A container truck positioning method, system, electronic device and storage medium

Abstract

The present invention provides a container truck positioning method, system, electronic device and storage medium, the method comprising: obtaining an operation instruction, the operation instruction including an operation type; obtaining two-dimensional lane point cloud data of the current operation lane; extracting two-dimensional container truck point cloud data of the target container truck on the current operation lane based on the two-dimensional lane point cloud data and pre-obtained ground point cloud data; determining the loading state of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data; when the loading state does not match the operation type, outputting corresponding early warning prompt information; when the loading state matches the operation type, obtaining the relative position relationship between the target container truck's alignment point and the specified target position, so that the target container truck can adjust its position according to the relative position relationship until the alignment point reaches the target position. The present invention can make the container truck stop accurately at the specified target position.

Description

Technical Field

[0001] The present invention relates to the technical field of port automation, and in particular to a container truck positioning method, system, electronic equipment and storage medium. Background Art

[0002] With the continuous growth of global trade, port throughput continues to increase. In order to meet the demand for container loading and unloading, ports are facing the pressure of improving operating efficiency and reducing operating costs. The cranes and other lifting tools for shore operations are the core operating machinery of specialized container ports. Their operating efficiency and safety directly affect the speed of ship loading and unloading.

[0003] At present, bridge cranes and other lifting tools mainly use mechanical grippers to grab containers. When loading and unloading containers, it is necessary to repeatedly move the container truck to align the center of its vehicle plate with the mechanical gripper, which affects the operation efficiency. Therefore, how to achieve accurate positioning of the container truck to avoid repeated movement of the container truck is an urgent problem to be solved by the present invention. Summary of the invention

[0004] The object of the present invention is to provide a container truck positioning method, system, electronic device and storage medium to enable the container truck to accurately stop at a specified target position, thereby reducing the alignment time between the container truck and the spreader and improving the efficiency of port loading and unloading operations.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a container truck positioning method, the method comprising:

[0007] Obtaining a job instruction, wherein the job instruction includes a job type;

[0008] Obtain the two-dimensional lane point cloud data of the current operating lane;

[0009] Based on the two-dimensional lane point cloud data and the pre-obtained ground point cloud data, extract the two-dimensional container truck point cloud data of the target container truck currently on the working lane, wherein the ground point cloud data is the two-dimensional point cloud data corresponding to when the working lane is cleared;

[0010] Determining the loading status of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data;

[0011] When the loading status does not match the operation type, output corresponding warning prompt information;

[0012] When the loading state matches the operation type, the relative position relationship between the alignment point of the target container truck and the specified target position is obtained, so that the target container truck can adjust its position according to the relative position relationship until the alignment point reaches the target position and stops.

[0013] Furthermore, after the target container truck stops at the target position, the method further includes:

[0014] Acquire the three-dimensional lane point cloud data of the current working lane;

[0015] Based on the three-dimensional lane point cloud data, acquiring the three-dimensional container truck point cloud data of the target container truck;

[0016] Based on the three-dimensional container truck point cloud data, the posture of the target container truck relative to the working lane is obtained.

[0017] Furthermore, the posture includes a deflection angle of the target truck relative to the working lane, and / or a lateral offset distance of the target truck in a width direction of the working lane.

[0018] Furthermore, the extracting of the two-dimensional container truck point cloud data of the target container truck on the current working lane based on the two-dimensional lane point cloud data and the pre-obtained ground point cloud data includes:

[0019] Filtering the two-dimensional lane point cloud data based on pre-configured truck model data, container model data and lane data;

[0020] Removing data matching the ground point cloud data from the filtered two-dimensional lane point cloud data to obtain two-dimensional container truck point cloud data of all container trucks on the working lane;

[0021] When there is only one container truck on the working lane, the container truck is used as the target container truck. When there are more than one container truck on the working lane, the container truck closest to the target position is used as the target container truck.

[0022] Further, the determining the loading status of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data includes:

[0023] Determine the height of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data;

[0024] Based on the height of the target container truck, it is determined whether the target container truck is loaded with a container.

[0025] Furthermore, after extracting the two-dimensional truck point cloud data, the method further includes:

[0026] Based on the two-dimensional container truck point cloud data and the pre-configured container truck model data and container model data, it is determined that the target container truck is a single-container container truck or a double-container container truck, wherein the double-container container truck has two container slots, and each of the container slots has a corresponding reference point;

[0027] When the target truck is a dual-container truck and the loading status of the two container positions is the same, the step of obtaining the relative position relationship between the alignment point of the target truck and the designated target position so that the target truck can adjust its position according to the relative position relationship includes:

[0028] The relative position relationship between the respective alignment points of the two locations of the target container truck and the target location is obtained, and the location whose alignment point is closer to the target location is determined as the target location, so that the target container truck can adjust its position according to the relative position relationship between the alignment points of the target location and the target location.

[0029] In a second aspect, the present invention provides a container truck positioning system, the system comprising:

[0030] A receiving module, used for acquiring a job instruction, wherein the job instruction includes a job type;

[0031] Point cloud acquisition module, used to obtain the two-dimensional lane point cloud data of the current working lane;

[0032] A point extraction module is used to extract the two-dimensional point cloud data of the target container truck on the current working lane based on the two-dimensional lane point cloud data and the pre-acquired ground point cloud data, wherein the ground point cloud data is the two-dimensional point cloud data corresponding to when the working lane is cleared;

[0033] A state determination module, used to determine the loading state of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data;

[0034] An early warning module, used for outputting corresponding early warning prompt information when the loading state does not match the operation type;

[0035] The positioning module is used to obtain the relative position relationship between the alignment point of the target container truck and the specified target position when the loading state matches the operation type, so that the target container truck can adjust its position according to the relative position relationship until the alignment point reaches the target position and stops.

[0036] In a third aspect, the present invention provides a container truck alignment system, comprising:

[0037] A pan / tilt platform installed on a quay crane crossbeam, wherein the quay crane crossbeam spans above the working lane;

[0038] A single-line laser radar installed on the pan-tilt platform; and

[0039] An industrial computer connected to the pan / tilt platform and the single-line laser radar, the industrial computer being integrated with the container truck positioning system as described above;

[0040] Wherein, the two-dimensional lane point cloud data and the ground point cloud data are obtained by scanning the single-line laser radar.

[0041] In a fourth aspect, the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned method for locating a container truck when executing the computer program.

[0042] In a fifth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the container truck positioning method as described above.

[0043] By adopting the above technical solution, the present invention has the following beneficial effects:

[0044] The present invention obtains the relative position relationship between the target container truck's alignment point and the specified target position, so that the target container truck can adjust its position according to the relative position relationship, thereby enabling the container truck to stop accurately at the target position, reducing the alignment time between the subsequent container truck and the spreader, and improving the efficiency of port loading and unloading operations. In addition, the present invention performs container truck positioning based on the ground point cloud data when the operating lane is cleared and the current two-dimensional lane point cloud data, which is conducive to improving positioning accuracy. At the same time, by judging whether the loading status of the target container truck matches the operation type, and outputting corresponding early warning prompt information when it does not match, the safety and effectiveness of the container truck operation can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a flow chart of a container truck positioning method according to Embodiment 1 of the present invention;

[0046] Figure 2 2D scanning schematic diagram of a single-line laser radar in Example 1 of the present invention;

[0047] Figure 3 This is a schematic diagram of 2D scanning imaging of the working lane in Example 1 of the present invention;

[0048] Figure 4 3D scanning schematic diagram of a single-line laser radar in Example 1 of the present invention;

[0049] Figure 5 This is a schematic diagram of 2D scanning imaging of a container truck traveling in Example 1 of the present invention;

[0050] Figure 6 This is a diagram of the interactive interface of the container truck positioning system in Example 2 of the present invention;

[0051] Figure 7 It is a structural block diagram of the container truck alignment system in Embodiment 3 of the present invention;

[0052] Figure 8 This is a hardware architecture diagram of an electronic device in Example 4 of the present invention. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0054] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure. The singular forms "a", "the" and "the" used in the present disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0055] Example 1

[0056] This embodiment provides a method for locating a container truck. Figure 1 As shown, the method specifically comprises the following steps:

[0057] S1, obtaining a job instruction, wherein the job instruction includes a job type.

[0058] In this embodiment, the operation instruction is sent by the host computer (usually PLC), and the instruction may also include information such as the operation lane (used to specify the operation lane when there are multiple lanes), the size of the target container truck, and the size of the target container. When the container truck approaches the operating area of ​​the spreader, the host computer sends the operation instruction through the PLC gateway.

[0059] Among them, the operation types of this embodiment include loading and unloading operations. The loading operation refers to placing a container on the truck bed by a sling, and the unloading operation refers to unloading the container on the truck by a sling.

[0060] S2, obtaining the two-dimensional lane point cloud data of the current working lane.

[0061] In this embodiment, the two-dimensional lane point cloud data is obtained mainly by scanning the working lane with a single-line laser radar. The single-line laser radar is installed on the quay crane beam (or a rail crane, tire crane or other hanging equipment) through a pan-tilt platform. By swinging the pan-tilt platform, the single-line laser radar can cover the scanning task of all lanes under the quay crane. Since the laser ranging has good real-time performance and high precision, accurate point cloud data can be obtained.

[0062] When receiving the operation instruction, the present embodiment controls the pan-tilt to swing so that the single-line laser radar is aligned with the operation lane for 2D scanning. Figure 2 As shown in the figure, it scans along the length of the lane at a fixed deflection angle to obtain a single-line point set along the length of the lane (i.e., two-dimensional lane point cloud data). According to the coordinates of each point along the length of the lane, combined with the ground points at the same position in the length of the corresponding lane, the spatial two-dimensional coordinates of each point can be converted to obtain the height of a single point, and then the height of a single point can be analyzed. Subsequently, based on the ups and downs of each point under the spatial coordinates, the side profile data of the container truck corresponding to the point set on the current scan line can be calculated.

[0063] like Figure 3 As shown, a real-time 2D scanning imaging schematic diagram of the working lane under four working conditions, namely, no container truck, loaded container truck, empty container truck and multiple container trucks, is shown (which can be displayed through an interactive interface). The lines in the figure are composed of a set of single-line points.

[0064] S3, based on the two-dimensional lane point cloud data of the working lane and the pre-obtained ground point cloud data, extract the two-dimensional container truck point cloud data of the target container truck currently on the working lane, wherein the ground point cloud data is the two-dimensional point cloud data corresponding to when the working lane is clear.

[0065] In this embodiment, the ground point cloud data is used to reflect the environmental conditions of the lane, and is obtained by scanning in advance using a 2D scanning method when the lane is cleared. The lane is cleared to avoid the influence of interference points.

[0066] In this embodiment, the specific process of extracting the two-dimensional container truck point cloud data of the target container truck is as follows: first, based on the pre-configured container truck model data, container model data and lane data, the two-dimensional lane point cloud data is filtered to avoid interference caused by data that does not belong to the scope of the container truck, container and lane. Then, the data matching the ground point cloud data is removed from the filtered two-dimensional lane point cloud data, that is, the two-dimensional container truck point cloud data of all container trucks on the working lane is obtained. Among them, when there is only one container truck on the working lane, the container truck is used as the target container truck; when there are more than one container truck on the working lane, the container truck closest to the target position is used as the target container truck, and the two-dimensional container truck point cloud data of the target container truck can be determined.

[0067] In this embodiment, each point in the two-dimensional container truck point cloud data can also be marked with attributes. For example, the points within the height range of 1.2 meters to 1.8 meters are marked as vehicle plate attributes, and the points above 3 meters are marked as container attributes. On this basis, according to the attributes of each point, the attributes of different point intervals can be calculated, and then combined with parameters such as the container truck spacing range and the container truck length range, the number of container trucks on the operating lane can be calculated, and the container truck cutting can be realized.

[0068] This step extracts the two-dimensional point cloud data of the container truck by comparing the point cloud data of the two scans. It can accurately extract the two-dimensional point cloud data of the container truck even when the posture of the linear laser radar is not fully calibrated to the standard state.

[0069] S4, determining the loading status of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data.

[0070] Generally, the height of a container truck is between 1.2m and 1.8m. After a container truck is loaded with a container, its height will exceed 3m. Therefore, it is possible to determine whether it is loaded with a container based on the height of the container. Specifically, this step first compares the two-dimensional container truck point cloud data of the target container truck with the ground point cloud data to determine the height of the target container truck; then, based on the height of the target container truck, it is determined whether the target container truck is loaded with a container, wherein loading a container is defined as a loaded vehicle state, and not loading a container is defined as an empty vehicle state.

[0071] S5: When the loading status of the target container truck does not match the operation type in the operation instruction, the corresponding warning prompt information is output.

[0072] For example, if the operation type is a loading operation, and the loading status of the target container truck is a heavy vehicle state (i.e., no more containers can be loaded), it means that the operation type and the loading status do not match; conversely, if the operation type is an unloading operation, and the loading status of the target container truck is an empty vehicle state (i.e., no containers can be unloaded), it also means that the operation type and the loading status do not match, so the corresponding early warning prompt information is output to prompt the staff to check, thereby ensuring safe and efficient operations.

[0073] S6, when the loading state of the target container truck matches the operation type, the relative position relationship between the marking point of the target container truck and the specified target position is obtained, so that the target container truck can adjust its position according to the relative position relationship until the marking point reaches the target position and stops.

[0074] In this embodiment, the point corresponding to the rear or front position of the target container truck can be used as the reference point. The target position can be pre-configured or specified in the aforementioned operation instruction.

[0075] In this embodiment, the target truck can be an unmanned truck or a truck driven by a driver. When the target truck is an unmanned truck, this step feeds back the calculated relative position relationship to the host computer, so that the host computer controls the unmanned truck to adjust its position based on the relative position relationship until it stops when the reference point reaches the target position; when the target truck is driven by a driver, the calculated relative position relationship is sent to the display screen in the operation area for real-time display, so as to guide the driver to stop the target truck at the target position and complete the precise positioning of the truck.

[0076] In this embodiment, when the container truck posture positioning is required (whether the container truck posture positioning is required can be configured through the interactive interface), after the target container truck stops at the target position, the method further includes: step S7, obtaining the posture of the target container truck.

[0077] Specifically, the specific implementation process of step S7 is as follows:

[0078] S71, obtaining the three-dimensional lane point cloud data of the current working lane.

[0079] Specifically, Figure 4 As shown, by controlling the swing of the gimbal, the single-line laser radar can perform 3D scanning in a range slightly wider than the working lane (the scanning range is slightly wider than the working lane to ensure that the side of the container truck can be scanned when it is pulled to the side). In the 3D scanning process achieved by swinging the gimbal, a multi-line point set can be obtained. Combined with the gimbal swing value of each scan, the three-dimensional lane point cloud data of the entire working lane within the current scanning range can be obtained.

[0080] S72, based on the three-dimensional lane point cloud data of the current working lane, obtaining the three-dimensional container truck point cloud data of the target container truck.

[0081] Specifically, this embodiment combines the three-dimensional lane point cloud data of the working lane and the pre-configured container truck model parameters to obtain the three-dimensional container truck point cloud data of the target container truck.

[0082] S73, based on the three-dimensional container truck point cloud data of the target container truck, obtaining the posture of the target container truck relative to the working lane.

[0083] In this embodiment, the posture of the target truck includes the deflection angle of the target truck relative to the working lane and / or the lateral offset distance of the target truck in the width direction of the working lane. Specifically, the deflection angle can be calculated based on the projection L of the target truck side point set in the lane length direction and the projection H of the target truck side point set in the lane width direction. The deflection angle is specifically equal to The aforementioned lateral offset distance is the lateral distance of the target operating point of the target container truck (the target operating point refers to the ideal point that the mechanical gripper of the spreader should align with when loading and unloading containers) relative to the center line of the operating lane.

[0084] The posture obtained in this embodiment reflects the degree of deviation of the target container truck and the lateral offset of its target operating point along the lane width direction, so that when the mechanical gripper operates, there is a lateral offset distance for stopping at the mark and an angle for rotation when placing the box, which is conducive to the mechanical gripper to quickly pick up and place the box.

[0085] When the mechanical gripper is adjusted to the target container truck, it starts to descend. When it descends into the laser scanning range, the working lane is marked as the spreader blocking state, and the longitudinal distance between the mechanical gripper and the target container truck operation point is measured by laser, so that the mechanical gripper can descend according to the longitudinal distance. Specifically, the calculated longitudinal distance can be sent to the display screen in the working area for real-time display, and the operator can perform accurate mechanical gripper descending operations based on the displayed data, thereby ensuring safe and effective operations.

[0086] This embodiment can realize the alignment of 45-foot, 40-foot, single-20-foot, and double-20-foot containers, and applicable container trucks can be single-container container trucks and double-container container trucks of corresponding sizes.

[0087] Preferably, after obtaining the two-dimensional container truck point cloud data of the target container truck in step S3, this embodiment may further include: comparing the two-dimensional container truck point cloud data of the target container truck with pre-configured container truck model data and container model data to determine whether the target container truck is a single-container container truck or a double-container container truck, wherein the double-container container truck has two container slots, and each of the container slots has a corresponding alignment point, and the two alignment points are symmetrically arranged relative to the connecting portion between the two container slots.

[0088] When the target container truck is a dual-tank container truck and the loading status of its two container locations is the same, step S6 specifically obtains the relative position relationship between the respective alignment points of the two container locations of the target container truck and the target location, and determines the container location whose alignment point is closer to the target location as the target container location, so that the target container truck can adjust its position according to the relative position relationship between the alignment points of the target container location and the target location.

[0089] For example, assuming that when a twin-container truck drives forward into the spreader operation area, the alignment point of the front container is closer to the target position, the front container is determined to be the target container position. During the process of continuing to drive forward, if the driver drives too far and causes the alignment point of the rear container of the truck to be closer to the target position at the current moment, the target container position will be switched to the rear container, so that the position of the twin-container truck can be adjusted according to the container position closest to the target position, thereby improving the efficiency of container truck positioning.

[0090] In addition, if Figure 5 As shown, each travel process will record the current two-dimensional lane point cloud data to form a relatively complete container truck travel process, so as to calculate the change in the current vehicle condition (with part of the box -> the box length increases -> the box appears completely). For each frame of point cloud data, it will be calculated and analyzed to obtain the positioning result, so as to achieve real-time detection, real-time feedback, and precise positioning. This embodiment can also determine the moving direction of the target container truck based on the two-dimensional container truck point cloud data of the target container truck at different times, and can feed back the moving direction to the host computer so that the host computer can perform corresponding processing according to the direction.

[0091] This embodiment obtains the relative position relationship between the target container truck's alignment point and the specified target position, so that the target container truck can adjust its position according to the relative position relationship, thereby enabling the container truck to stop accurately at the target position, reducing the alignment time between the subsequent container truck and the spreader, and improving the efficiency of port loading and unloading operations. In addition, the present invention performs container truck positioning based on the ground point cloud data when the operating lane is cleared and the current two-dimensional lane point cloud data, which is beneficial to improving positioning accuracy. At the same time, by judging whether the loading status of the target container truck matches the operation type, and outputting corresponding early warning prompt information when it does not match, the safety and effectiveness of the container truck operation can be improved; and this embodiment only requires a single-line laser radar to complete the scanning task, and uses less equipment.

[0092] Example 2

[0093] This embodiment provides a container truck positioning system, which is a software system and specifically includes the following functional modules:

[0094] A receiving module, used for acquiring a job instruction, wherein the job instruction includes a job type;

[0095] Point cloud acquisition module, used to obtain the two-dimensional lane point cloud data of the current working lane;

[0096] A point extraction module is used to extract the two-dimensional point cloud data of the target container truck on the current working lane based on the two-dimensional lane point cloud data and the pre-acquired ground point cloud data, wherein the ground point cloud data is the two-dimensional point cloud data corresponding to when the working lane is cleared;

[0097] A state determination module, used to determine the loading state of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data;

[0098] An early warning module, used for outputting corresponding early warning prompt information when the loading state does not match the operation type;

[0099] The positioning module is used to obtain the relative position relationship between the alignment point of the target container truck and the specified target position when the loading state matches the operation type, so that the target container truck can adjust its position according to the relative position relationship until the alignment point reaches the target position and stops.

[0100] In one practicable manner, the system of this embodiment also includes a posture acquisition module, which is used to obtain the three-dimensional lane point cloud data of the current working lane after the target container truck stops at the target position, and based on the three-dimensional lane point cloud data, obtain the three-dimensional container truck point cloud data of the target container truck; and then obtain the posture of the target container truck relative to the working lane based on the three-dimensional container truck point cloud data.

[0101] In an practicable manner, the posture includes a deflection angle of the target truck relative to the working lane and / or an offset distance of the target truck in a width direction of the working lane.

[0102] In one practicable manner, the point-taking module is specifically used to: filter the two-dimensional lane point cloud data based on pre-configured container truck model data, container model data and lane data; then remove the data matching the ground point cloud data from the filtered two-dimensional lane point cloud data to obtain the two-dimensional container truck point cloud data of all container trucks on the working lane; wherein, when there is only one container truck on the working lane, the container truck is used as the target container truck, and when there are more than one container truck on the working lane, the container truck closest to the target position is used as the target container truck.

[0103] In one practicable manner, the state acquisition module is specifically used to: determine the height of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data; and then determine whether the target container truck is loaded with a container based on the height of the target container truck.

[0104] In one practicable manner, the system of this embodiment further includes a vehicle model acquisition module, which is used to determine whether the target container truck is a single-box container truck or a double-box container truck based on the two-dimensional container truck point cloud data and pre-configured container truck model data and container model data, wherein the double-box container truck has two container slots, and each of the container slots has a corresponding reference point.

[0105] When the target container truck is a dual-container container truck and the loading status of the two container locations is the same, the positioning module is specifically used to obtain the relative position relationship between the respective alignment points of the two container locations of the target container truck and the target location, and determine the container location whose alignment point is closer to the target location as the target container location, so that the target container truck can adjust its position according to the relative position relationship between the alignment points of the target container location and the target location.

[0106] In an practicable manner, the system of this embodiment may also provide Figure 6 The interactive interface shown is used to support staff to use this interface for function debugging and parameter configuration. Among them, parameter configuration includes basic configuration information, operation configuration information and communication configuration information, and the basic configuration information includes but is not limited to truck model parameters, container model parameters, lane parameters, laser radar setting parameters, and pan / tilt setting parameters; the operation configuration information includes but is not limited to the initial ground point cloud data; the communication configuration information is the parameters for PLC communication with the host computer, including the content of the operation instruction, the relative position relationship of the feedback, etc. This embodiment can freely adjust the configuration item information for different environments, equipment, and installation environments.

[0107] In addition, the interactive interface can also display the 2D lane point cloud data of the current working lane in real time for the staff to view, and the interface will continuously record the working process and warning log, recording the daily work of the system. In order to be compatible with various environments, all parameters required for scanning calculation are configured to facilitate debugging changes and scene replacement during use.

[0108] Example 3

[0109] This embodiment provides a container truck alignment system, which is a hardware system. Figure 7 As shown, the system includes: a host computer for sending the aforementioned operation instructions; a pan-tilt platform installed on a quay crane beam, wherein the quay crane beam spans above the operation lane; a single-line laser radar installed on the pan-tilt platform; and an industrial computer connected to the host computer, the pan-tilt platform and the single-line laser radar, and the industrial computer is integrated with a container truck positioning system as provided in Example 2.

[0110] When the industrial computer receives the operation instruction sent by the host computer, the industrial computer controls the pan / tilt system through the container truck positioning system to drive the single-line laser radar to scan the operation lane in real time to obtain two-dimensional lane point cloud data, and then obtains the relative position relationship between the reference point and the target position of the target container truck based on the two-dimensional lane point cloud data according to the method provided in Example 1, so that the target container truck can adjust its position according to the relative position relationship until the reference point reaches the target position and stops.

[0111] Specifically, when the target container truck is an unmanned container truck, the industrial computer will feed back the calculated relative position relationship to the host computer, so that the host computer can control the unmanned container truck to adjust its position based on the relative position relationship until it stops when the reference point reaches the target position; when the target container truck is driven by a driver, the industrial computer will send the calculated relative position relationship to the display screen for real-time display, so as to guide the driver to stop the target container truck at the target position according to the relative position relationship, thereby completing the precise positioning of the container truck. The industrial computer can also be connected to multiple display screens to provide data display in multiple directions.

[0112] Example 4

[0113] This embodiment provides an electronic device, which can be expressed in the form of a computing device (for example, a server device), including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps of the collection card positioning method provided in Embodiment 1 can be implemented when the processor executes the computer program.

[0114] Figure 8 FIG. 4 shows a schematic diagram of the hardware structure of this embodiment. Figure 8As shown, the electronic device 30 specifically includes:

[0115] At least one processor 31, at least one memory 32, and a bus 33 for connecting different system components (including the processor 31 and the memory 32), wherein:

[0116] The bus 33 includes a data bus, an address bus, and a control bus.

[0117] The memory 32 includes a volatile memory, such as a random access memory (RAM) 321 and / or a cache memory 322 , and may further include a read-only memory (ROM) 323 .

[0118] The memory 32 also includes a program / utility 325 having a set (at least one) of program modules 324, such program modules 324 including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include an implementation of a network environment.

[0119] The processor 31 executes various functional applications and data processing by running the computer program stored in the memory 32, such as the steps of the container truck positioning method provided in Example 1 of the present invention.

[0120] The electronic device 30 can further communicate with one or more external devices 34 (e.g., keyboards, pointing devices, etc.). Such communication can be performed through an input / output (I / O) interface 35. In addition, the electronic device 30 can also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 36. The network adapter 36 communicates with other modules of the electronic device 30 through a bus 33. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 30, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID (disk array) systems, tape drives, and data backup storage systems, etc.

[0121] It should be noted that although several units / modules or sub-units / modules of the electronic device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0122] Example 5

[0123] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the container truck positioning method provided in Embodiment 1 are implemented.

[0124] The readable storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination of the above.

[0125] In a possible implementation manner, the present invention can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of the container card positioning method provided in Example 1.

[0126] The program code for executing the present invention may be written in any combination of one or more programming languages, and may be executed entirely on a user device, partially on a user device, as an independent software package, partially on a user device and partially on a remote device, or entirely on a remote device.

[0127] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A container truck positioning method, characterized in that: The method comprises: Obtaining an operation instruction, wherein the operation instruction includes an operation type, and the operation type includes a packing operation and an unloading operation; Acquire two-dimensional lane point cloud data of the current working lane, wherein the two-dimensional lane point cloud data is a single-line point set obtained by scanning along the length direction of the current working lane at a fixed deflection angle; Based on the two-dimensional lane point cloud data and the pre-obtained ground point cloud data, extract the two-dimensional container truck point cloud data of the target container truck currently on the working lane, wherein the ground point cloud data is the two-dimensional point cloud data scanned when the working lane is clear; Determine the loading state of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data, wherein the loading state includes a loaded truck state and an empty truck state; When the loading status does not match the operation type, output corresponding warning prompt information; When the loading state matches the operation type, the relative position relationship between the alignment point of the target container truck and the specified target position is obtained, so that the target container truck can adjust its position according to the relative position relationship until the alignment point reaches the target position and stops; The determining the loading state of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data includes: Determine the height of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data; Based on the height of the target container truck, it is determined whether the target container truck is loaded with containers, wherein the target container truck is in a loaded state when loaded with containers, and is in an empty state when not loaded with containers.

2. The method for locating container trucks according to claim 1, characterized in that: After the target container truck stops at the target position, the method further includes: Acquire the three-dimensional lane point cloud data of the current working lane; Based on the three-dimensional lane point cloud data, acquiring the three-dimensional container truck point cloud data of the target container truck; Based on the three-dimensional container truck point cloud data, the posture of the target container truck relative to the working lane is obtained.

3. The method for locating a container truck according to claim 2, characterized in that: The posture includes a deflection angle of the target truck relative to the working lane and / or a lateral offset distance of the target truck in a width direction of the working lane.

4. The method for locating container trucks according to claim 1, characterized in that: The step of extracting the two-dimensional container truck point cloud data of the target container truck on the current working lane based on the two-dimensional lane point cloud data and the pre-obtained ground point cloud data includes: Filtering the two-dimensional lane point cloud data based on pre-configured truck model data, container model data and lane data; Removing data matching the ground point cloud data from the filtered two-dimensional lane point cloud data to obtain two-dimensional container truck point cloud data of all container trucks on the working lane; When there is only one container truck on the working lane, the container truck is used as the target container truck. When there are more than one container truck on the working lane, the container truck closest to the target position is used as the target container truck.

5. The method for locating container trucks according to claim 1, characterized in that: After extracting the two-dimensional truck point cloud data, the method further includes: Based on the two-dimensional container truck point cloud data and the pre-configured container truck model data and container model data, it is determined that the target container truck is a single-container container truck or a double-container container truck, wherein the double-container container truck has two container slots, and each of the container slots has a corresponding reference point; When the target truck is a dual-container truck and the loading status of the two container positions is the same, the step of obtaining the relative position relationship between the alignment point of the target truck and the designated target position so that the target truck can adjust its position according to the relative position relationship includes: The relative position relationship between the respective alignment points of the two locations of the target container truck and the target location is obtained, and the location whose alignment point is closer to the target location is determined as the target location, so that the target container truck can adjust its position according to the relative position relationship between the alignment points of the target location and the target location.

6. A container truck positioning system, characterized in that: The system comprises: A receiving module, used for acquiring an operation instruction, wherein the operation instruction includes an operation type, and the operation type includes a packing operation and an unloading operation; A point cloud acquisition module, used to acquire two-dimensional lane point cloud data of the current working lane, wherein the two-dimensional lane point cloud data is a single-line point set obtained by scanning along the length direction of the current working lane at a fixed deflection angle; A point extraction module is used to extract the two-dimensional point cloud data of the target container truck on the current working lane based on the two-dimensional lane point cloud data and the pre-obtained ground point cloud data, wherein the ground point cloud data is the two-dimensional point cloud data scanned when the working lane is clear; A state determination module, used to determine the loading state of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data, wherein the loading state includes a loaded truck state and an empty truck state; An early warning module, used for outputting corresponding early warning prompt information when the loading state does not match the operation type; A positioning module, used for obtaining the relative position relationship between the alignment point of the target container truck and the specified target position when the loading state matches the operation type, so that the target container truck can adjust its position according to the relative position relationship until the alignment point reaches the target position and stops; The state determination module is specifically used to: determine the height of the target container truck based on the two-dimensional container truck point cloud data and the ground point cloud data; based on the height of the target container truck, determine whether the target container truck is loaded with containers, wherein a container is loaded and the target container truck is in a loaded state, and a container is not loaded and the target container truck is in an empty state.

7. A container truck alignment system, characterized in that: include: A pan / tilt platform installed on a quay crane crossbeam, wherein the quay crane crossbeam spans above the working lane; A single-line laser radar installed on the pan-tilt platform; as well as An industrial computer connected to the pan / tilt platform and the single-line laser radar, the industrial computer integrating the container truck positioning system as described in claim 6; Wherein, the two-dimensional lane point cloud data and the ground point cloud data are obtained by scanning the single-line laser radar.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the computer program, the steps of the container truck positioning method according to any one of claims 1 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the container truck positioning method according to any one of claims 1 to 5 are implemented.

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