Container door adjusting method, fixed crane system, device and electronic equipment

Abstract

The embodiment of the invention provides a container door adjusting method, a fixed crane system, a device and electronic equipment. The method comprises the steps that when it is detected that a container truck is located at a first position, first pose information of the container truck and second pose information of a container on the container truck are obtained firstly; then, when it is detected that the container is grabbed by the lifting appliance of the fixed crane and moved to a preset second position, third pose information of the container truck and fourth pose information of the container are obtained; determining target adjustment information of the container according to the second pose information and the fourth pose information of the container and the first pose information and the third pose information of the container truck; therefore, according to the target adjustment information of the container, the lifting appliance of the fixed crane carries out container placing operation. According to the method, the alignment precision in the container door adjusting process of the container is improved.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to a container door adjustment method, a fixed crane system, a device and an electronic device. Background Art

[0002] In the development of port equipment automation, container door adjustment operation is an important link in the logistics process of container terminals. It relies on automated equipment and positioning sensing technology to achieve a high degree of intelligence and automation.

[0003] At present, for container door adjustment operations, the automatic container placement process of the container truck is mainly achieved by identifying and detecting the truck plate on the container truck, that is, the position and posture of the trailer carrying the container, and aligning it based on this information, thereby placing the container on the container truck.

[0004] However, due to the diversity of container truck models, there are many types of container truck plates. The corresponding plate features, such as size, locking mechanism, material, etc., are different, which increases the complexity of identification and leads to insufficient positioning accuracy, which in turn affects the safety and stability of the box door adjustment process. Summary of the invention

[0005] The embodiments of the present application provide a container door adjustment method, a fixed crane system, a device and an electronic device, so as to achieve the effect of improving the alignment accuracy during the container door adjustment process.

[0006] In a first aspect, an embodiment of the present application provides a method for adjusting a container door, comprising:

[0007] When it is detected that the container truck is at a first position, first position information of the container truck and second position information of the container on the container truck are obtained, wherein the first position is determined according to the position of the fixed crane;

[0008] When it is detected that the container is grabbed by the spreader of the fixed crane and moved to the preset second position, the third posture information of the container truck and the fourth posture information of the container are obtained;

[0009] According to the second and fourth posture information of the container and the first and third posture information of the container truck, target adjustment information of the container is determined, where the target adjustment information represents the horizontal deviation distance between the spatial position of the container and the standard container placement position;

[0010] According to the target adjustment information of the container, the fixed crane's spreader can perform the container release operation.

[0011] Optionally, when it is detected that the container truck is located at the first position, obtaining the first posture information of the container truck and the second posture information of the container on the container truck includes:

[0012] When it is detected that the container truck is at the first position, point cloud data of the area where the container and the container truck are located is obtained through the radar;

[0013] According to the point cloud data, the first pose information of the container truck and the second pose information of the container on the container truck are obtained.

[0014] Optionally, the radar is arranged at a middle position on one side of the fixed crane, between 1.5 meters and 2 meters away from the first position, and at a vertical height of between 1.5 meters and 1.7 meters from the ground.

[0015] Optionally, obtaining the first pose information of the container truck and the second pose information of the container on the container truck according to the point cloud data includes:

[0016] Determine a target coordinate system, wherein a first coordinate axis in the target coordinate system is determined according to a horizontal plane direction perpendicular to a second coordinate axis, and the second coordinate axis is determined according to a forward direction of the container truck;

[0017] According to the point cloud data, the first pose information of the container truck in the target coordinate system and the second pose information of the container in the target coordinate system are determined.

[0018] Optionally, determining the target adjustment information of the container according to the second posture information and the fourth posture information of the container and the first posture information and the third posture information of the container truck includes:

[0019] Determine first adjustment information of the container truck according to the first posture information and the third posture information of the container truck, wherein the first adjustment information of the container truck represents a longitudinal horizontal deviation distance between the third posture information and the first posture information;

[0020] The target adjustment information of the container is determined according to the second posture information and the fourth posture information of the container and the first adjustment information of the container truck.

[0021] Optionally, determining target adjustment information of the container according to the second posture information and the fourth posture information of the container and the first adjustment information of the container truck includes:

[0022] Determine second adjustment information of the container according to the second posture information and the fourth posture information of the container, where the second adjustment information of the container represents a lateral horizontal deviation distance and an initial longitudinal horizontal deviation distance between the fourth posture information and the second posture information;

[0023] According to the first adjustment information of the container truck, the initial longitudinal horizontal deviation distance of the container is adjusted to obtain the third adjustment information of the container, where the third adjustment information of the container represents the sum of the initial longitudinal horizontal deviation distances in the first adjustment information and the second adjustment information;

[0024] Target adjustment information of the container is determined according to the second adjustment information and the third adjustment information of the container.

[0025] Optionally, according to the target adjustment information of the container, the spreader of the fixed crane is controlled to perform a container placing operation, including:

[0026] The target adjustment information of the container is sent to the fixed crane controller of the container, so that the fixed crane controller of the container controls the spreader of the fixed crane to move, aligns the container with the front of the container truck, and places the container on the container truck.

[0027] In a second aspect, an embodiment of the present application provides a fixed crane system, including: a radar, a fixed crane, and an electronic device;

[0028] Radar is used to obtain point cloud data of containers and trucks;

[0029] Fixed cranes are used to grab and move containers;

[0030] The electronic device is used to execute the method of the first aspect and / or various possible implementation methods of the first aspect as described above.

[0031] In a third aspect, an embodiment of the present application provides a container door adjustment device, comprising:

[0032] A first processing module is used to obtain first posture information of the container truck and second posture information of the container on the container truck when it is detected that the container truck is at a first position, and the first position is determined according to the position of the fixed crane;

[0033] The second processing module is used to obtain the third posture information of the container truck and the fourth posture information of the container when it is detected that the container is grabbed by the spreader of the fixed crane and moved to the preset second position;

[0034] A determination module is used to determine target adjustment information of the container according to the second posture information and the fourth posture information of the container and the first posture information and the third posture information of the container truck, wherein the target adjustment information represents the horizontal deviation distance between the spatial position of the container and the standard container placement position;

[0035] The control module is used to adjust the information of the container target so that the spreader of the fixed crane can perform the container release operation.

[0036] Optionally, the first processing module is specifically configured to:

[0037] When it is detected that the container truck is at the first position, point cloud data of the area where the container and the container truck are located is obtained through the radar;

[0038] According to the point cloud data, the first pose information of the container truck and the second pose information of the container on the container truck are obtained.

[0039] Optionally, the radar is arranged at a middle position on one side of the fixed crane, between 1.5 meters and 2 meters away from the first position, and at a vertical height of between 1.5 meters and 1.7 meters from the ground.

[0040] Optionally, the first processing module is specifically configured to:

[0041] Determine a target coordinate system, wherein a first coordinate axis in the target coordinate system is determined according to a horizontal plane direction perpendicular to a second coordinate axis, and the second coordinate axis is determined according to a forward direction of the container truck;

[0042] According to the point cloud data, the first pose information of the container truck in the target coordinate system and the second pose information of the container in the target coordinate system are determined.

[0043] Optionally, a module is determined, specifically for:

[0044] Determine first adjustment information of the container truck according to the first posture information and the third posture information of the container truck, wherein the first adjustment information of the container truck represents a longitudinal horizontal deviation distance between the third posture information and the first posture information;

[0045] The target adjustment information of the container is determined according to the second posture information and the fourth posture information of the container and the first adjustment information of the container truck.

[0046] Optionally, the determination module can also be used to:

[0047] Determine second adjustment information of the container according to the second posture information and the fourth posture information of the container, where the second adjustment information of the container represents a lateral horizontal deviation distance and an initial longitudinal horizontal deviation distance between the fourth posture information and the second posture information;

[0048] According to the first adjustment information of the container truck, the initial longitudinal horizontal deviation distance of the container is adjusted to obtain the third adjustment information of the container, where the third adjustment information of the container represents the sum of the initial longitudinal horizontal deviation distances in the first adjustment information and the second adjustment information;

[0049] Target adjustment information of the container is determined according to the second adjustment information and the third adjustment information of the container.

[0050] Optionally, the control module is specifically configured to:

[0051] The target adjustment information of the container is sent to the fixed crane controller of the container, so that the fixed crane controller of the container controls the spreader of the fixed crane to move, aligns the container with the front of the container truck, and places the container on the container truck.

[0052] In a fourth aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0053] Memory stores computer-executable instructions;

[0054] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the method of the first aspect and / or various possible implementations of the first aspect as described above.

[0055] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the method of the first aspect and / or various possible implementation methods of the first aspect as described above.

[0056] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the method of the first aspect and / or various possible implementation methods of the first aspect.

[0057] The container door adjustment method, fixed crane system, device and electronic device provided in the embodiments of the present application, when detecting that the container truck is in the first position, identify the first posture information of the container truck and the second posture information of the container on the container truck, and then, when detecting that the container is grabbed by the spreader of the fixed crane and moved to the preset second position, identify the third posture information of the container truck and the fourth posture information of the container, so as to calculate the deviations in different directions before and after the container is grabbed and moved according to the above-mentioned first posture information to the fourth posture information, that is, the target adjustment information, so as to make the spreader of the fixed crane perform the container release operation according to the target adjustment information. By identifying the position information of the container truck and the container respectively, the position offset of the container and the possible position offset of the container truck during the container placement process can be comprehensively considered to provide higher accuracy, thereby reducing the deviation in the container placement process. At the same time, by identifying the container instead of the vehicle plate, the situation in which the actual container placement position is different from the standard container placement position due to factors such as various vehicle plate types and uneven loading or changes in the hanging position is avoided. In addition, directly identifying the container truck and the container can better adapt to different loading conditions and equipment requirements, improve the flexibility and adaptability of the system, and achieve the effect of improving the alignment accuracy during the container door adjustment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0059] Figure 1 A schematic diagram of a scenario of a container door adjustment method provided in an embodiment of the present application;

[0060] Figure 2 Schematic diagram of the process of the container door adjustment method provided in the embodiment of the present application Figure 1 ;

[0061] Figure 3 Schematic diagram of the process of the container door adjustment method provided in the embodiment of the present application Figure 2 ;

[0062] Figure 4 A schematic diagram of point cloud data of a container door adjustment method provided in an embodiment of the present application;

[0063] Figure 5 Schematic diagram of the process of the container door adjustment method provided in the embodiment of the present application Figure 3 ;

[0064] Figure 6 Schematic diagram of the process of the container door adjustment method provided in the embodiment of the present application Figure 4 ;

[0065] Figure 7 A schematic diagram of the structure of a fixed hanging system provided in an embodiment of the present application;

[0066] Figure 8 A schematic diagram of the structure of a container door adjustment device provided in an embodiment of the present application;

[0067] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0068] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0069] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0070] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0071] In the prior art, the container truck's unloading operation generally uses sensors to scan the surface of the truck's deck to obtain its specific marks or features, such as edges and corners, so as to determine the spatial position and angle of the deck, and then adjust the sling of the fixed crane according to the position information of the deck, so that it can accurately grab and place the container. In addition, since the container is usually fixed to the truck by a lock, a high-precision camera or sensor can also be used to scan the position of the lock hole to obtain the precise positioning information of the container on the truck, and then use the position information of the lock hole to control the sling to perform precise unloading operations, ensuring that the container can be accurately placed in the standard unloading position.

[0072] However, the existing method of identifying vehicle plates is environmentally dependent. The features of the vehicle plate surface may be affected by environmental factors, such as dust, dirt, rain, etc., which may lead to a decrease in scanning accuracy. At the same time, the shape and state of the vehicle plate may vary for different types of container trucks, increasing the complexity of identification and positioning. On the other hand, the existing method of identifying the lock head and lock hole requires the scanning equipment to have extremely high accuracy and resolution due to the small size of the lock head and lock hole, resulting in high technical difficulty and cost.

[0073] In the process of solving the above technical problems, the inventors' technical ideas are as follows: in the prior art, specific physical features such as the surface of the vehicle plate or the lock hole are used as the identification object, which leads to problems such as insufficient identification accuracy and high accuracy requirements for scanning equipment. If the overall posture information of the container truck and the container can be used as the judgment standard, the influence of environmental factors on the identification accuracy can be avoided, so as to reduce the identification complexity caused by the type and size of the container truck and the vehicle plate, and simplify the identification and positioning process; in addition, the prior art only considers the position of the container in the container release process, but ignores the actual fixed crane's container door adjustment operation process. The container grabbing and container release on the container truck are usually in the same process, and there will be no separate task of grabbing or placing the container. At the same time, the container truck The position may change due to environmental influences, resulting in the position change of the container in the grabbing task and the position change of the container truck affecting the position change of the container in the placing task. Therefore, if we not only consider the position change of the container during the placing process, but also the position change of the container itself when it is placed on the container truck and when the container is grabbed and moved or rotated by the spreader and the possible position change of the container truck during the movement, the position information of the container truck and the container can be identified and recorded in real time, so that the container can be placed according to the horizontal deviation distance in different directions between the spatial position of the container and the standard placing position before and after the movement change, so as to achieve higher positioning accuracy and improve the safety and stability of the placing process.

[0074] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0075] Figure 1 A schematic diagram of a scenario of a container door adjustment method provided in an embodiment of the present application. Figure 1 As shown, including:

[0076] When the container truck is in the operating position of the container door specified by the fixed crane, it is necessary to ensure that the sensor has a sufficient field of view to cover all types of container trucks. As an example, the sensor can be a 3D lidar with a horizontal field of view of at least 120° and a vertical field of view of at least 50°. For accuracy, the resolution should not be greater than 0.2° and the frame rate should be at least 10Hz to ensure the efficiency of container placement.

[0077] In a possible implementation, the radar is disposed at a middle position on one side of the fixed crane, between 1.5 meters and 2 meters away from the first position, and at a vertical height of between 1.5 meters and 1.7 meters from the ground.

[0078] In this embodiment, the first position is the container placement operation position specified by the fixed crane, which refers to a fixed crane, such as a shore container crane or other types of fixedly installed lifting equipment. The fixed crane is provided with a specified loading lane, i.e., the container placement operation position. The 3D laser radar is installed next to the fixed crane lane at a distance of 1.5 to 2 m from the lane and 1.5 to 1.7 m from the ground, i.e., point A shown in the figure, so that it can scan the vehicle plate, the side of the container, and the front of the vehicle, and horizontally scan the separation of the container and the container truck.

[0079] Specifically, when the radar is 2 meters away from the container truck and the horizontal resolution of the radar reaches 0.2°, the horizontal point cloud accuracy can reach 0.006m, meeting the accuracy requirements.

[0080] A trolley is installed on the main beam of the crane, which can move along the length of the main beam. The trolley is usually equipped with a lifting mechanism, such as a spreader, etc. When the trolley moves, it drives the spreader to move synchronously, thereby realizing the process of grabbing, lifting, moving and placing goods.

[0081] It should be noted that the length direction of the fixed crane main beam is perpendicular to the forward direction of the container truck, that is, the moving direction of the trolley is the x-axis, the forward direction of the container truck is the y-axis, the lifting direction of the fixed crane grabbing the container is the z-axis, and the origin of the coordinate axis is the vertical projection point of point A where the radar is located on the ground.

[0082] It is understandable that by setting the horizontal and vertical field of view angles of the 3D laser radar, it is ensured that the radar can cover the entire operating area of ​​the container truck, including the sides of the container and the front of the truck, providing a data basis for the subsequent identification process. This wide field of view coverage can effectively monitor the relative position and status of the container truck and the container; and the resolution size ensures that the radar can accurately capture subtle displacements and angle changes; the frame rate is at least 10Hz, which ensures that the radar can update data in real time, which is conducive to dynamic monitoring and control processes, and can respond to the movement and position changes of the container truck in a timely manner during the container release operation, thereby improving operating efficiency. In addition, the radar is installed next to the fixed crane track, at a certain distance from the track and the ground. This location selection ensures that the radar does not hinder the normal operation of the container truck, but can obtain a suitable field of view and a good detection effect. At the same time, this position is also conducive to protecting the radar equipment from physical damage to the container truck and other equipment.

[0083] Figure 2 Schematic diagram of the process of adjusting the container door provided in this application Figure 1 .like Figure 2 As shown, the method includes:

[0084] S101, when it is detected that the container truck is at a first position, obtaining first posture information of the container truck and second posture information of the container on the container truck;

[0085] Among them, the first position is determined according to the position of the fixed crane, which is the container placement operation position specified on the loading lane of the fixed crane. The container truck is the abbreviation of container truck, usually referring to a special truck used to transport containers.

[0086] In this embodiment, a first posture information of the container truck and a second posture information of the container on the container truck can be detected by a sensor, such as a 3D laser radar, and the first posture information and the second posture information include the position and direction of the target.

[0087] Specifically, the first posture information of the container truck can be the posture information of the edge of the front of the container truck close to the container, and the second posture information of the container can be the posture information of the edges of the left and right sides of the container. By identifying the posture information of the edge of the front of the container truck and the left and right edges of the container, the position and direction of the container truck and the container in space can be accurately located, and the container and the container truck can be better aligned to ensure that the relative position of the two is accurate during the container placement process.

[0088] It should be noted that after obtaining the first posture information and the second posture information through the sensor, it is necessary to perform data processing on the collected posture information and store the processed posture information in the system database for subsequent use.

[0089] As an example, when the container truck is detected at the first position, the container truck and the container are scanned by a 3D lidar to obtain a point cloud data set. The point cloud is a collection of a large number of three-dimensional points, and each point represents a position on the surface of the object detected by the lidar. The plane parts are then identified and segmented, such as the side of the front of the container truck and the left and right sides of the container. The point cloud is then clustered using a clustering algorithm to identify different objects or components, thereby extracting key feature points or edge information. These data can be used to describe the geometric shapes of the container truck and the container. Finally, these data are aligned with the preset target coordinate system. Thus, the position and posture information of the container truck and the container in the target coordinate system can be obtained based on the alignment results.

[0090] It can be understood that when the container truck is detected to be in the first position, the initial positions of the container truck and the container can be determined by obtaining the first posture information of the container truck and the second posture information of the container on the container truck. On the one hand, the movement path of the spreader or other loading and unloading equipment can be better planned to improve the loading and unloading efficiency. On the other hand, the posture information can be used as basic data for the container placement process, reducing the risk of collision caused by position deviation and improving the safety of the container placement process.

[0091] S102, when it is detected that the container is grabbed by the spreader of the fixed crane and moved to the preset second position, obtaining third posture information of the container truck and fourth posture information of the container;

[0092] In this embodiment, the process of grabbing a container by a fixed crane and moving it to a preset second position may refer to the process of replacing the container door, that is, grabbing the container from the container truck and lifting it to a suitable height, then rotating it so that its door faces the desired direction, and finally placing the container back on the container truck. In this process, the container moves or rotates, and the container truck is usually fixed. However, due to environmental factors such as the flatness and slope of the ground, the position of the container truck may change during the process of grabbing and moving the container, that is, it may shift from its original first position. Therefore, obtaining the third posture information of the container truck can prevent the container truck from moving and causing the container placement position to shift.

[0093] It should be noted that the process of obtaining the third posture information of the container truck and the fourth posture information of the container is the same as the process of obtaining the first posture information of the container truck and the second posture information of the container in the above embodiment, which will not be repeated in this embodiment.

[0094] It is understandable that when the container is grabbed by the fixed crane and moved to the preset second position, the third posture information of the container truck is obtained again using the sensor, and at the same time, the fourth posture information of the container is obtained, so that the posture change of the container during the movement can be monitored to ensure that it is on the predetermined path. It can also prevent the possible position deviation of the container truck, consider the impact of the deviation of the container truck on the posture change of the container, and by comparing the posture information before and after the movement, the deviation in the movement process can be evaluated to provide data support for subsequent adjustments.

[0095] S103, determining target adjustment information of the container according to the second posture information and the fourth posture information of the container and the first posture information and the third posture information of the container truck;

[0096] The target adjustment information represents the horizontal deviation distance between the spatial position of the container and the standard container placement position.

[0097] It should be noted that the position of the container truck may change in the forward direction, that is, the coordinate change on the y-axis, but the position of the trolley will not change in the moving direction, that is, the coordinate on the x-axis remains unchanged, while the coordinates of the container will change in both directions during the movement.

[0098] In this embodiment, the point cloud data sets obtained before and after the container is moved can be fitted and compared to obtain the offset distance between the second posture information and the fourth posture information of the container and the offset distance between the first posture information and the third posture information of the container truck.

[0099] As an example, when it is detected that the container truck is at the first position, the second posture information of the container is obtained, which is the posture information of the edges of the left and right sides of the container, which are (X1, Y1) and (X2, Y2) respectively. The first posture information of the container truck is the posture information of the edge of the side of the front of the container truck close to the container, which is Y3 (since the coordinate of the container truck on the x-axis is unchanged, only the coordinate on the y-axis is considered). When it is detected that the container is grabbed by the sling of the fixed crane and moved to the preset second position, the fourth posture information of the container is obtained, which are (X4, Y4) and (X5, Y5) respectively. The third posture information of the container truck is Y6. Thus, the target adjustment information of the container is calculated, including the deviation of the forward direction of the container truck and the deviation of the moving direction of the trolley. For the edges of the left and right sides of the container, it is specifically expressed as follows:

[0100] ΔX left =X4-X1; ΔY left =Y4-Y1+Y6-Y3

[0101] ΔX right =X5-X2; ΔY right =Y5-Y2+Y6-Y3

[0102] Where ΔX left ΔY is the deviation of the left edge of the container on the x-axis; left is the deviation of the left edge of the container on the y-axis; ΔX right ΔY is the deviation of the edge of the right side of the container on the x-axis; right is the deviation of the edge of the right side of the container on the y-axis.

[0103] It can be understood that calculating the changes in the position information of the container and the container truck before and after the container is adjusted can help ensure the correct alignment of the container truck and the container, reduce operational difficulties and time waste caused by improper alignment, and ensure that the container reaches the predetermined standard position when placed.

[0104] S104: adjusting the target information of the container so that the spreader of the fixed crane performs the container placing operation.

[0105] In this embodiment, the calculated target adjustment information of the container can be fed back to the control end, and the programmable logic controller (PLC) adjusts the movement of the trolley and the spreader according to the target adjustment information, thereby adjusting the container to realize the automatic container release function of the fixed spreader.

[0106] In one achievable manner, S104 may be specifically implemented through the following steps:

[0107] The target adjustment information of the container is sent to the fixed crane controller of the container, so that the fixed crane controller of the container controls the spreader of the fixed crane to move, aligns the container with the front of the container truck, and places the container on the container truck.

[0108] In this embodiment, the target adjustment information of the container is sent to the fixed crane controller through wired or wireless communication to ensure the reliability and real-time performance of data transmission so that the controller can receive the adjustment information in time. The fixed crane controller receives the target adjustment information, parses it, and converts the parsed information into control instructions, which will be used to adjust the movement of the spreader. Then, the controller sends instructions to the actuator of the spreader to start adjusting the position and direction of the spreader. By precisely controlling the movement of the spreader, the container is aligned with the front of the container truck. After the container is aligned with the container truck, the controller instructs the spreader to slowly place the container on the container truck.

[0109] It is understandable that the target adjustment information is calculated based on the position information of the edge of the truck and the container, so the offset is more accurate. The container is adjusted accordingly based on the offset to align the container with the front of the truck and align the edges of the two synchronously, which can reduce the number and amplitude of adjustments. The target adjustment information provides a reliable data basis for the automation system, so that the automation system can use this information for real-time adjustments, reduce dependence on manual operations, improve the continuity and consistency of operations, and make the entire container placement process more automated.

[0110] The container door adjustment method provided in the embodiment of the present application, when detecting that the container truck is in the first position, identifies the first posture information of the container truck and the second posture information of the container, and then, when detecting that the container is grabbed by the spreader of the fixed crane and moved to the preset second position, identifies the third posture information of the container truck and the fourth posture information of the container, thereby calculating the deviations in different directions before and after the container is grabbed and moved according to the first posture information to the fourth posture information, and obtaining target adjustment information, and then according to the target adjustment information, the spreader of the fixed crane performs the container placement operation, and performs corresponding position adjustment by comprehensively considering the position offset of the container and the position offset of the container truck during the container placement process, thereby reducing the deviation during the container placement process and improving the positioning accuracy during the container placement process.

[0111] Based on the above embodiments, Figure 3 Schematic diagram of the process of adjusting the container door provided in this application Figure 2 .like Figure 3 As shown, in this embodiment Figure 2 Based on the embodiment, S101 is described in detail, which specifically includes the following steps:

[0112] S201. When it is detected that the container truck is located at a first position, point cloud data of the area where the container and the container truck are located is obtained through a radar.

[0113] Point cloud data is a three-dimensional data set obtained through radar scanning, which can describe the shape and position of an object in detail. By obtaining point cloud data, the spatial information of the container truck and its containers can be accurately captured.

[0114] like Figure 4 FIG. 1 is a schematic diagram of point cloud data of the container door adjustment method provided by an embodiment of the present application, wherein the right side of the figure is the point cloud of the container, the left side is the point cloud of the front of the container truck, and the middle is the area where the radar is located. By analyzing the point cloud data, the outlines or feature points of the container truck and the container, such as edges, are identified, and their coordinates in the coordinate system are calculated.

[0115] It is understandable that the point cloud data obtained by radar can provide high-precision three-dimensional information and calculate the posture information in real time, making the positioning of container trucks and containers more accurate.

[0116] S202. Obtain the first pose information of the container truck and the second pose information of the container on the container truck according to the point cloud data.

[0117] Among them, the pose information usually includes the position and attitude of the object (i.e. its rotation and tilt angle in space). By analyzing the point cloud data, the specific position and orientation of the truck and container can be identified, thereby obtaining their pose information.

[0118] Specifically, point cloud data is acquired through lidar. The point cloud data consists of a large number of points, and each point usually contains distance information and angle information. Then a target coordinate system is defined, and the polar coordinate data provided by the lidar is converted into Cartesian coordinates, that is, the target coordinate system. In the converted point cloud data, there may be noise or unnecessary points. Filtering technology (such as voxel filtering and statistical filtering) can be used to remove noise and outliers, and retain useful data, such as the coordinates of the edge of the back of the vehicle head and the left and right edges of the container.

[0119] In one achievable manner, S202 may be specifically implemented through the following steps:

[0120] First, determine the target coordinate system. The first coordinate axis in the target coordinate system is determined according to the horizontal plane direction perpendicular to the second coordinate axis, and the second coordinate axis is determined according to the forward direction of the container truck. Then, based on the point cloud data, determine the first pose information of the container truck in the target coordinate system and the second pose information of the container in the target coordinate system.

[0121] In this embodiment, the target coordinate system is established as follows: Figure 1 As shown, the first coordinate axis represents the x-axis, and this axis is determined according to the horizontal plane direction perpendicular to the second coordinate axis. Normally, if the second coordinate axis is the forward direction (usually the longitudinal direction of the vehicle), then the first coordinate axis can be a direction parallel to the ground and perpendicular to the forward direction of the vehicle (usually the horizontal direction). The second coordinate axis represents the y-axis, and this axis is determined according to the forward direction of the container truck. Normally, this direction is the longitudinal direction of the vehicle, that is, the direction in which the vehicle is traveling. In some embodiments, a third coordinate axis, namely the z-axis, which is usually perpendicular to the ground, can also be included to form a right-handed coordinate system. The origin of the target coordinate axis is the vertical projection point of the radar location on the ground.

[0122] The container door adjustment method provided in the embodiment of the present application can significantly improve the positioning accuracy of the container truck and the container by acquiring high-precision point cloud data through radar, and converting the point cloud data of the area where the container truck and the container are located into corresponding posture information can obtain accurate posture information, which is not only conducive to the placement of containers, but also conducive to optimizing the loading and unloading and transportation routes of containers, thereby improving logistics efficiency.

[0123] Based on the above embodiments, Figure 5 Schematic diagram of the process of the container door adjustment method provided in the embodiment of the present application Figure 3 .like Figure 5 As shown, in this embodiment Figure 2 Based on the embodiment, S103 is described in detail, which specifically includes the following steps:

[0124] S301, determining first adjustment information of the container truck according to the first posture information and the third posture information of the container truck;

[0125] The first adjustment information of the container truck represents the longitudinal horizontal deviation distance between the third posture information and the first posture information, that is, the horizontal deviation distance of the container truck in the longitudinal direction (usually the forward direction of the vehicle) during the process of grabbing and moving the container.

[0126] By comparing the first pose information and the third pose information, the deviation of the card set in the longitudinal direction can be calculated by calculating the difference between the two sets of pose information in the longitudinal direction, that is, calculating the difference between the two.

[0127] It is understandable that in a complex operating environment, factors such as uneven ground and wind may cause the container truck to deviate. Therefore, by calculating the first adjustment information of the container truck, it is possible to better adapt to these environmental changes and ensure smooth operation.

[0128] S302: Determine target adjustment information of the container according to the second posture information and the fourth posture information of the container and the first adjustment information of the container truck.

[0129] Among them, according to the second posture information and the fourth posture information of the container, the offset of the container itself can be obtained, including the adjustment in the longitudinal or transverse direction. Combining the offset with the first adjustment information of the container truck can more accurately determine the adjustment information of the container in the longitudinal direction to ensure the docking accuracy of the container and the container truck.

[0130] It should be noted that, during the process of replacing the container door, the vertical position of the container remains unchanged, and only the container moves horizontally or longitudinally, so the offset of the container on the z-axis is not considered.

[0131] It can be understood that by calculating the offset of the container and the truck at the same time, a double correction can be made, thereby more accurately adjusting the position and posture of both to ensure that they are perfectly docked during the container placement process. If only the offset of the container is calculated, the error caused by the movement of the truck may be ignored, so by considering the offset of both at the same time, the error in the container placement process can be more fully compensated.

[0132] The container door adjustment method provided in the embodiment of the present application calculates the longitudinal horizontal deviation distance of the container truck according to the first posture information and the third posture information of the container truck, calculates the longitudinal and lateral horizontal deviation distances of the container according to the second posture information and the fourth posture information of the container, and performs a secondary adjustment on the deviation of the container based on the deviation of the container truck, thereby obtaining the target adjustment information of the container and realizing accurate alignment of the container during the container placement process.

[0133] Based on the above embodiments, Figure 6 Schematic diagram of the process of the container door adjustment method provided in the embodiment of the present application Figure 4 .like Figure 6 As shown, S302 is described in detail, which specifically includes the following steps:

[0134] S401, determining second adjustment information of the container according to the second posture information and the fourth posture information of the container;

[0135] The second adjustment information of the container represents the lateral horizontal deviation distance and the initial longitudinal horizontal deviation distance between the fourth posture information and the second posture information.

[0136] It should be noted that, since the container truck may have longitudinal offset, but generally no lateral offset, the difference between the coordinates on the x-axis in the second posture information and the fourth posture information of the container is determined as the lateral horizontal deviation distance of the container, without considering the influence of the container truck. The difference between the coordinates on the y-axis in the second posture information and the fourth posture information of the container is determined as the initial longitudinal horizontal deviation distance of the container, so that it can be adjusted according to the longitudinal offset of the container truck later.

[0137] S402, adjusting the initial longitudinal horizontal deviation distance of the container according to the first adjustment information of the container truck to obtain third adjustment information of the container;

[0138] The third adjustment information of the container represents the sum of the initial longitudinal horizontal deviation distances in the first adjustment information and the second adjustment information.

[0139] It can be understood that the third adjustment information of the container represents the combined effect of the adjustment requirements of the container truck and the initial deviation of the container. By adjusting and integrating them in steps, the deviation can be handled more systematically and the error and uncertainty in the adjustment process can be reduced.

[0140] S403: Determine target adjustment information of the container according to the second adjustment information and the third adjustment information of the container.

[0141] In this embodiment, the second adjustment information of the container (including the lateral horizontal deviation and the initial longitudinal horizontal deviation) and the third adjustment information (the initial longitudinal horizontal deviation and the longitudinal horizontal deviation distance of the container truck) are combined to determine the comprehensive adjustment required for the container, involving the lateral and longitudinal adjustments of the container, so as to ensure the precise docking of the container and the container truck.

[0142] The container door adjustment method provided in the embodiment of the present application achieves accurate calculation and adjustment by calculating the lateral deviation and longitudinal deviation of the container step by step and taking into account the longitudinal deviation of the container truck. This can reduce repeated adjustments during the docking process, save time, and improve operational efficiency.

[0143] Figure 7 This is a schematic diagram of the structure of the fixed hanging system provided in the embodiment of the present application. Figure 7 As shown, the fixed crane system 50 provided in this embodiment includes: a radar 501, a fixed crane 502 and an electronic device 503. Among them:

[0144] Radar 501 is used to obtain point cloud data of containers and container trucks.

[0145] In this embodiment, technologies such as lidar or millimeter wave radar can be used to provide high-precision three-dimensional point cloud data to help identify and locate containers and trucks.

[0146] The fixed crane 502 is used to grab and move the container.

[0147] In this embodiment, the fixed crane includes a spreader and related equipment such as a trolley, and is a key component for performing physical operations. The spreader is responsible for unloading the container from the container truck or placing it on the container truck, and the movement of the trolley can synchronously drive the spreader to move, and then drive the container to move, thereby achieving synchronous position changes.

[0148] The electronic device 503 is used to execute the container door adjustment method of the above-mentioned various possible implementation modes.

[0149] In this embodiment, the electronic device is responsible for processing the data acquired by the radar, calculating the required adjustment information, and sending the information to the control end to control the operation of the fixed crane.

[0150] The fixed crane system provided in the embodiment of the present application can realize the automated box placement process through the joint action of the fixed crane, radar and electronic equipment, and improve the operating efficiency and safety, and can adapt to various complex operating environments and needs.

[0151] Figure 8 This is a schematic diagram of the structure of the container door adjustment device provided in the embodiment of the present application. Figure 8 As shown, the container door adjustment device 60 provided in this embodiment includes:

[0152] The first processing module 601 is used to obtain first posture information of the container truck and second posture information of the container on the container truck when it is detected that the container truck is at a first position, and the first position is determined according to the position of the fixed crane;

[0153] The second processing module 602 is used to obtain the third posture information of the container truck and the fourth posture information of the container when it is detected that the container is grabbed by the spreader of the fixed crane and moved to the preset second position;

[0154] The determination module 603 is used to determine the target adjustment information of the container according to the second posture information and the fourth posture information of the container and the first posture information and the third posture information of the container truck, wherein the target adjustment information represents the horizontal deviation distance between the spatial position of the container and the standard container placement position;

[0155] The control module 604 is used to adjust the target information of the container so as to enable the spreader of the fixed crane to perform the container placing operation.

[0156] Optionally, the first processing module 601 is specifically configured to:

[0157] When it is detected that the container truck is at the first position, point cloud data of the area where the container and the container truck are located is obtained through the radar;

[0158] According to the point cloud data, the first pose information of the container truck and the second pose information of the container on the container truck are obtained.

[0159] Optionally, the radar is arranged at a middle position on one side of the fixed crane, between 1.5 meters and 2 meters away from the first position, and at a vertical height of between 1.5 meters and 1.7 meters from the ground.

[0160] Optionally, the first processing module 601 is specifically configured to:

[0161] Determine a target coordinate system, wherein a first coordinate axis in the target coordinate system is determined according to a horizontal plane direction perpendicular to a second coordinate axis, and the second coordinate axis is determined according to a forward direction of the container truck;

[0162] According to the point cloud data, the first pose information of the container truck in the target coordinate system and the second pose information of the container in the target coordinate system are determined.

[0163] Optionally, the determination module 603 is specifically configured to:

[0164] Determine first adjustment information of the container truck according to the first posture information and the third posture information of the container truck, wherein the first adjustment information of the container truck represents a longitudinal horizontal deviation distance between the third posture information and the first posture information;

[0165] The target adjustment information of the container is determined according to the second posture information and the fourth posture information of the container and the first adjustment information of the container truck.

[0166] Optionally, the determination module 603 may also be used to:

[0167] Determine second adjustment information of the container according to the second posture information and the fourth posture information of the container, where the second adjustment information of the container represents a lateral horizontal deviation distance and an initial longitudinal horizontal deviation distance between the fourth posture information and the second posture information;

[0168] According to the first adjustment information of the container truck, the initial longitudinal horizontal deviation distance of the container is adjusted to obtain the third adjustment information of the container, where the third adjustment information of the container represents the sum of the initial longitudinal horizontal deviation distances in the first adjustment information and the second adjustment information;

[0169] Target adjustment information of the container is determined according to the second adjustment information and the third adjustment information of the container.

[0170] Optionally, the control module 604 is specifically configured to:

[0171] The target adjustment information of the container is sent to the fixed crane controller of the container, so that the fixed crane controller of the container controls the spreader of the fixed crane to move, aligns the container with the front of the container truck, and places the container on the container truck.

[0172] The container door adjusting device provided in this embodiment can execute the method provided in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be described in detail here.

[0173] Fig. 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig. 9 As shown, the electronic device 503 provided in this embodiment includes: at least one processor 701 and a memory 702. Optionally, the electronic device 503 further includes a communication component 703. The processor 701, the memory 702 and the communication component 703 are connected via a bus 704.

[0174] In a specific implementation process, at least one processor 701 executes the computer-executable instructions stored in the memory 702, so that at least one processor 701 executes the above method.

[0175] The specific implementation process of the processor 701 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0176] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0177] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0178] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0179] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0180] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0181] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0182] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0183] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0184] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0185] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0186] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0187] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0188] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for adjusting container doors, characterized in that: The method comprises: When it is detected that the container truck is at a first position, obtaining first posture information of the container truck and second posture information of the container on the container truck, wherein the first position is determined according to the position of the fixed crane; When it is detected that the container is grabbed by the spreader of the fixed crane and moved to a preset second position, third position information of the container truck and fourth position information of the container are acquired; Determine target adjustment information of the container according to the second position information and the fourth position information of the container, the first position information and the third position information of the container truck, wherein the target adjustment information represents a horizontal deviation distance between the spatial position of the container and the standard container placement position; The target adjustment information of the container is used to enable the spreader of the fixed crane to perform a container placing operation.

2. The method according to claim 1, characterized in that When detecting that the container truck is located at the first position, obtaining the first posture information of the container truck and the second posture information of the container on the container truck includes: When it is detected that the container truck is located at the first position, point cloud data of the area where the container and the container truck are located are acquired by radar; According to the point cloud data, the first posture information of the container truck and the second posture information of the container on the container truck are obtained.

3. The method according to claim 2, characterized in that The radar is arranged at a middle position of one side of the fixed crane, between 1.5 meters and 2 meters away from the first position, and at a vertical height of between 1.5 meters and 1.7 meters from the ground.

4. The method according to claim 2 or 3, characterized in that: The step of obtaining the first posture information of the container truck and the second posture information of the container on the container truck according to the point cloud data includes: Determine a target coordinate system, wherein a first coordinate axis in the target coordinate system is determined according to a horizontal plane direction perpendicular to a second coordinate axis, and the second coordinate axis is determined according to a forward direction of the container truck; According to the point cloud data, the first pose information of the container truck in the target coordinate system and the second pose information of the container in the target coordinate system are determined.

5. The method according to any one of claims 1 to 3, characterized in that: The step of determining the target adjustment information of the container according to the second posture information and the fourth posture information of the container and the first posture information and the third posture information of the container truck comprises: Determine first adjustment information of the container truck according to the first posture information and the third posture information of the container truck, wherein the first adjustment information of the container truck represents a longitudinal horizontal deviation distance between the third posture information and the first posture information; The target adjustment information of the container is determined according to the second posture information and the fourth posture information of the container and the first adjustment information of the container truck.

6. The method according to claim 5, characterized in that The step of determining target adjustment information of the container according to the second posture information and the fourth posture information of the container and the first adjustment information of the container truck comprises: Determine second adjustment information of the container according to the second posture information and the fourth posture information of the container, wherein the second adjustment information of the container represents a lateral horizontal deviation distance and an initial longitudinal horizontal deviation distance between the fourth posture information and the second posture information; According to the first adjustment information of the container truck, the initial longitudinal horizontal deviation distance of the container is adjusted to obtain third adjustment information of the container, where the third adjustment information of the container represents the sum of the initial longitudinal horizontal deviation distances in the first adjustment information and the second adjustment information; The target adjustment information of the container is determined according to the second adjustment information and the third adjustment information of the container.

7. The method according to claim 1, characterized in that The step of controlling the spreader of the fixed crane to perform a container placing operation according to the target adjustment information of the container comprises: The target adjustment information of the container is sent to the fixed crane controller of the container, so that the fixed crane controller of the container controls the spreader of the fixed crane to move, aligns the container with the front of the container truck, and places the container on the container truck.

8. A fixed hanging system, characterized in that: The system includes: radar, fixed crane and electronic equipment; The radar is used to obtain point cloud data of containers and container trucks; The fixed crane is used to grab and move the container; The electronic device is used to execute the method described in any one of claims 1 to 7.

9. A container door adjustment device, characterized in that: The device comprises: A first processing module is used to obtain first posture information of the container truck and second posture information of the container on the container truck when it is detected that the container truck is located at a first position, wherein the first position is determined according to the position of the fixed crane; A second processing module is used to obtain third posture information of the container truck and fourth posture information of the container when it is detected that the container is grabbed by the spreader of the fixed crane and moved to a preset second position; A determination module, configured to determine target adjustment information of the container according to the second posture information and the fourth posture information of the container and the first posture information and the third posture information of the container truck, wherein the target adjustment information represents a horizontal deviation distance between the spatial position of the container and the standard container placement position; The control module is used to adjust the target information of the container so as to enable the spreader of the fixed crane to perform the container placing operation.

10. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

Images