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

Abstract

The embodiments of the present application provide a method for adjusting container doors, a fixed crane system, a device, and an electronic device. The method includes: when a container truck is detected to be in a first position, first obtaining the first position information of the container truck and the second position information of the container on the container truck; then, when it is detected that the container is grabbed by the fixed crane's spreader and moved to a preset second position, obtaining the third position information of the container truck and the fourth position information of the container; thereby determining the target adjustment information of the container based on the second and fourth position information of the container and the first and third position information of the container truck; thus, according to the target adjustment information of the container, the fixed crane's spreader performs the container placement operation. The method of the present application improves the alignment accuracy during the process of adjusting container doors.

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 shunting operations are an important part of the container terminal logistics process. They rely on automated equipment and positioning sensing technology to achieve a high degree of intelligence and automation.

[0003] Currently, for container door adjustment operations, the automatic container placement process on the container truck mainly relies on identifying and detecting the truck's deck, that is, the position and posture of the trailer carrying the container, and aligning it based on this information to place the container on the container truck.

[0004] However, due to the diversity of container truck models, there are many types of container truck plates, and 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 container doors, comprising:

[0007] When it is detected that the container truck is at a first position, first posture information of the container truck and second posture 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] Determine target adjustment information for the container based on the second and fourth position information of the container and the first and third position information of the container truck, where the target adjustment information represents the horizontal deviation distance between the container's spatial position and the standard container placement position;

[0010] According to the target adjustment information of the container, the fixed crane 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 the container truck is detected at the first position, point cloud data of the area where the container and the container truck are located is obtained through 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 based on the point cloud data includes:

[0016] Determine the target coordinate system, where the first coordinate axis of 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;

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

[0018] Optionally, determining target adjustment information of the container based on 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] Determining first adjustment information of the container truck according to the first posture information and the third posture information of the container truck, where 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] 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] Determining second adjustment information of the container based on 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] 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, 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 the container release 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, align the container with the front of the container truck, and place the container on the container truck.

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

[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 implementations of the first aspect.

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

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

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

[0034] A determination module is used to determine target adjustment information of the container based on the second and fourth posture information of the container and the first and third posture information of the container truck, where 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 according to the target of the container 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 the container truck is detected at the first position, point cloud data of the area where the container and the container truck are located is obtained through 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 the target coordinate system, where the first coordinate axis of 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;

[0042] Based on the point cloud data, the first pose information of the 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] Determining first adjustment information of the container truck according to the first posture information and the third posture information of the container truck, where 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] 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] Determining second adjustment information of the container based on 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] 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, 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, align the container with the front of the container truck, and place 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.

[0055] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable 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 equipment provided by the embodiments of the present application identify the first posture information of the container truck and the second posture information of the container on the container truck when detecting that the container truck is in the first position, and then identify the third posture information of the container truck and the fourth posture information of the container when detecting that the container is grabbed by the spreader of the fixed crane and moved to the preset second position, thereby calculating the deviations in different directions before and after the container is grabbed and moved, that is, the target adjustment information, based on the above-mentioned first posture information to fourth posture information, so as to enable the spreader of the fixed crane to perform the container release operation By separately identifying the position information of the container truck and the container, 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 where the actual container placement position is different from the standard container placement position due to factors such as the variety of vehicle plate types and uneven loading or changes in the hanging position is avoided. 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 for the 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 structural diagram 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] Figure 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0068] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0069] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain 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. 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] Prior art container truck unloading operations typically involve sensors scanning the surface of the truck deck, capturing specific markings or features, such as edges and corners, to determine the deck's spatial position and angle. This information is then used to adjust the spreader's fixed crane to accurately grasp and place the container. Furthermore, since containers are typically secured to the truck with a lock, high-precision cameras or sensors can also be used to scan the lock's keyhole to accurately locate the container on the truck. This information is then used to control the spreader for precise unloading, ensuring the container is accurately placed in the standard unloading position.

[0072] However, existing methods for identifying vehicle plates are environmentally dependent. The surface characteristics of a vehicle plate may be affected by environmental factors such as dust, dirt, and rain, which can reduce scanning accuracy. Furthermore, the shape and condition of vehicle plates can vary between different types of container trucks, increasing the complexity of identification and positioning. Furthermore, existing methods for identifying lock pins and keyholes require extremely high accuracy and resolution from scanning equipment due to their small size, resulting in high technical difficulty and cost.

[0073] In the process of solving the above technical problems, the inventor's technical conception is as follows: In the prior art, specific physical features such as the surface of the vehicle plate or the lock head and lock hole are used as the identification object, which leads to problems such as insufficient recognition accuracy and high precision 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 recognition accuracy can be avoided, so as to reduce the recognition complexity caused by the type and size of the container truck and the vehicle plate, and simplify the recognition 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 not be a separate task of grabbing or releasing the container. At the same time, the container truck The position of the container 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 the container is placed on the container truck and when the container is grabbed and moved or rotated by the spreader, as well as the possible position change of the container truck during the movement, we can identify and record the posture information of the container truck and the container in real time, so that we can adjust the placement of the container 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, thereby achieving higher positioning accuracy and improving the safety and stability of the placing process.

[0074] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. 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 This is 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 container door adjustment operation position 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 container release efficiency.

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

[0078] In this embodiment, the first position is the container unloading location specified by a fixed crane. A fixed crane, such as a shore container crane or other type of fixed-mounted lifting equipment, has a designated loading lane, i.e., the container unloading location. A 3D lidar is installed adjacent to the fixed crane's lane, 1.5 to 2 meters from the lane and 1.5 to 1.7 meters above the ground (Point A in the diagram). This allows for simultaneous scanning of the truck deck, container sides, and truck nose, as well as horizontal scanning of the container and truck separation.

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

[0080] A trolley is mounted on the crane's main beam and can move along its length. The trolley is typically equipped with a lifting mechanism, such as a spreader. The movement of the trolley drives the spreader in sync, enabling the lifting, lifting, moving, and placing of cargo.

[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] As can be understood, the 3D lidar's horizontal and vertical fields of view ensure that it covers the truck's entire operating area, including the sides and front of the container, providing the data foundation for the subsequent identification process. This wide field of view effectively monitors the relative position and status of the truck and container. Its high resolution ensures that the radar can accurately capture subtle displacements and angular changes. A frame rate of at least 10Hz ensures real-time data updates, facilitating dynamic monitoring and control. During container unloading operations, it can promptly respond to the truck's movement and position changes, improving operational efficiency. Furthermore, the radar is installed alongside the fixed crane track, at a certain distance from the track and above the ground. This placement ensures that the radar does not interfere with the truck's normal operation while maintaining a suitable field of view and excellent detection results. This location also protects the radar from physical damage from the truck and other equipment.

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

[0084] S101. When a container truck is detected to be at a first position, obtaining first position information of the container truck and second position information of a 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, which usually refers to a special truck used to transport containers.

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

[0087] Specifically, the primary pose information for the truck can be the edge of the truck's front end near the container, while the secondary pose information for the container can be the edge of the container's left and right sides. By identifying the pose information of the truck's front edge and the container's left and right edges, the position and orientation of the truck and container in space can be precisely determined, allowing for better alignment between the container and truck, ensuring accurate relative positioning during unloading.

[0088] It should be noted that after obtaining the first posture information and the second posture information through the sensor, it is necessary to process 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 container are scanned by 3D lidar to obtain a point cloud dataset. 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. This data can be used to describe the geometric shapes of the container truck and container. Finally, this data is aligned with the preset target coordinate system. Therefore, the position information of the container truck and 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 the basic data for the container placement process, reducing the risk of collision due to 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's spreader and moving it to a preset second position can refer to the container door replacement process, which involves grabbing the container from a container truck, lifting it to a suitable height, rotating it so that its door faces the desired direction, and finally placing the container back on the container truck. During this process, the container moves or rotates, while the container truck is typically stationary. 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, i.e., shifting from its original first position. Therefore, obtaining the third pose information of the container truck can prevent the container truck from moving and causing the container to shift in its placement position.

[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, and will not be repeated here in this embodiment.

[0094] It is understood that when the container is grabbed by the fixed crane's spreader and moved to the preset second position, the sensor is used to obtain the third position information of the container truck again. At the same time, the fourth position information of the container is obtained. This can monitor the position changes of the container during the movement and ensure that it stays on the predetermined path. It can also prevent possible position deviation of the container truck and consider the impact of the container truck's deviation on the position change of the container. By comparing the position information before and after the movement, the deviation during the movement can be evaluated, providing data support for subsequent adjustments.

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

[0096] The target adjustment information represents the horizontal deviation distance between the container's spatial position 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 on the y-axis changes, 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 the container truck is detected to be in 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 (because 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 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 container truck's forward direction and the deviation of the trolley's moving direction. 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 is the deviation of the left edge of the container on the x-axis; ΔY left is the deviation of the left edge of the container on the y-axis; ΔX right is the deviation of the right edge of the container on the x-axis; ΔY right is the deviation of the right edge of the container on the y-axis.

[0103] It is understandable 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: Adjust 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, align the container with the front of the container truck, and place the container on the container truck.

[0108] In this embodiment, the target adjustment information of the container is sent to the fixed crane controller via 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 a timely manner. The fixed crane controller receives the target adjustment information, parses it, and converts the parsed information into control instructions. These instructions 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's understandable that target adjustment information is calculated based on the positional information of the truck and container edges, resulting in a more accurate offset. This offset is then used to adjust the container accordingly, aligning the container with the truck's front end. This synchronized alignment of the edges reduces the number and magnitude of adjustments required. This target adjustment information provides a reliable data foundation for the automation system, enabling it to make real-time adjustments, reducing reliance on manual operations, improving operational continuity and consistency, and enabling greater automation of the entire container unloading process.

[0110] The container door adjustment method provided in the embodiment of the present application obtains the first posture information of the container truck and the second posture information of the container when the container truck is detected to be in the first position, and then obtains the third posture information of the container truck and the fourth posture information of the container when the container is detected to be grabbed by the spreader of the fixed crane and moved to the preset second position, thereby calculating the deviation of the container in different directions before and after being grabbed and moved based on 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 the container door adjustment method provided in this application Figure 2 .like Figure 3 As shown, 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 at a first position, point cloud data of the area where the container and the container truck are located is obtained through radar.

[0113] Point cloud data, a 3D dataset obtained through radar scanning, can describe the shape and position of objects in detail. By acquiring point cloud data, the spatial information of the truck and its containers can be accurately captured.

[0114] like Figure 4 Figure 1 shows a schematic diagram of point cloud data for the container door adjustment method provided by an embodiment of the present application. The right side of the figure shows the point cloud of the container, the left side shows the point cloud of the truck's front end, and the center shows the radar area. By analyzing the point cloud data, the outlines or feature points of the truck and 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 based on the point cloud data.

[0117] Position information typically includes the position and orientation of an object (i.e., its rotation and tilt angle in space). By analyzing point cloud data, the specific position and orientation of trucks and containers can be identified, thereby obtaining their position information.

[0118] Specifically, point cloud data is acquired through lidar. 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, in 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 obtains high-precision point cloud data through radar, which can significantly improve the positioning accuracy of the container truck and the container. By converting the point cloud data of the area where the container truck and the container are located into corresponding posture information, accurate posture information can be obtained, which is not only conducive to container placement and alignment, but also conducive to optimizing the loading and unloading and transportation routes of the container, 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, 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] Among them, 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 the container being grabbed and moved.

[0126] By comparing the first pose information and the third pose information, the longitudinal deviation of the set card 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] The container's second and fourth position information can be used to determine its offset, including adjustments in the longitudinal and transverse directions. Combining this offset with the truck's first adjustment information can more accurately determine the container's longitudinal adjustment, ensuring docking accuracy between the container and 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 horizontal or longitudinal movement is performed, so the offset of the container on the z-axis is not considered.

[0131] As you can see, by calculating both the container and truck offsets simultaneously, a dual correction can be performed, more precisely adjusting the positions and postures of both to ensure perfect docking during unloading. If only the container offset is calculated, errors caused by the truck's movement may be overlooked. Therefore, by considering both offsets simultaneously, errors during unloading 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 based on the first posture information and the third posture information of the container truck, and calculates the longitudinal and lateral horizontal deviation distances of the container based on 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 precise 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. Determine second adjustment information of the container based on 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 because container trucks may experience longitudinal offset but generally do not experience lateral offset, the container's lateral horizontal deviation distance is determined based on the difference between the x-axis coordinates in the second and fourth pose information of the container, without considering the impact of the container truck. The initial longitudinal horizontal deviation distance of the container is determined based on the difference between the y-axis coordinates in the second and fourth pose information of the container, so that it can be adjusted based on the longitudinal offset of the container truck.

[0137] S402: Adjust 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, reducing errors and uncertainties in the adjustment process.

[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 distance between the initial longitudinal horizontal deviation and the longitudinal horizontal deviation of the container truck) are combined to determine the comprehensive adjustment required for the container, involving the lateral and longitudinal adjustments of the container to ensure accurate docking between 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 in steps and taking them into comprehensive consideration with 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 structural diagram 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 or placing the container from the container truck, and the movement of the trolley can synchronously drive the spreader to move, and then drive the container to move, achieving synchronous position changes.

[0148] The electronic device 503 is used to execute the container door adjustment method of the various possible implementations described above.

[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, improve operational 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 configured to obtain first posture information of the container truck and second posture information of the container on the container truck when detecting that the container truck is at a first position, wherein the first position is determined according to the position of the fixed crane;

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

[0154] Determination module 603, configured to determine target adjustment information for the container based on the second and fourth position information of the container and the first and third position information of the container truck, where the target adjustment information represents a 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 release operation.

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

[0157] When the container truck is detected at the first position, point cloud data of the area where the container and the container truck are located is obtained through 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 the target coordinate system, where the first coordinate axis of 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;

[0162] Based on the point cloud data, the first pose information of the 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] Determining first adjustment information of the container truck according to the first posture information and the third posture information of the container truck, where 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] 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] Determining second adjustment information of the container based on 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] 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, 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, align the container with the front of the container truck, and place 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. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0173] Figure 9 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 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] During the specific implementation process, at least one processor 701 executes the computer-executable instructions stored in the memory 702, so that the at least one processor 701 performs the above method.

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

[0176] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), 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 present invention may be directly implemented by a hardware processor or implemented 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 (NVM), such as at least one disk memory.

[0178] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just 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 memory 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-purpose 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 an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (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 merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

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

[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 and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments 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, and other media that can store program code.

[0187] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0188] Finally, it should be noted that those skilled in the art will readily identify 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 that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A container door adjustment method, characterized in that: The method comprises: When detecting 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; Determining target adjustment information of the container based on the second and fourth position information of the container, and the first and third position information of the container truck, where the target adjustment information represents a horizontal deviation distance between the spatial position of the container and the standard container placement position; Adjust the target information of the container so that the spreader of the fixed crane performs a container placing operation; The 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: Determining 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; determining 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; 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, 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; Target adjustment information of the container is determined according to the second adjustment information and the third adjustment information of the container.

2. The method according to claim 1, characterized in that The method of acquiring first posture information of the container truck and second posture information of the container on the container truck when detecting that the container truck is at the first position includes: When the container truck is detected to be at the first position, point cloud data of the area where the container and the container truck are located is 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 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.

4. The method according to claim 2 or 3, characterized in that The step of 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: 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, first pose information of the container truck in the target coordinate system and second pose information of the container in the target coordinate system are determined.

5. The method according to claim 1, wherein 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 includes: 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.

6. 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 trucks; The fixed crane is used to grab and move the container; The electronic device is used to execute the method according to any one of claims 1 to 5.

7. A container door adjustment device, characterized in that: For executing the method according to any one of claims 1 to 5, the device comprises: A first processing module is configured to obtain first posture information of the container truck and second posture information of the container on the container truck when detecting that the container truck is in a first position, wherein the first position is determined according to the position of the fixed crane; A second processing module is configured to obtain third position information of the container truck and fourth position information of the container when detecting 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 based on the second and fourth position information of the container, and the first and 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 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.

8. 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 5.

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