and the second container can be evaluated. If there is a collision risk, the container shunting operation can be terminated in time, thereby effectively improving the problem of collision between the first container and / or the second container after the actual container shunting operation and improving operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1This is a schematic diagram of a first container and a second container provided in an exemplary embodiment of the present application when they are not switched.

[0018] Figure 2 This is a schematic diagram of a first container and a second container after simulated container switching of the first container, provided in an exemplary embodiment of the present application.

[0019] Figure 3 This is a schematic diagram of a first container and a second container after simulated container switching in the second container, provided in an exemplary embodiment of the present application.

[0020] Figure 4 A schematic diagram of a first container and a second container provided for an exemplary embodiment of the present application, both of which are simulated after container switching.

[0021] Figure 5 A flowchart of a box adjustment anti-collision detection method provided by an exemplary embodiment of the present application.

[0022] Figure 6 A schematic diagram of a flow chart of obtaining the minimum distance between a first container and / or a second container in a preset direction after simulated container switching is provided in an exemplary embodiment of the present application.

[0023] Figure 7 A schematic diagram of a flow chart for obtaining the minimum distance between the first side wall and the third side wall in a preset direction after simulated switching of the first container is provided in an exemplary embodiment of the present application.

[0024] Figure 8 A schematic diagram of a process for obtaining the minimum distance between the second side wall and the fourth side wall in a preset direction after simulated switching of the second container is provided in an exemplary embodiment of the present application.

[0025] Figure 9 A schematic diagram of a process for obtaining the minimum distance between the first side wall and the fourth side wall in a preset direction after simulated switching of the first container and the second container is provided in an exemplary embodiment of the present application.

[0026] Figure 10 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application.

[0027] Figure 11 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application.

[0028] Figure 12 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application.

[0029] Figure 13 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application.

[0030] Figure 14 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application.

[0031] Figure 15 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application.

[0032] Figure 16 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application.

[0033] Figure 17 This is a structural block diagram of a box anti-collision detection device provided by an exemplary embodiment of the present application.

[0034] Figure 18 This is a structural block diagram of a box adjustment anti-collision detection device provided by another exemplary embodiment of the present application.

[0035] Figure 19 This is a structural block diagram of a fixed crane system provided by an exemplary embodiment of the present application.

[0036] Figure 20 A schematic structural diagram of an electronic device provided as an exemplary embodiment of the present application.

[0037] Figure markings: 700-container truck; 800-first container; 810-first side wall; 811-first reference point; 812-first characteristic point; 820-second side wall; 821-second reference point; 822-fourth characteristic point; 900-second container; 910-third side wall; 911-third reference point; 912-second characteristic point; 920-fourth side wall; 921-fourth reference point; 922-third characteristic point. DETAILED DESCRIPTION

[0038] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described herein.

[0039] In order to facilitate the understanding of the anti-collision detection method, device and fixed crane system mentioned in the embodiment of the present application, the following is combined with Figures 1 to 4 The relative positions of the first container and the second container under the non-adjustment condition and under different adjustment conditions are introduced.

[0040] Figure 1 This is a schematic diagram of the first container and the second container provided in an exemplary embodiment of the present application when they are not switched. Figure 1As shown, the container truck 700 is loaded with a first container 800 and a second container 900, and the first container 800 and the second container 900 are moved along a preset direction ( Figure 1 The first container 800 includes a first side wall 810 and a second side wall 820 distributed along the preset direction. When the first container 800 is not adjusted, the second side wall 820 is closer to the second container 900 than the first side wall 810. The second container 900 includes a third side wall 910 and a fourth side wall 920 distributed along the preset direction. When the second container 900 is not adjusted, the third side wall 910 is closer to the first container 800 than the fourth side wall 920.

[0041] like Figure 1 As shown, a first reference point 811 and a first characteristic point 812 are provided on the first side wall 810, wherein the first reference point 811 represents a point in the undeformed portion of the first side wall 810; the first characteristic point 812 represents the point at the maximum protrusion distance in the deformed portion of the first side wall 810 (the deformation caused by the squeezing of the cargo, which will not be repeated later).

[0042] like Figure 1 As shown, a second reference point 821 and a fourth characteristic point 822 are provided on the second side wall 820, wherein the second reference point 821 represents a point in the undeformed portion of the second side wall 820; the fourth characteristic point 822 represents the point in the deformed portion of the second side wall 820 where the protrusion distance is the largest.

[0043] like Figure 1 As shown, a third reference point 911 and a second characteristic point 912 are provided on the third side wall 910, wherein the third reference point 911 represents a point in the undeformed portion of the third side wall 910; the second characteristic point 912 represents the point in the deformed portion of the third side wall 910 where the protrusion distance is the largest.

[0044] like Figure 1 As shown, a fourth reference point 921 and a third characteristic point 922 are provided on the fourth side wall 920, wherein the fourth reference point 921 represents one of the points on the fourth side wall 920 where no deformation occurs; the third characteristic point 922 represents the point on the fourth side wall 920 where the protrusion distance is the largest when the deformation occurs.

[0045] In one embodiment, the aforementioned first reference point 811 and second reference point 821 can be points at the corresponding lock hole positions of the first side wall 810 and the second side wall 820 respectively; the aforementioned third reference point 911 and fourth reference point 921 can be points at the corresponding lock hole positions of the third side wall 910 and the fourth side wall 920 respectively.

[0046] Figure 2This is a schematic diagram of a first container and a second container provided in an exemplary embodiment of the present application after the first container is simulated and swapped. Figure 2 As shown, after the simulated relocation of the first container 800, the first sidewall 810 is closer to the second container 900 than the second sidewall 820. The first reference point 811 and the second reference point 821 are swapped, that is, the coordinates of the first reference point 811 after the relocation are the same as the coordinates of the second reference point 821 before the relocation.

[0047] Figure 3 This is a schematic diagram of a first container and a second container provided in an exemplary embodiment of the present application after the second container simulates a container swap. Figure 3 As shown, after the simulated reshuffling of the second container 900, the fourth sidewall 920 is closer to the first container 800 than the third sidewall 910. The third reference point 911 and the fourth reference point 921 are swapped, that is, the coordinates of the fourth reference point 921 after the reshuffling are the same as the coordinates of the third reference point 911 before the reshuffling.

[0048] Figure 4 The schematic diagram of the first container and the second container provided in an exemplary embodiment of the present application is a simulated diagram of the container switching. Figure 4 As shown, after the simulated swapping of first container 800 and second container 900, first sidewall 810 is closer to second container 900 relative to second sidewall 820, and fourth sidewall 920 is closer to first container 800 relative to third sidewall 910. First reference point 811 and second reference point 821 swap positions, and third reference point 911 and fourth reference point 921 swap positions. That is, the coordinates of first reference point 811 after the swap are the same as the coordinates of second reference point 821 before the swap, and the coordinates of fourth reference point 921 after the swap are the same as the coordinates of third reference point 911 before the swap.

[0049] The following is a detailed introduction to the anti-collision detection method, device and fixed hanging system for the adjustment box provided in the embodiments of the present application.

[0050] Figure 5 This is a flow chart of a method for detecting anti-collision of a box according to an exemplary embodiment of the present application. Figure 5 As shown, the anti-collision detection method for adjusting the box provided in the embodiment of the present application may include:

[0051] S210: Acquire side view images and / or top view images of the first container and the second container.

[0052] Specifically, the side view images of the first container and the second container can refer to Figures 1 to 4The top view and side view of the first and second containers are similar and are not shown separately here.

[0053] In one embodiment, side view images and / or top view images can be acquired by installing cameras on the sides and / or above the first container and the second container. The number of cameras can be one, two, or more.

[0054] S220: Obtaining, based on the side view image and / or the top view image, a minimum distance between the first container and / or the second container in a preset direction after simulated container switching.

[0055] Specifically, only the status of the first container after the simulated container transfer can be referenced. Figure 2 The status shown is only for reference after the second container is simulated. Figure 3 The status shown is the status of the first container and the second container after the simulated container transfer. Figure 4 The status shown.

[0056] It should be noted that, for different container switching conditions, the minimum distance between the first container and the second container in the preset direction is calculated in different ways, which will be described in detail later.

[0057] S230: Outputting an instruction to approve or prohibit the box switching according to the minimum distance and the safety distance threshold.

[0058] Specifically, if, after a simulated shunting operation for the first and / or second containers, the minimum distance between the first and second containers in a preset direction exceeds a safety distance threshold, it can be determined that a collision between the first and second containers is unlikely to occur during the actual shunting operation. Therefore, an instruction approving the shunting operation can be output. In actual application, after outputting the instruction approving the shunting operation, the spreader executes the shunting operation and shunts the first and / or second containers.

[0059] Specifically, if the minimum distance between the first container and the second container in the preset direction is less than or equal to the safety distance threshold, it can be considered that after the actual container switching, a collision is likely to occur between the first container and the second container. Therefore, an instruction prohibiting the container switching can be output.

[0060] It should be noted that the instruction output by this application to prohibit container switching is used for the first container and the second container. Figures 1 to 4In the state of arrangement shown, that is, when the first container and the second container are partially overlapped or completely aligned in the preset direction, if the minimum distance between the first container and the second container in the preset direction is less than or equal to the safety distance threshold, an instruction to prohibit container switching is output and the current container switching action is not performed. However, based on the output of the instruction to prohibit container switching, if there is excess space in the direction perpendicular to the preset direction on the container truck, it can be ensured that the first container and the second container can be completely staggered. At this time, the spreader can lift the first container or the second container, switch the containers, and then stagger them (that is, the first container and the second container do not overlap at all in the preset direction, and there is no collision), and finally the first container and / or the second container can meet the container switching requirements.

[0061] It should be understood that the safety distance threshold can be set according to actual conditions, and the embodiment of the present application does not specifically limit the safety distance threshold.

[0062] The container shunting anti-collision detection method provided in the embodiments of the present application first simulates a container shunting operation on a first container and / or a second container, determines the minimum distance between the first container and the second container in a preset direction after the simulated container shunting, and then determines whether there is a risk of collision between the first container and the second container based on the relationship between the minimum distance and a safety distance threshold. Based on the judgment result, an instruction to approve or prohibit the container shunting is output. In this way, before the actual container shunting, the risk of collision between the first container and the second container can be assessed. If there is a collision risk, the container shunting operation can be terminated in a timely manner, thereby effectively alleviating the problem of collision between the first container and / or the second container after the actual container shunting operation and improving operational safety.

[0063] Figure 6 This is a flow chart of obtaining the minimum distance between the first container and / or the second container in a preset direction after simulated container switching provided by an exemplary embodiment of the present application. Figure 6 As shown, step S220 may include:

[0064] S221: Obtaining, based on the side view image and / or the top view image, a minimum distance between the first side wall and the third side wall in a preset direction after simulated switching of the first container.

[0065] Specifically, if Figure 2 As shown, after the simulated switching of the first container, the first side wall is closer to the second container than the second side wall. Therefore, it is necessary to determine whether there is a risk of collision between the first side wall and the third side wall, and it is necessary to calculate the minimum distance between the first side wall and the third side wall in the preset direction.

[0066] S222: Obtaining, based on the side view image and / or the top view image, a minimum distance between the second side wall and the fourth side wall in a preset direction after the simulated switching of the second container.

[0067] Specifically, if Figure 3 As shown, after the simulated switching of the second container, the fourth side wall is closer to the first container than the third side wall. Therefore, it is necessary to determine whether there is a risk of collision between the second side wall and the fourth side wall, and it is necessary to calculate the minimum distance between the second side wall and the fourth side wall in the preset direction.

[0068] S223: Obtaining, based on the side view image and / or the top view image, a minimum distance between the first side wall and the fourth side wall in a preset direction after the simulated swapping of the first container and the second container.

[0069] Specifically, if Figure 4 As shown, after the first container and the second container are simulated and switched, the first side wall is closer to the second container relative to the second side wall, and the fourth side wall is closer to the first container relative to the third side wall. Therefore, it is necessary to determine whether there is a risk of collision between the first side wall and the fourth side wall, and it is necessary to calculate the minimum distance between the first side wall and the fourth side wall in the preset direction.

[0070] It should be noted that there is no specific order in which steps S221, S222, and S223 are performed. In practical applications, only one, two, or all of the three steps S221, S222, and S223 may be performed.

[0071] Figure 7 This is a flow chart of obtaining the minimum distance between the first side wall and the third side wall in a preset direction after the first container is simulated and switched, provided by an exemplary embodiment of the present application. Figure 7 As shown, step S221 may include:

[0072] S2211: Obtaining coordinates of a first reference point, a second reference point, a first feature point, and a second feature point in a preset direction according to the side view image and / or the top view image.

[0073] Specifically, after acquiring the side view image and / or the top view image, the feature recognition algorithm can be used to identify the first reference point, the second reference point, the first feature point and the second feature point in the side view image and / or the top view image, and then the image pixel data of the side view image and / or the top view image can be used to calculate the coordinates of the first reference point, the second reference point, the first feature point and the second feature point in the preset direction.

[0074] It should be noted that, when executing step S2211, the coordinates of the first reference point, the second reference point, the first characteristic point and the second characteristic point in the preset direction obtained are the coordinates of the positions of the respective points before the simulated box adjustment.

[0075] S2212: Obtaining, based on the coordinates of the first reference point, the second reference point, the first characteristic point, and the second characteristic point in the preset direction, a minimum distance between the first characteristic point and the second characteristic point in the preset direction after the simulated switching of the first container.

[0076] It should be understood that the first characteristic point is the point on the first sidewall with the largest protrusion distance, and the second characteristic point is the point on the third sidewall with the largest protrusion distance. In the simulation of the first container maneuvering, the first and second characteristic points are the closest points to each other in the preset direction. Therefore, the risk of collision between the first and second containers can be determined by simply determining whether the minimum distance between the first and second characteristic points in the preset direction is greater than the safety distance threshold.

[0077] Specifically, L1=X1-X2-ΔX1, ΔX1=|X3-X4|, where L1 represents the minimum distance between the first feature point and the second feature point in the preset direction; X1 represents the coordinates of the second feature point in the preset direction before the first container simulated container adjustment; X2 represents the coordinates of the second reference point in the preset direction before the first container simulated container adjustment (equal to the coordinates of the first reference point in the preset direction after the first container simulated container adjustment); ΔX1 represents the distance that the first feature point protrudes relative to the first reference point; X3 represents the coordinates of the first reference point in the preset direction before the first container simulated container adjustment; X4 represents the coordinates of the first feature point in the preset direction before the first container simulated container adjustment.

[0078] Figure 8 This is a flow chart of obtaining the minimum distance between the second side wall and the fourth side wall in a preset direction after the second container is simulated and switched, provided by an exemplary embodiment of the present application. Figure 8 As shown, step S222 includes:

[0079] S2221: Obtaining coordinates of a third reference point, a fourth reference point, a third feature point, and a fourth feature point in a preset direction according to the side view image and / or the top view image.

[0080] Similar to step S2211, the coordinates of the third reference point, the fourth reference point, the third feature point, and the fourth feature point in the preset direction can be obtained in a similar manner.

[0081] It should be noted that, when executing step S2221, the coordinates of the third reference point, the fourth reference point, the third characteristic point and the fourth characteristic point in the preset direction obtained are the coordinates of the positions of the respective points before the simulated box adjustment.

[0082] S2222: Obtaining, based on the coordinates of the third reference point, the fourth reference point, the third characteristic point, and the fourth characteristic point in the preset direction, the minimum distance between the third characteristic point and the fourth characteristic point in the preset direction after the simulated switching of the second container.

[0083] It should be understood that the third characteristic point is the point on the fourth sidewall with the largest protrusion distance, and the fourth characteristic point is the point on the second sidewall with the largest protrusion distance. In the simulation of the second container switching, the third and fourth characteristic points are the closest points between the first and second containers in the preset direction. Therefore, the risk of collision between the first and second containers can be determined by simply determining whether the minimum distance between the third and fourth characteristic points in the preset direction is greater than the safety distance threshold.

[0084] Specifically, L2=X5-X6-ΔX2, ΔX2=|X7-X8|, where L2 represents the minimum distance between the third feature point and the fourth feature point in the preset direction; X5 represents the coordinate of the third reference point in the preset direction before the second container simulated container adjustment (equal to the coordinate of the fourth reference point in the preset direction after the second container simulated container adjustment); X6 represents the coordinate of the fourth feature point in the preset direction before the second container simulated container adjustment; ΔX2 represents the distance that the third feature point protrudes relative to the fourth reference point; X7 represents the coordinate of the fourth reference point in the preset direction before the second container simulated container adjustment; X8 represents the coordinate of the third feature point in the preset direction before the second container simulated container adjustment.

[0085] Figure 9 This is a flow chart of obtaining the minimum distance between the first side wall and the fourth side wall in a preset direction after the simulated switching of the first container and the second container provided by an exemplary embodiment of the present application. Figure 9 As shown, step S223 includes:

[0086] S2231: Obtaining coordinates of a first reference point, a second reference point, a third reference point, a fourth reference point, a first feature point, and a third feature point in a preset direction according to the side view image and / or the top view image.

[0087] It should be noted that when executing step S2231, the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point, the first feature point, and the third feature point in the preset direction are the coordinates of the positions of each point before the simulation box adjustment.

[0088] S2232: According to the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point, the first characteristic point, and the third characteristic point in the preset direction, obtain the minimum distance between the first characteristic point and the third characteristic point in the preset direction after the simulated exchange of the first container and the second container.

[0089] It should be understood that the first characteristic point is the point on the first sidewall with the largest protrusion distance, and the third characteristic point is the point on the fourth sidewall with the largest protrusion distance. In the simulation of swapping between a first container and a second container, the first and third characteristic points are the closest points to each other in a preset direction. Therefore, the risk of collision between the first and second containers can be determined by simply determining whether the minimum distance between the first and third characteristic points in the preset direction is greater than the safety distance threshold.

[0090] Specifically, L3=X5-X2-ΔX1-ΔX2, ΔX1=|X3-X4|, ΔX2=|X7-X8|, where L3 represents the minimum distance between the first feature point and the third feature point in the preset direction; X5 represents the coordinate of the third reference point in the preset direction before the second container simulated container adjustment (equal to the coordinate of the fourth reference point in the preset direction after the second container simulated container adjustment); X2 represents the coordinate of the second reference point in the preset direction before the first container simulated container adjustment (equal to the coordinate of the first reference point in the preset direction after the first container simulated container adjustment); ΔX1 represents the distance that the first feature point protrudes relative to the first reference point; X3 represents the coordinate of the first reference point in the preset direction before the first container simulated container adjustment; X4 represents the coordinate of the first feature point in the preset direction before the first container simulated container adjustment; ΔX2 represents the distance that the third feature point protrudes relative to the fourth reference point; X7 represents the coordinate of the fourth reference point in the preset direction before the second container simulated container adjustment; X8 represents the coordinate of the third feature point in the preset direction before the second container simulated container adjustment.

[0091] Figure 10 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application. Figure 11 This is a flow chart of a method for detecting anti-collision of a box according to another exemplary embodiment of the present application. Figure 10 and Figure 11 As shown, step S230 may include:

[0092] S231: If an application instruction for switching only the first container is received, and the minimum distance between the first side wall and the third side wall in the preset direction is greater than the safety distance threshold, an instruction approving the switching of the first container is output.

[0093] S232: If an application instruction for switching only the first container is received, and the minimum distance between the first side wall and the third side wall in the preset direction is less than or equal to the safety distance threshold, an instruction for prohibiting switching the first container is output.

[0094] It should be noted that before executing the anti-collision detection method for container switching provided in the embodiment of the present application, the system generally receives an application for container switching and then uses the anti-collision detection method for container switching provided in the embodiment of the present application to determine whether the container switching requirements are met (i.e., whether collisions are likely to occur after the container switching). Therefore, if an application for switching only the first container is received, then after step S210, step S221 only needs to be executed, and steps S222 and S223 do not need to be executed.

[0095] Specifically, when receiving an application to switch only the first container, if the minimum distance between the first sidewall and the third sidewall in the preset direction is greater than the safety distance threshold, it can be determined that after the first container is switched, the first container and the second container are unlikely to collide with each other, and therefore, step S231 can be executed to output an instruction approving the switch of the first container. If the minimum distance between the first sidewall and the third sidewall in the preset direction is less than or equal to the safety distance threshold, it can be determined that after the first container is switched, the first container and the second container are likely to collide with each other, and therefore, step S232 can be executed to output an instruction prohibiting the switch of the first container.

[0096] Figure 12 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application. Figure 13 This is a flow chart of a method for detecting anti-collision of a box according to another exemplary embodiment of the present application. Figure 12 and Figure 13 As shown, step S230 may include:

[0097] S233: If an application instruction for switching only the second container is received, and the minimum distance between the second side wall and the fourth side wall in the preset direction is greater than the safety distance threshold, an instruction approving the switching of the second container is output.

[0098] S234: If an application instruction for switching only the second container is received, and the minimum distance between the second side wall and the fourth side wall in the preset direction is less than or equal to the safety distance threshold, an instruction for prohibiting switching the second container is output.

[0099] Similar to step S231 and step S232, if an application instruction for switching only the second container is received, then after step S210, step S222 only needs to be executed, and step S221 and step S223 do not need to be executed again.

[0100] Specifically, when receiving an application to switch only the second container, if the minimum distance between the second sidewall and the fourth sidewall in the preset direction is greater than the safety distance threshold, it can be determined that after the second container is switched, the first container and the second container are unlikely to collide with each other, and therefore, step S233 can be executed to output an instruction approving the switch of the second container. If the minimum distance between the second sidewall and the fourth sidewall in the preset direction is less than or equal to the safety distance threshold, it can be determined that after the second container is switched, the first container and the second container are likely to collide with each other, and therefore, step S234 can be executed to output an instruction prohibiting the switch of the second container.

[0101] Figure 14 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application. Figure 15 A flowchart of a box adjustment anti-collision detection method provided by another exemplary embodiment of the present application. Figure 16 This is a flow chart of a method for detecting anti-collision of a box according to another exemplary embodiment of the present application. Figures 14 to 16 As shown, step S230 includes:

[0102] S235: If an application instruction for switching the first container and the second container is received, and the minimum distance between the first side wall and the fourth side wall in the preset direction is greater than the safety distance threshold, an instruction approving the switching of the first container and the second container is output.

[0103] Specifically, refer to Figure 14 When receiving an application instruction to exchange the first container and the second container, if the minimum distance between the first side wall and the fourth side wall in the preset direction is greater than the safety distance threshold, then it can be considered that after the first container and the second container are exchanged, it is not likely that a relative collision will occur between the first container and the second container. Therefore, step S235 can be executed to output an instruction to approve the exchange of the first container and the second container.

[0104] S236: If an application instruction for switching the first container and the second container is received, and the minimum distance between the first side wall and the fourth side wall in the preset direction is less than or equal to the safety distance threshold, and the minimum distance between the first side wall and the third side wall in the preset direction is greater than the safety distance threshold, an instruction approving the switching of the first container and an instruction prohibiting the switching of the second container are output.

[0105] Specifically, refer to Figure 15When receiving an application to swap a first container with a second container, if the minimum distance between the first sidewall and the fourth sidewall in a preset direction is less than or equal to a safety distance threshold, it can be assumed that a relative collision between the first and second containers is likely to occur after the swap is performed, and the application to swap the first and second containers will not be approved. However, based on this, if, after the simulated swap of the first container, the minimum distance between the first sidewall and the third sidewall in the preset direction is greater than the safety distance threshold, it can be assumed that a relative collision between the first and second containers is unlikely to occur after the swap is performed. Therefore, an application to approve the swap of the first container and an application to prohibit the swap of the second container can be output.

[0106] S237: If an application instruction for switching the first container and the second container is received, and the minimum distance between the first side wall and the fourth side wall in the preset direction is less than or equal to the safety distance threshold, and the minimum distance between the second side wall and the fourth side wall in the preset direction is greater than the safety distance threshold, an instruction approving the switching of the second container and an instruction prohibiting the switching of the first container are output.

[0107] Specifically, refer to Figure 16 When receiving a request to swap a first container with a second container, if the minimum distance between the first sidewall and the fourth sidewall in a preset direction is less than or equal to a safety distance threshold, it can be assumed that a relative collision between the first and second containers is likely to occur after the swap is performed, and the request to swap the first and second containers will not be approved. However, based on this, if, after the simulated swap of the second container, the minimum distance between the second sidewall and the fourth sidewall in the preset direction is greater than the safety distance threshold, it can be assumed that a relative collision between the first and second containers is unlikely to occur after the swap is performed. Therefore, an instruction to approve the swap of the second container and an instruction to prohibit the swap of the first container can be output.

[0108] Figure 17 This is a structural block diagram of a box anti-collision detection device provided by an exemplary embodiment of the present application. Figure 17As shown, the container switching anti-collision detection device 400 provided in the embodiment of the present application includes: an image acquisition module 410, used to obtain side view images and / or top view images of the first container and the second container; a first distance module 420, used to obtain the minimum distance between the first container and / or the second container in a preset direction after the simulated container switching based on the side view image and / or the top view image; a first output module 430, used to output an instruction to approve or prohibit the container switching based on the minimum distance and the safety distance threshold; wherein the container switching represents the operation of switching the first container and / or the second container back and forth in a preset direction.

[0109] The container switching anti-collision detection device provided in the embodiment of the present application first simulates a container switching operation on the first container and / or the second container, determines the minimum distance between the first container and the second container in a preset direction after the simulated container switching, and then determines whether there is a risk of collision between the first container and the second container based on the relationship between the minimum distance and the safety distance threshold. Based on the judgment result, an instruction to approve the container switching or an instruction to prohibit the container switching is output. In this way, before the actual container switching, the risk of collision between the first container and the second container can be assessed. If there is a collision risk, the container switching operation can be terminated in a timely manner, thereby effectively improving the problem of collision between the first container and / or the second container after the actual container switching operation and enhancing operational safety.

[0110] Figure 18 This is a structural block diagram of a box anti-collision detection device provided by another exemplary embodiment of the present application. Figure 18 As shown, in one embodiment, the first distance module 420 includes a second distance module 421, which is used to obtain the minimum distance between the first side wall and the third side wall in a preset direction after the first container is simulated to be switched based on the side view image and / or the top view image; and / or, a third distance module 422, which is used to obtain the minimum distance between the second side wall and the fourth side wall in the preset direction after the second container is simulated to be switched based on the side view image and / or the top view image; and / or, a fourth distance module 423, which is used to obtain the minimum distance between the first side wall and the fourth side wall in the preset direction after the first container and the second container are simulated to be switched based on the side view image and / or the top view image.

[0111] like Figure 18As shown, in one embodiment, the second distance module 421 includes a first coordinate module 4211, which is used to obtain the coordinates of the first reference point, the second reference point, the first feature point and the second feature point in a preset direction based on the side view image and / or the top view image; wherein the first reference point represents one of the points on the first side wall where no deformation occurs; the second reference point represents one of the points on the second side wall where no deformation occurs, and the second reference point and the first reference point exchange positions with each other after the first container is adjusted; the first feature point represents the point on the first side wall where the protrusion distance is the largest in the deformed part; the second feature point represents the point on the third side wall where the protrusion distance is the largest; the fifth distance module 4212 is used to obtain the minimum distance between the first feature point and the second feature point in the preset direction after the first container is simulated adjusted based on the coordinates of the first reference point, the second reference point, the first feature point and the second feature point in the preset direction.

[0112] like Figure 18 As shown, in one embodiment, the third distance module 422 includes a second coordinate module 4221, which is used to obtain the coordinates of the third reference point, the fourth reference point, the third feature point and the fourth feature point in the preset direction based on the side view image and / or the top view image; wherein the third reference point represents one of the points on the third side wall where no deformation occurs; the fourth reference point represents one of the points on the fourth side wall where no deformation occurs, and the fourth reference point and the third reference point exchange positions with each other after the second container is adjusted; the third feature point represents the point on the fourth side wall where the protrusion distance is the largest when the second container is deformed; the fourth feature point represents the point on the second side wall where the protrusion distance is the largest when the container is deformed; the sixth distance module 4222 is used to obtain the minimum distance between the third feature point and the fourth feature point in the preset direction after the second container is simulated adjusted based on the coordinates of the third reference point, the fourth reference point, the third feature point and the fourth feature point in the preset direction.

[0113] like Figure 18As shown, in one embodiment, the fourth distance module 423 includes a third coordinate module 4231, which is used to obtain the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point, the first feature point, and the third feature point in a preset direction based on the side view image and / or the top view image; wherein the first reference point represents a point in the undeformed portion of the first side wall; the second reference point represents a point in the undeformed portion of the second side wall, and the second reference point and the first reference point exchange positions with each other after the first container is adjusted; wherein the third reference point represents a point in the undeformed portion of the third side wall; the fourth reference point Represents one of the points in the undeformed part of the fourth side wall, and the fourth reference point and the third reference point exchange positions with each other after the second container is switched; wherein, the first characteristic point represents the point at the maximum protrusion distance in the deformed part of the first side wall; the third characteristic point represents the point at the maximum protrusion distance in the deformed part of the fourth side wall; the seventh distance module 4232 is used to obtain the minimum distance between the first characteristic point and the third characteristic point in the preset direction after the simulated switching of the first container and the second container according to the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point, the first characteristic point, and the third characteristic point in the preset direction.

[0114] like Figure 18 As shown, in one embodiment, the first output module 430 includes a second output module 431, which is used to output an instruction to approve the adjustment of the first container if an application instruction for adjusting only the first container is received and the minimum distance between the first side wall and the third side wall in the preset direction is greater than the safety distance threshold; the third output module 432 is used to output an instruction to prohibit the adjustment of the first container if an application instruction for adjusting only the first container is received and the minimum distance between the first side wall and the third side wall in the preset direction is less than or equal to the safety distance threshold.

[0115] like Figure 18 As shown, in one embodiment, the first output module 430 includes a fourth output module 433, which is used to output an instruction to approve the switching of the second container if an application instruction to switch only the second container is received and the minimum distance between the second side wall and the fourth side wall in the preset direction is greater than the safety distance threshold; the fifth output module 434 is used to output an instruction to prohibit the switching of the second container if an application instruction to switch only the second container is received and the minimum distance between the second side wall and the fourth side wall in the preset direction is less than or equal to the safety distance threshold.

[0116] like Figure 18As shown, in one embodiment, the first output module 430 includes a sixth output module 435, which is used to output an instruction to approve the swap between the first container and the second container if an application instruction to swap between the first container and the second container is received and the minimum distance between the first sidewall and the fourth sidewall in the preset direction is greater than a safety distance threshold; a seventh output module 436, which is used to output an instruction to approve the swap between the first container and the second container if an application instruction to swap between the first container and the second container is received and the minimum distance between the first sidewall and the fourth sidewall in the preset direction is less than or equal to the safety distance threshold, and the minimum distance between the first sidewall and the third sidewall in the preset direction is greater than the safety distance threshold; and an eighth output module 437, which is used to output an instruction to approve the swap between the second container and the second container if an application instruction to swap between the first container and the second container is received and the minimum distance between the first sidewall and the fourth sidewall in the preset direction is less than or equal to the safety distance threshold, and the minimum distance between the second sidewall and the fourth sidewall in the preset direction is greater than the safety distance threshold.

[0117] Figure 19 This is a structural diagram of a fixed crane system provided by an exemplary embodiment of the present application. Figure 19 As shown, the fixed lifting system 600 provided in the embodiment of the present application includes a lifting device 610, a camera 620 and an electronic device 630; the lifting device 610 is used to lift the first container and / or the second container located on the container truck; the camera 620 is used to photograph the first container and the second container; the electronic device 630 is communicatively connected to the lifting device 610 and the camera 620, and the electronic device 630 is used to execute the container adjustment anti-collision detection method as described in the previous embodiment.

[0118] It should be noted that the beneficial effects of the fixed hanging system 600 can refer to the beneficial effects of the aforementioned box adjustment anti-collision detection method.

[0119] Figure 20 This is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present application. Figure 20As shown, the electronic device 630 includes one or more processors 631 and a memory 632. The processor 631 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device 630 to perform desired functions. The memory 632 can include one or more computer program products, which can include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. In one example, the electronic device 630 can also include: an input device 633 and an output device 634, which are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0120] When the controller is a stand-alone device, the input device 633 may be a communication network connector for receiving collected input signals from the first device and the second device. Furthermore, the input device 633 may include, for example, a keyboard, a mouse, etc. The output device 634 may output various information to the outside, including determined distance information, direction information, etc. The output device 634 may include, for example, a display, a speaker, a printer, a communication network, and a remote output device connected thereto.

[0121] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0122] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in this application are merely examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are necessary for each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present application to being implemented by adopting the above specific details. The above description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A container transfer anti-collision detection method is applied to detect a first container and a second container adjacently distributed along a preset direction, characterized in that: The anti-collision detection method for adjusting the box includes: Acquire side view images and / or top view images of the first container and the second container; Obtaining, based on the side view image and / or the top view image, a minimum distance between the first container and / or the second container in the preset direction after simulated switching; Outputting an instruction to approve or prohibit the box transfer according to the minimum distance and the safety distance threshold; The container switching operation refers to performing a front-to-back switching operation on the first container and / or the second container in the preset direction; the first container includes a first side wall and a second side wall distributed along the preset direction, and when the first container is not switched, the second side wall is closer to the second container relative to the first side wall; the second container includes a third side wall and a fourth side wall distributed along the preset direction, and when the second container is not switched, the third side wall is closer to the first container relative to the fourth side wall; The minimum distance between the first container and / or the second container in the preset direction after the simulated switching of the first container and / or the second container is obtained according to the side view image and / or the top view image includes: Obtaining, based on the side view image and / or the top view image, a minimum distance between the first side wall and the third side wall in the preset direction after the simulated switching of the first container; and / or, Obtaining, based on the side view image and / or the top view image, a minimum distance between the second side wall and the fourth side wall in the preset direction after the simulated switching of the second container; and / or According to the side view image and / or the top view image, a minimum distance between the first side wall and the fourth side wall in the preset direction after the simulated exchange of the first container and the second container is obtained.

2. The anti-collision detection method for adjusting boxes according to claim 1, characterized in that: After obtaining the simulated container switching of the first container according to the side view image and / or the top view image, the minimum distance between the first side wall and the third side wall in the preset direction includes: The coordinates of a first reference point, a second reference point, a first characteristic point, and a second characteristic point in the preset direction are obtained based on the side view image and / or the top view image; wherein the first reference point represents a point in an undeformed portion of the first side wall; the second reference point represents a point in an undeformed portion of the second side wall, and the second reference point and the first reference point exchange positions after the first container is adjusted; the first characteristic point represents a point in a deformed portion of the first side wall at which a protrusion distance is maximum; and the second characteristic point represents a point in a deformed portion of the third side wall at which a protrusion distance is maximum. According to the coordinates of the first reference point, the second reference point, the first feature point, and the second feature point in the preset direction, the minimum distance between the first feature point and the second feature point in the preset direction after the simulated switching of the first container is obtained.

3. The anti-collision detection method for adjusting boxes according to claim 1, characterized in that: After obtaining the simulated switching of the second container according to the side view image and / or the top view image, the minimum distance between the second side wall and the fourth side wall in the preset direction includes: The coordinates of a third reference point, a fourth reference point, a third characteristic point, and a fourth characteristic point in the preset direction are obtained based on the side view image and / or the top view image; wherein the third reference point represents a point in an undeformed portion of the third side wall; the fourth reference point represents a point in an undeformed portion of the fourth side wall, and the fourth reference point and the third reference point exchange positions after the second container is switched; the third characteristic point represents a point on the fourth side wall at which a protrusion distance is maximum when the fourth side wall is deformed; and the fourth characteristic point represents a point on the second side wall at which a protrusion distance is maximum when the second side wall is deformed. According to the coordinates of the third reference point, the fourth reference point, the third feature point and the fourth feature point in the preset direction, the minimum distance between the third feature point and the fourth feature point in the preset direction after the simulated switching of the second container is obtained.

4. The anti-collision detection method for adjusting boxes according to claim 1, characterized in that: After obtaining the simulated container exchange between the first container and the second container according to the side view image and / or the top view image, the minimum distance between the first side wall and the fourth side wall in the preset direction includes: According to the side view image and / or the top view image, the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point, the first characteristic point, and the third characteristic point in the preset direction are obtained; wherein the first reference point represents a point in the undeformed portion of the first side wall; the second reference point represents a point in the undeformed portion of the second side wall, and the second reference point and the first reference point exchange positions with each other after the first container is adjusted; wherein the third reference point represents a point in the undeformed portion of the third side wall; the fourth reference point represents a point in the undeformed portion of the fourth side wall, and the fourth reference point and the third reference point exchange positions with each other after the second container is adjusted; wherein the first characteristic point represents the point at which the protrusion distance is the largest in the deformed portion of the first side wall; and the third characteristic point represents the point at which the protrusion distance is the largest in the deformed portion of the fourth side wall; According to the coordinates of the first reference point, the second reference point, the third reference point, the fourth reference point, the first feature point, and the third feature point in the preset direction, the minimum distance between the first feature point and the third feature point in the preset direction after the simulated exchange of the first container and the second container is obtained.

5. The anti-collision detection method for adjusting boxes according to claim 1, characterized in that: Outputting an instruction to approve or prohibit box switching according to the minimum distance and the safety distance threshold includes: If an application instruction for switching only the first container is received, and the minimum distance between the first side wall and the third side wall in the preset direction is greater than the safety distance threshold, outputting an instruction approving the switching of the first container; If an application instruction for switching only the first container is received, and the minimum distance between the first side wall and the third side wall in the preset direction is less than or equal to the safety distance threshold, an instruction prohibiting switching the first container is output.

6. The anti-collision detection method for adjusting boxes according to claim 1, characterized in that: Outputting an instruction to approve or prohibit box switching according to the minimum distance and the safety distance threshold includes: If an application instruction for switching only the second container is received, and the minimum distance between the second side wall and the fourth side wall in the preset direction is greater than the safety distance threshold, outputting an instruction approving the switching of the second container; If an application instruction for switching only the second container is received, and the minimum distance between the second side wall and the fourth side wall in the preset direction is less than or equal to the safety distance threshold, an instruction prohibiting switching the second container is output.

7. The anti-collision detection method for adjusting boxes according to claim 1, characterized in that: Outputting an instruction to approve or prohibit box switching according to the minimum distance and the safety distance threshold includes: If an application instruction for swapping the first container and the second container is received, and the minimum distance between the first side wall and the fourth side wall in the preset direction is greater than the safety distance threshold, outputting an instruction approving the swapping of the first container and the second container; If an application instruction for swapping the first container and the second container is received, and the minimum distance between the first sidewall and the fourth sidewall in the preset direction is less than or equal to the safety distance threshold, and the minimum distance between the first sidewall and the third sidewall in the preset direction is greater than the safety distance threshold, an instruction approving the swapping of the first container and an instruction prohibiting the swapping of the second container are output; If an application instruction for swapping the first container and the second container is received, and the minimum distance between the first side wall and the fourth side wall in the preset direction is less than or equal to the safety distance threshold, and the minimum distance between the second side wall and the fourth side wall in the preset direction is greater than the safety distance threshold, an instruction approving the swap of the second container and an instruction prohibiting the swap of the first container are output.

8. A device for detecting anti-collision of a switching box, applied to the method for detecting anti-collision of a switching box according to any one of claims 1 to 7, characterized in that: The anti-collision inspection device for the regulating box includes: an image acquisition module, configured to acquire side view images and / or top view images of the first container and the second container; A first distance module is configured to obtain, based on the side view image and / or the top view image, a minimum distance between the first container and / or the second container in the preset direction after simulated container switching; A first output module is configured to output an instruction to approve or prohibit the box switching according to the minimum distance and the safety distance threshold; The container switching operation refers to performing a front-to-back switching operation on the first container and / or the second container in the preset direction; the first container includes a first side wall and a second side wall distributed along the preset direction, and when the first container is not switched, the second side wall is closer to the second container relative to the first side wall; the second container includes a third side wall and a fourth side wall distributed along the preset direction, and when the second container is not switched, the third side wall is closer to the first container relative to the fourth side wall; Wherein, the first distance module includes: A second distance module is configured to obtain, based on the side view image and / or the top view image, a minimum distance between the first side wall and the third side wall in the preset direction after the simulated switching of the first container; and / or a third distance module, configured to obtain, based on the side view image and / or the top view image, a minimum distance between the second side wall and the fourth side wall in the preset direction after the simulated switching of the second container; and / or The fourth distance module is configured to obtain, based on the side view image and / or the top view image, a minimum distance between the first side wall and the fourth side wall in the preset direction after simulated switching of the first container and the second container.

9. A fixed hanging system, characterized in that: include: a spreader, used for lifting the first container and / or the second container; a camera, configured to photograph the first container and the second container; An electronic device is communicatively connected to the sling and the camera, and is used to execute the box adjustment anti-collision detection method according to any one of claims 1 to 7.

Images