Security detection method and system for yard running groove, yard bridge and medium

Abstract

The invention provides a safety detection method and system for storage yard groove walking, a yard bridge and a medium, and relates to the technical field of automation. The method is applied to a radar detection system, and the radar detection system is in communication connection with a programmable logic controller (PLC) of the lifting appliance and a 3D radar arranged on the short side of the lifting appliance. The method comprises the steps that in response to a lock signal sent by a PLC, the current state of the lifting appliance is determined according to the lock signal, and the current state of the lifting appliance comprises a lifting appliance non-loading box and a lifting appliance loading box; the detection processing module is used for determining a safety detection area point cloud corresponding to the current state of the lifting appliance according to the point cloud data sent by the 3D radar; and according to the point cloud of the safety detection area, carrying out safety detection on storage yard slot walking on the lifting appliance. According to the method provided by the invention, a safety detection blind area can be avoided, and the safety detection effect and efficiency of the storage yard slot walking are improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a method, system, yard bridge and medium for detecting the safety of a storage yard slot. Background Art

[0002] With the improvement of port automation level, more and more port operations are being automated, such as automatic loading and unloading of containers.

[0003] During the automatic loading and unloading of containers, when the crane and the lifted container are moving in the container yard, it is easy for the crane to collide with the container due to insufficient lifting height, also known as "bowl" accident. To avoid "bowl" accidents, the traditional solution is to lift the crane to a sufficient height, but this solution has low working efficiency and is not suitable for today's logistics speed.

[0004] In the related technology, in order to ensure the working efficiency of the yard channel, radar and camera can be installed under the trolley frame, and the height and position of the container under the trolley frame can be detected in real time by using the radar and camera, and the yard channel of the spreader can be tested in real time for safety, so that the spreader can be raised to a safe height without collision. However, the above detection method has a large blind spot, poor safety detection effect and low efficiency. Summary of the invention

[0005] The embodiments of the present application provide a method, system, yard bridge and medium for safety detection of storage yard slots, which can avoid blind spots in safety detection and improve the effect and efficiency of safety detection of storage yard slots.

[0006] In a first aspect, an embodiment of the present application provides a safety detection method for a storage yard slot, which is applied to a radar detection system, wherein the radar detection system is respectively connected to a programmable logic controller PLC of a spreader and a 3D radar arranged on a short side of the spreader for communication, and the method comprises:

[0007] In response to a lock signal sent by the PLC, determining a current state of the spreader according to the lock signal, wherein the current state of the spreader includes the spreader not carrying a box and the spreader carrying a box;

[0008] Determine the point cloud of the safety detection area corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar;

[0009] According to the point cloud of the safety detection area, the safety detection of the spreader in the yard is performed.

[0010] In a possible implementation manner, determining the safety detection area point cloud corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar includes:

[0011] According to a preset unified coordinate system, coordinate rotation transformation is performed on the point cloud data sent by the 3D radar to obtain standard point cloud data, wherein the Z axis of the unified coordinate system is perpendicular to the ground;

[0012] Determine the point cloud position of the target side of the safety detection area according to the standard point cloud data, wherein the target side includes the front side, the rear side, the left side and the right side;

[0013] Determine the lower point cloud position of the safety detection area according to the current state of the spreader, the body height of the spreader and a preset third distance;

[0014] According to the point cloud position of the target side and the point cloud position of the lower side, a point cloud of a safety detection area corresponding to the current state of the spreader is determined.

[0015] In a possible implementation manner, determining the point cloud position of the target side of the safety detection area according to the standard point cloud data includes:

[0016] If the target side is the left side or the right side, determine the opposite side point cloud of the target side neighboring box of the spreader according to the standard point cloud data; determine the target side point cloud position of the safety detection area according to the opposite side point cloud and the preset first distance;

[0017] If the target side is the front side or the rear side, determine the opposite side point cloud of the adjacent row of boxes on the target side of the sling according to the standard point cloud data; determine the target side point cloud position of the safety detection area according to the opposite side point cloud and the preset second distance.

[0018] In a possible implementation manner, determining the lower point cloud position of the safety detection area according to the current state of the sling, the body height of the sling, and a preset third distance includes:

[0019] If the current state of the spreader is that the spreader is not carrying a box, determining the first lower point cloud position of the safety detection area according to the body height of the spreader and a preset third distance;

[0020] If the current state of the sling is that the sling carries a box, the second lower point cloud position of the safety detection area is determined according to the body height of the sling, the height of the box carried by the sling, and a preset third distance.

[0021] In a possible implementation manner, before determining the opposite side point cloud of the target side neighboring box of the spreader according to the standard point cloud data, the method further includes:

[0022] Determine whether there is a target side neighboring box for the spreader according to the standard point cloud data;

[0023] If so, the step of determining the opposite side point cloud of the target side neighboring box of the spreader according to the standard point cloud data is performed;

[0024] If not, determining the point cloud position of the target side of the safety detection area according to a fourth distance from the target side to the center of the spreader;

[0025] Accordingly, before determining the opposite side point cloud of the adjacent row of boxes on the target side of the spreader according to the standard point cloud data, the method further includes:

[0026] Determine whether there is a target side adjacent row box for the spreader according to the standard point cloud data;

[0027] If so, the step of determining the opposite side point cloud of the adjacent row of boxes on the target side of the spreader according to the standard point cloud data is performed;

[0028] If not present, the point cloud position of the target side of the safety detection area is determined according to the fifth distance between the target side and the center of the spreader.

[0029] In a possible implementation, the performing safety detection of the spreader in the yard according to the safety detection area point cloud includes:

[0030] Performing filtering processing on the point cloud of the safety detection area to obtain a filtered point cloud;

[0031] Performing obstacle detection on the filtered point cloud to obtain a safety detection result, wherein the safety detection result includes whether an obstacle exists and the position of the obstacle when the obstacle exists;

[0032] The safety detection result is sent to the PLC, and the PLC is used to perform safety control of the spreader in the yard according to the obstacle detection result.

[0033] In a possible implementation manner, determining the current state of the spreader according to the lock signal includes:

[0034] Determining whether the lock signal is a locking signal;

[0035] If so, determining that the current state of the spreader is a spreader carrying a box;

[0036] If not, it is determined that the current state of the spreader is that the spreader is not carrying a container.

[0037] In a second aspect, an embodiment of the present application provides a radar detection system, including:

[0038] A state determination module, for responding to a lock signal sent by the PLC, and determining a current state of the spreader according to the lock signal, wherein the current state of the spreader includes the spreader not carrying a box and the spreader carrying a box;

[0039] The detection processing module is used to determine the safety detection area point cloud corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar; and perform a safety detection of the spreader in the yard according to the safety detection area point cloud.

[0040] In a third aspect, an embodiment of the present application provides another radar detection system, wherein the radar detection system is respectively connected to a programmable logic controller PLC of a spreader and a 3D radar arranged on a short side of the spreader, wherein there are multiple 3D radars, and the multiple 3D radars are respectively arranged at preset positions on both sides of the short side of the spreader, so that the 3D radar can scan adjacent shell boxes and adjacent row boxes of the spreader;

[0041] The radar detection system comprises:

[0042] A processor, and a memory communicatively connected to the processor;

[0043] Memory is used to store computer executable instructions;

[0044] The processor is used to execute the computer-executable instructions stored in the memory to implement the safety detection method for yard channel slipping of the first aspect.

[0045] In a fourth aspect, an embodiment of the present application provides a field bridge, the field bridge comprising a spreader, a radar detection system as described in the third aspect, and a 3D radar arranged on a short side of the spreader, the radar detection system being communicatively connected to a programmable logic controller PLC of the spreader and the 3D radar respectively;

[0046] There are multiple 3D radars, and the multiple 3D radars are respectively arranged at preset positions on the short sides of both sides of the spreader, so that the 3D radar can scan the adjacent shell boxes and adjacent row boxes of the spreader.

[0047] 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 safety detection method for yard channel movement of the first aspect.

[0048] 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, is used to implement the safety detection method for yard channel movement of the first aspect.

[0049] The embodiments of the present application provide a method, system, yard bridge and medium for safety detection of the yard slot. The 3D radar can be set on the short side of the spreader so that the 3D radar can scan the adjacent boxes and adjacent rows of boxes of the spreader, so that the point cloud data scanned by the 3D radar includes various areas around the spreader, avoiding blind spots in safety detection and improving the effect of safety detection. In addition, after the radar detection system receives the lock signal sent by the PLC, it can determine the current state of the spreader according to the lock signal, and determine the safety detection area point cloud corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar. Through such a setting, when the spreader is in different states, it can correspond to different safety detection area point clouds respectively, so as to use the safety detection area point cloud corresponding to the current state in a targeted manner for safety detection, which not only improves the efficiency of safety detection, but also further improves the effect of safety detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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.

[0051] Figure 1 It is a structural schematic diagram of a certain field bridge in the related technology;

[0052] Figure 2 A system architecture diagram of an embodiment of the present application;

[0053] Figure 3 This is a flow chart of a method for detecting the safety of a storage yard slot according to an embodiment of the present application;

[0054] Figure 4 This is a schematic diagram of the structure of a radar detection system according to an embodiment of the present application;

[0055] Figure 5 This is a schematic structural diagram of a radar detection system according to another embodiment of the present application.

[0056] Figure numerals: 1. trolley frame; 2. sling; 3. radar; 4. 3D radar.

[0057] 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

[0058] 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.

[0059] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0060] In the technical solution of this application, the collection, storage, use, processing, transmission, provision and disclosure of information such as financial data or user data involved shall comply with the provisions of relevant laws and regulations and shall not violate public order and good morals.

[0061] 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.

[0062] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0063] The safety detection method, system, yard bridge and medium for yard slot movement of the present application can be used in the field of automation, and can also be used in any field other than the field of automation, such as the field of container lifting, etc. The application field of the safety detection method, system, yard bridge and medium for yard slot movement of the present application is not limited.

[0064] The safety detection method, system, yard crane and medium for yard channel deviation of the present application can be applied to the scenario of automatic loading and unloading of port container yards, and any scenario involving channel deviation of a spreader in a container yard can be applied to the safety detection method, system, yard crane and medium for yard channel deviation of the present application.

[0065] Programmable Logic Controller (PLC) is a digital computing controller with a microprocessor for automated control. It can load control instructions into memory at any time for storage and execution. The programmable logic controller consists of functional units such as CPU, instruction and data memory, input / output interface, power supply, digital analog conversion, etc.

[0066] Yard walking refers to the process in which the yard crane (including trolley frame and spreader) moves in the outdoor container yard to automatically load and unload containers.

[0067] During the automatic loading and unloading of containers, when the crane and the lifted container are moving in the container yard, it is easy for the crane to collide with the container due to insufficient lifting height, also known as "bowl" accident. To avoid "bowl" accidents, the traditional solution is to lift the crane to a sufficient height, but this solution has low working efficiency and is not suitable for today's logistics speed.

[0068] In the related technology, in order to ensure the working efficiency of the yard channel, sensors such as radar and camera can be installed under the trolley frame, and the radar and camera can be used for safety detection to raise the spreader to a safe height where no collision will occur. Figure 1 is a structural diagram of a field bridge in the related technology, such as Figure 1 As shown, a radar 3 is arranged below the trolley frame 1 of the yard crane. The radar 3 can detect the height and position of the container below the trolley frame 1 in real time, and perform real-time safety detection for the yard channel of the spreader 2.

[0069] However, there are also many problems with the above detection methods:

[0070] (1) Radar, camera and other sensors are installed on the trolley frame. If the spreader is moved at a lower position in a densely stacked yard, there will be a large blind spot, resulting in poor safety detection effect.

[0071] (2) The point cloud data processing area is universal and is not differentiated according to the status of the lifting equipment, resulting in low safety detection efficiency.

[0072] Based on the above technical problems, the inventive concept of the present application is: how to provide a safety detection solution for the storage yard slot that can avoid safety detection blind spots and improve the safety detection effect and efficiency of the storage yard slot.

[0073] The embodiment of the present application provides a method, system, yard bridge and medium for safety detection of the yard slot, which can use the 3D radar set on the short side of the spreader to avoid the safety detection blind area, so that the 3D radar can scan the adjacent shells and adjacent rows of boxes of the spreader, improving the effect of safety detection. In addition, the current state of the spreader can be determined according to the lock signal sent by the PLC, and the safety detection area point cloud corresponding to the current state can be used in a targeted manner for safety detection, which not only improves the efficiency of safety detection, but also further improves the effect of safety detection.

[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 2 This is a system architecture diagram of an embodiment of the present application, such as Figure 2 As shown, 1 is a trolley frame, 2 is a spreader, and 4 is a 3D radar. The 3D radar 4 is set on the short sides of the spreader 2 and can scan the adjacent boxes and adjacent rows of boxes of the spreader 2. The radar detection system is respectively connected to the programmable logic controller PLC of the spreader 2 and the 3D radar 4. The radar detection system responds to the lock signal sent by the PLC, and determines the current state of the spreader 2 according to the lock signal. The current state of the spreader 2 includes the spreader not carrying boxes and the spreader carrying boxes; according to the point cloud data sent by the 3D radar 4, the safety detection area point cloud corresponding to the current state of the spreader 2 is determined; according to the safety detection area point cloud, the spreader 2 is subjected to a safety inspection of the yard slot.

[0076] Figure 3 This is a flow chart of a method for detecting a stacking slot in a storage yard according to an embodiment of the present application. This embodiment uses a radar detection system as an execution subject to illustrate the method for detecting a stacking slot in a storage yard. The radar detection system can be connected to the programmable logic controller PLC of the spreader and the 3D radar arranged on the short side of the spreader. Figure 3 As shown, the method for detecting the safety of the yard slot may include the following steps:

[0077] S301: In response to a lock signal sent by the PLC, determine the current state of the spreader according to the lock signal, where the current state of the spreader includes the spreader not carrying a box and the spreader carrying a box.

[0078] In this embodiment, the radar detection system and PLC can be set up in the distribution room. The radar detection system can be connected to the 3D radar set on the short side of the sling for communication, receive and process the point cloud data sent by the 3D radar in real time, and send the processed safety detection results to the PLC, so that the PLC can control the operation of the sling according to the safety detection results.

[0079] In this embodiment, the 3D radar may also be replaced by a plurality of single-line radars.

[0080] In this embodiment, the spreader can be a lifting component for lifting containers on a yard bridge, and the spreader is usually rectangular with two long sides and two short sides. There can be multiple 3D radars, and the multiple 3D radars are respectively set at preset positions on the short sides of both sides of the spreader. The specific preset positions can be flexibly set by those skilled in the art, and no limitation is made here, as long as the 3D radar can scan the adjacent boxes and adjacent rows of boxes of the spreader.

[0081] For example, Figure 2 As shown, a 3D radar 4 is provided on the short sides of the left and right sides of the spreader 2, and each 3D radar 4 can scan the adjacent shell boxes and adjacent row boxes of the spreader 2.

[0082] In this embodiment, the 3D radar is set on the short side of the sling. A 3D radar is installed on each short side of the sling to scan the adjacent shell boxes and adjacent row boxes of the sling. There is no need to install a 3D radar on the long side of the sling, nor is there a need to install multiple 3D radars. While ensuring the scanning effect and avoiding blind spots, the cost of radar installation is reduced.

[0083] In this embodiment, the 3D radar is set on the short side of the spreader instead of on the trolley frame, which reduces the difficulty of installing and maintaining the 3D radar. The staff does not need to climb on the trolley frame for maintenance and debugging, which improves the safety and convenience of installation and maintenance. In addition, the 3D radar set on the short side of the spreader also effectively avoids the blind spot when the spreader moves to a lower position.

[0084] In this embodiment, when the spreader is aligned with the lock hole of the container, the PLC will send a locking signal to the radar detection system, at which time the spreader is connected to the container and the spreader is in a container-carrying state. When the spreader is separated from the lock hole of the container, the PLC will send an unlocking signal to the radar detection system, at which time the spreader is separated from the container and the spreader is in an empty state without a container.

[0085] S302: Determine the point cloud of the safety detection area corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar.

[0086] In this embodiment, when the sling is in different states, it can correspond to different safety detection area point clouds respectively, while ensuring the safety detection effect and improving the safety detection efficiency as much as possible.

[0087] In this embodiment, the safety detection area may be an area where the spreader (spreader and container) may collide with adjacent containers and adjacent rows of containers.

[0088] S303: Perform a safety inspection of the spreader in the yard according to the point cloud of the safety inspection area.

[0089] In this embodiment, obstacle detection can be performed based on the point cloud of the safety detection area. If an obstacle is detected, it is unsafe for the spreader to move in the slot at present, and corresponding measures need to be taken according to the position of the obstacle. If no obstacle is detected, the spreader can move in the slot safely.

[0090] In this embodiment, the 3D radar can be set on the short side of the spreader so that the 3D radar can scan the adjacent boxes and adjacent rows of boxes of the spreader, so that the point cloud data scanned by the 3D radar includes various areas around the spreader, avoiding safety detection blind spots and improving the effect of safety detection. In addition, after the radar detection system receives the lock signal sent by the PLC, it can determine the current state of the spreader according to the lock signal, and determine the safety detection area point cloud corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar. Through such a setting, when the spreader is in different states, it can correspond to different safety detection area point clouds respectively, so as to use the safety detection area point cloud corresponding to the current state in a targeted manner for safety detection, which not only improves the efficiency of safety detection, but also further improves the effect of safety detection.

[0091] In a possible implementation, determining the current state of the spreader according to the lock signal in step S301 may include:

[0092] S11: Determine whether the lock signal is a blocking signal.

[0093] S12: If yes, determine that the current state of the spreader is the spreader carrying a box.

[0094] S13: If not, determine that the current state of the spreader is that the spreader is not carrying a container.

[0095] In this embodiment, when the spreader is aligned with the lock hole of the container, the PLC will send a locking signal to the radar detection system, at which time the spreader is connected to the container and the spreader is in a container-carrying state. When the spreader is separated from the lock hole of the container, the PLC will send an unlocking signal to the radar detection system, at which time the spreader is separated from the container and the spreader is in an empty state without a container.

[0096] In this embodiment, the current state of the spreader can be simply and accurately determined according to whether the lock signal sent by the PLC is a locking signal.

[0097] In a possible implementation, the above step S302 determines the point cloud of the safety detection area corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar, which may include:

[0098] S21: According to a preset unified coordinate system, coordinate rotation transformation is performed on the point cloud data sent by the 3D radar to obtain standard point cloud data, and the Z axis of the unified coordinate system is perpendicular to the ground.

[0099] S22: Determine the point cloud position of the target side of the safety detection area according to the standard point cloud data, where the target side includes the front side, the rear side, the left side, and the right side.

[0100] S23: Determine the lower point cloud position of the safety detection area according to the current state of the spreader, the body height of the spreader and a preset third distance.

[0101] S24: Determine the point cloud of the safety detection area corresponding to the current state of the spreader according to the point cloud position of the target side and the point cloud position of the lower side.

[0102] In this embodiment, the point cloud data sent by the 3D radar is a coordinate system with the radar as the origin, and the unified coordinate system can be a coordinate system with the center of the hanger as the origin, and the Z axis is perpendicular to the ground.

[0103] In this embodiment, the upper point cloud position of the safety detection area can also be determined according to the sixth distance from the upper side to the center of the spreader, and the point cloud of the safety detection area corresponding to the current state of the spreader can be determined according to the point cloud position of the target side, the upper point cloud position and the lower point cloud position. The specific sixth distance can be flexibly set by those skilled in the art, for example, the sixth distance can be 0 or 10dm, and no limitation is made here.

[0104] In this embodiment, after obtaining the point cloud data sent by the 3D radar, it is also necessary to perform a coordinate rotation transformation on the point cloud data according to a preset unified coordinate system so that the standard point cloud data is aligned with the spreader. Furthermore, the point cloud positions of the front, rear, left, right and bottom sides of the safety detection area can be determined based on the standard point cloud data, taking into account the adjacent containers and adjacent rows of containers that may collide during container loading and unloading, ensuring the effectiveness and comprehensiveness of the point cloud of the safety detection area, thereby improving the effect of safety detection of the spreader yard slot.

[0105] In a possible implementation, determining the point cloud position of the target side of the safety detection area according to the standard point cloud data in the above step S22 may include:

[0106] S31: If the target side is the left or right side, determine the opposite side point cloud of the target side neighboring box of the sling according to the standard point cloud data; determine the target side point cloud position of the safety detection area according to the opposite side point cloud and the preset first distance.

[0107] S32: If the target side is the front side or the rear side, determine the opposite side point cloud of the adjacent row of boxes on the target side of the sling according to the standard point cloud data; determine the target side point cloud position of the safety detection area according to the opposite side point cloud and the preset second distance.

[0108] In this embodiment, the adjacent shell boxes may be boxes on the left and right sides of the sling in the horizontal direction, and the adjacent row boxes may be boxes on the front and back sides of the sling in the vertical direction.

[0109] In this embodiment, if the target side is the left side, the right side point cloud of the adjacent shell box on the left side of the spreader is determined according to the standard point cloud data; the left side point cloud position of the safety detection area is determined according to the right side point cloud and the preset first distance. If the target side is the right side, the left side point cloud of the adjacent shell box on the right side of the spreader is determined according to the standard point cloud data; the right side point cloud position of the safety detection area is determined according to the left side point cloud and the preset first distance.

[0110] In this embodiment, if the target side is the front side, the rear side edge point cloud of the adjacent row of boxes on the front side of the spreader is determined according to the standard point cloud data; the front side point cloud position of the safety detection area is determined according to the rear side edge point cloud and the preset second distance. If the target side is the rear side, the front side edge point cloud of the adjacent row of boxes on the rear side of the spreader is determined according to the standard point cloud data; the rear side point cloud position of the safety detection area is determined according to the front side edge point cloud and the preset second distance.

[0111] In this embodiment, when the spreader is loading and unloading containers in a densely stacked yard, the spreader (the spreader and the boxes it carries) will usually have adjacent boxes and adjacent rows of boxes. It is necessary to determine the safety detection area based on the positions of the adjacent boxes and adjacent rows of boxes and the current state of the spreader to avoid collisions when the spreader is loading and unloading containers.

[0112] In this embodiment, the first distance and the second distance can be flexibly set by those skilled in the art. For example, the first distance can be 30dm and the second distance can be 2m. The first distance and the second distance can be the same or different, and no limitation is made here.

[0113] In this embodiment, if the target side is the left or right side, the target side point cloud position of the safety detection area can be determined based on the opposite side point cloud of the adjacent box on the target side of the spreader and the preset first distance, so that the target side point cloud position is in a safe position where the spreader will not collide with the adjacent box when loading and unloading containers. If the target side is the front or rear side, the target side point cloud position of the safety detection area can be determined based on the opposite side point cloud of the adjacent box on the target side of the spreader and the preset second distance, so that the target side point cloud position is in a safe position where the spreader will not collide with the adjacent box when loading and unloading containers.

[0114] In a possible implementation, the above step S23 determines the lower point cloud position of the safety detection area according to the current state of the spreader, the body height of the spreader, and the preset third distance, and may include:

[0115] S41: If the current state of the spreader is that the spreader is not carrying a box, determine a first lower point cloud position of the safety detection area according to the body height of the spreader and a preset third distance.

[0116] S42: If the current state of the spreader is that the spreader carries a box, determine the second lower point cloud position of the safety detection area according to the spreader body height, the height of the box carried by the spreader, and a preset third distance.

[0117] In this implementation, those skilled in the art may flexibly set the third distance. For example, the third distance may be 10 dm or 20 dm, and no limitation is made herein.

[0118] In this embodiment, if the current state of the spreader is that the spreader is not carrying a container, the safe position where the empty spreader will not collide with the lower box can be determined based on the spreader body height and the preset third distance. If the current state of the spreader is that the spreader is carrying a container, in addition to the spreader body height and the preset third distance, the height of the box carried by the spreader must also be considered to determine the safe position where the spreader will not collide with the lower box when loading and unloading the container.

[0119] In a possible implementation manner, before determining the opposite side point cloud of the target side neighboring box of the spreader according to the standard point cloud data in the above step S31, the following may also be included:

[0120] S51: Determine whether there is a target side neighboring box of the spreader according to the standard point cloud data.

[0121] S52: If it exists, then executing the step of determining the opposite side point cloud of the target side neighboring box of the sling according to the standard point cloud data.

[0122] S53: If not, determine the point cloud position of the target side of the safety detection area according to the fourth distance between the target side and the center of the spreader.

[0123] Accordingly, before the above step S32 determines the point cloud of the opposite side of the adjacent row of boxes on the target side of the spreader according to the standard point cloud data, the following may also be included:

[0124] S54: Determine whether there is an adjacent row box on the target side of the spreader according to the standard point cloud data.

[0125] S55: If it exists, then execute the step of determining the opposite side point cloud of the adjacent row of boxes on the target side of the spreader based on the standard point cloud data.

[0126] S56: If not present, determine the point cloud position of the target side of the safety detection area according to the fifth distance between the target side and the center of the spreader.

[0127] In this embodiment, if there is no left neighboring shell box, the point cloud position on the left side of the safety detection area is determined based on the fourth distance from the left side to the center of the sling; if there is no right neighboring shell box, the point cloud position on the right side of the safety detection area is determined based on the fourth distance from the right side to the center of the sling.

[0128] In this embodiment, if there is no front adjacent row box, the point cloud position of the front side of the safety detection area is determined based on the fifth distance from the front side to the center of the sling; if there is no rear adjacent row box, the point cloud position of the rear side of the safety detection area is determined based on the fifth distance from the rear side to the center of the sling.

[0129] In this embodiment, before determining the point cloud of the opposite side of the target side adjacent box of the spreader, it is also necessary to determine whether the spreader has a target side adjacent box, and adjust the point cloud position of the target side of the safety detection area according to whether the target side adjacent box exists, so as to improve the efficiency of safety detection according to the safety detection area. Similarly, before determining the point cloud of the opposite side of the target side adjacent box of the spreader, it is also necessary to determine whether the spreader has a target side adjacent box, and adjust the point cloud position of the target side of the safety detection area according to whether the target side adjacent box exists, so as to improve the efficiency of safety detection according to the safety detection area.

[0130] In a possible implementation, the above step S303 performs a safety inspection of the spreader in the yard slot according to the point cloud of the safety inspection area, which may include:

[0131] S61: Filter the point cloud of the safety detection area to obtain a filtered point cloud.

[0132] S62: Perform obstacle detection on the filtered point cloud to obtain a safety detection result, where the safety detection result includes whether an obstacle exists and the position of the obstacle when the obstacle exists.

[0133] S63: Send the safety detection result to the PLC, which is used to perform safety control of the spreader in the yard according to the obstacle detection result.

[0134] In this embodiment, when there is an obstacle in the safety detection area, the PLC can control the motion control system to adjust the operating speed of the spreader according to the position of the obstacle to avoid collision between the spreader and the container. When there is no obstacle in the safety detection area, the PLC can control the motion control system to make the spreader operate normally and complete the loading and unloading of the container.

[0135] In this embodiment, after determining the point cloud of the safety detection area, the point cloud of the safety detection area can be first filtered to remove noise interference and improve the accuracy of subsequent obstacle detection. According to whether there is an obstacle in the safety detection area and the position of the obstacle when there is an obstacle, the yard channel of the spreader can be accurately inspected for safety to avoid "bowling" accidents.

[0136] The following is an explanation of the method for detecting the safety of the storage yard channel of the present application with reference to a specific embodiment.

[0137] In a specific embodiment, a port uses a yard crane for automatic loading and unloading of containers. A 3D radar is set on each short side of the yard crane spreader. During the loading and unloading process, the radar detection system performs safety detection on the yard slot of the spreader. The specific process is as follows:

[0138] In the first step, the PLC sends a locking signal to the radar detection system. After receiving the signal, the radar detection system determines that the current state of the spreader is the spreader carrying a box.

[0139] In the second step, the radar detection system performs coordinate rotation transformation on the point cloud data sent by the 3D radar according to the preset unified coordinate system to obtain standard point cloud data.

[0140] In the third step, the radar detection system determines the point cloud position of the target side of the safe detection area based on the standard point cloud data. The target side includes the front, rear, left and right sides.

[0141] In the fourth step, the radar detection system determines the lower point cloud position of the safety detection area according to the current state of the spreader, the body height of the spreader and the preset third distance of 20dm.

[0142] In the fifth step, the radar detection system determines the point cloud of the safety detection area corresponding to the current state of the spreader based on the point cloud position on the target side and the point cloud position on the lower side.

[0143] In the sixth step, the radar detection system conducts a safety inspection of the spreader in the yard according to the point cloud of the safety detection area, obtains the safety detection result, and sends the safety detection result to the PLC.

[0144] In the seventh step, PLC performs safety control on the spreader moving in the yard according to the obstacle detection results.

[0145] Figure 4 FIG. 1 is a schematic diagram of the structure of a radar detection system according to an embodiment of the present application. Figure 4 As shown, the radar detection system includes: a state determination module 41, which is used to respond to the lock signal sent by the PLC, and determine the current state of the spreader according to the lock signal, and the current state of the spreader includes the spreader not carrying a box and the spreader carrying a box; a detection processing module 42, which is used to determine the safety detection area point cloud corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar; based on the safety detection area point cloud, the spreader is subjected to a safety detection of the yard slot.

[0146] The radar detection system provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0147] In a possible implementation, the state determination module 41 may also be used to:

[0148] Determine whether the lock signal is a locking signal;

[0149] If so, it is determined that the current state of the spreader is spreader-carrying box;

[0150] If not, it is determined that the current state of the spreader is that the spreader is not carrying a container.

[0151] The radar detection system provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0152] In a possible implementation, the detection processing module 42 may also be used to:

[0153] According to the preset unified coordinate system, the point cloud data sent by the 3D radar is rotated to obtain standard point cloud data. The Z axis of the unified coordinate system is perpendicular to the ground.

[0154] According to the standard point cloud data, the point cloud position of the target side of the safety detection area is determined, and the target side includes the front side, the rear side, the left side and the right side;

[0155] Determine the lower point cloud position of the safety detection area according to the current state of the spreader, the body height of the spreader and the preset third distance;

[0156] According to the point cloud position on the target side and the point cloud position on the lower side, the point cloud of the safety detection area corresponding to the current state of the spreader is determined.

[0157] The radar detection system provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0158] In a possible implementation, the detection processing module 42 may also be used to:

[0159] If the target side is the left or right side, determine the opposite side point cloud of the target side neighboring box of the spreader according to the standard point cloud data; determine the target side point cloud position of the safety detection area according to the opposite side point cloud and the preset first distance;

[0160] If the target side is the front side or the rear side, determine the opposite side point cloud of the adjacent row of boxes on the target side of the sling based on the standard point cloud data; determine the target side point cloud position of the safety detection area based on the opposite side point cloud and the preset second distance.

[0161] The radar detection system provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0162] In a possible implementation, the detection processing module 42 may also be used to:

[0163] If the current state of the spreader is that the spreader is not carrying a box, determine the first lower point cloud position of the safety detection area according to the body height of the spreader and the preset third distance;

[0164] If the current state of the sling is that the sling carries a box, the second lower point cloud position of the safety detection area is determined according to the sling body height, the height of the box carried by the sling, and a preset third distance.

[0165] The radar detection system provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0166] In a possible implementation, before determining the opposite side point cloud of the target side neighboring box of the spreader according to the standard point cloud data, the detection processing module 42 may also be used to:

[0167] According to the standard point cloud data, determine whether there is a target side adjacent box on the spreader;

[0168] If it exists, the step of determining the opposite side point cloud of the target side neighboring shell box of the spreader according to the standard point cloud data is performed;

[0169] If it does not exist, determining the point cloud position of the target side of the safety detection area according to the fourth distance from the target side to the center of the spreader;

[0170] Accordingly, before determining the opposite side point cloud of the adjacent row of boxes on the target side of the spreader according to the standard point cloud data, the detection processing module 42 can also be used to:

[0171] According to the standard point cloud data, determine whether there is a box in the adjacent row on the target side of the spreader;

[0172] If it exists, the step of determining the opposite side point cloud of the adjacent row of boxes on the target side of the spreader according to the standard point cloud data is performed;

[0173] If it does not exist, the point cloud position of the target side of the safety detection area is determined according to the fifth distance between the target side and the center of the spreader.

[0174] The radar detection system provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0175] In a possible implementation, the detection processing module 42 may also be used to:

[0176] Filter the point cloud of the safety detection area to obtain a filtered point cloud;

[0177] Perform obstacle detection on the filtered point cloud to obtain a safety detection result, which includes whether an obstacle exists and the location of the obstacle when an obstacle exists;

[0178] The safety detection results are sent to the PLC, which is used to perform safety control of the spreader in the yard according to the obstacle detection results.

[0179] The radar detection system provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0180] Figure 5 This is a structural schematic diagram of a radar detection system according to an embodiment of the present application. The radar detection system is respectively communicated with a programmable logic controller PLC of a sling and a 3D radar arranged on a short side of the sling. There are multiple 3D radars, and the multiple 3D radars are respectively arranged at preset positions on the short sides of both sides of the sling, so that the 3D radar can scan adjacent shell boxes and adjacent row boxes of the sling.

[0181] like Figure 5 As shown, the radar detection system includes: a processor 501, and a memory 502 that is communicatively connected to the processor 501; the memory 502 stores computer execution instructions; the processor 501 executes the computer execution instructions stored in the memory 502 to implement the steps of the safety detection method for yard slot movement in the above-mentioned method embodiments.

[0182] The radar detection system can be independent or a part of the field bridge automatic control system. The processor 501 and the memory 502 can adopt the existing hardware of the field bridge automatic control system.

[0183] In the above radar detection system, the memory 502 and the processor 501 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 502 stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 502 in the form of software or firmware. The processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502.

[0184] The memory 502 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 502 is used to store programs, and the processor 501 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 502 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0185] The processor 501 may be an integrated circuit chip having the ability to process signals. The processor 501 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or any conventional processor.

[0186] An embodiment of the present application also provides a field bridge, such as Figure 2 As shown, the field bridge may include a spreader, a radar detection system, and a 3D radar arranged on the short side of the spreader. The radar detection system is as shown in FIG. Figure 5 As shown, they are respectively connected to the programmable logic controller PLC of the spreader and the 3D radar for communication; there are multiple 3D radars, and the multiple 3D radars are respectively arranged at preset positions on the short sides of both sides of the spreader, so that the 3D radar can scan the adjacent shell boxes and adjacent row boxes of the spreader.

[0187] An embodiment of the present application further 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 steps of each method embodiment of the present application.

[0188] An embodiment of the present application further provides a computer program product, including a computer program, which implements the steps of each method embodiment of the present application when executed by a processor.

[0189] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0190] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0191] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0192] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0193] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0194] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0195] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for detecting the safety of a storage yard slot, characterized in that: Applied to a radar detection system, the radar detection system is respectively connected to a programmable logic controller PLC of a spreader and a 3D radar arranged on a short side of the spreader, the method comprising: In response to a lock signal sent by the PLC, determining a current state of the spreader according to the lock signal, wherein the current state of the spreader includes the spreader not carrying a box and the spreader carrying a box; Determine the point cloud of the safety detection area corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar; According to the point cloud of the safety detection area, the safety detection of the spreader in the yard is performed.

2. The method for detecting the safety of the storage yard channel according to claim 1, characterized in that: The step of determining the safety detection area point cloud corresponding to the current state of the spreader according to the point cloud data sent by the 3D radar includes: According to a preset unified coordinate system, coordinate rotation transformation is performed on the point cloud data sent by the 3D radar to obtain standard point cloud data, wherein the Z axis of the unified coordinate system is perpendicular to the ground; Determine the point cloud position of the target side of the safety detection area according to the standard point cloud data, wherein the target side includes the front side, the rear side, the left side and the right side; Determine the lower point cloud position of the safety detection area according to the current state of the spreader, the body height of the spreader and a preset third distance; According to the point cloud position of the target side and the point cloud position of the lower side, a point cloud of a safety detection area corresponding to the current state of the spreader is determined.

3. The method for detecting the safety of the storage yard channel according to claim 2 is characterized in that: Determining the point cloud position of the target side of the safety detection area according to the standard point cloud data includes: If the target side is the left side or the right side, determine the opposite side point cloud of the target side neighboring box of the spreader according to the standard point cloud data; determine the target side point cloud position of the safety detection area according to the opposite side point cloud and the preset first distance; If the target side is the front side or the rear side, determine the opposite side point cloud of the adjacent row of boxes on the target side of the sling according to the standard point cloud data; determine the target side point cloud position of the safety detection area according to the opposite side point cloud and the preset second distance.

4. The method for detecting the safety of the storage yard channel according to claim 2 is characterized in that: The step of determining the lower point cloud position of the safety detection area according to the current state of the sling, the body height of the sling and a preset third distance includes: If the current state of the spreader is that the spreader is not carrying a box, determining the first lower point cloud position of the safety detection area according to the body height of the spreader and a preset third distance; If the current state of the sling is that the sling carries a box, the second lower point cloud position of the safety detection area is determined according to the body height of the sling, the height of the box carried by the sling, and a preset third distance.

5. The method for detecting the safety of the storage yard channel according to claim 3 is characterized in that: Before determining the opposite side point cloud of the target side neighboring box of the spreader according to the standard point cloud data, the method further includes: Determine whether there is a target side neighboring box for the spreader according to the standard point cloud data; If so, the step of determining the opposite side point cloud of the target side neighboring box of the spreader according to the standard point cloud data is performed; If not, determining the point cloud position of the target side of the safety detection area according to a fourth distance from the target side to the center of the spreader; Accordingly, before determining the opposite side point cloud of the adjacent row of boxes on the target side of the spreader according to the standard point cloud data, the method further includes: Determine whether there is a target side adjacent row box for the spreader according to the standard point cloud data; If so, the step of determining the opposite side point cloud of the adjacent row of boxes on the target side of the spreader according to the standard point cloud data is performed; If not present, the point cloud position of the target side of the safety detection area is determined according to the fifth distance between the target side and the center of the spreader.

6. The method for detecting the safety of the storage yard channel according to any one of claims 1 to 5, characterized in that: The safety detection of the spreader in the yard according to the point cloud of the safety detection area includes: Performing filtering on the point cloud of the safety detection area to obtain a filtered point cloud; Performing obstacle detection on the filtered point cloud to obtain a safety detection result, wherein the safety detection result includes whether an obstacle exists and the position of the obstacle when the obstacle exists; The safety detection result is sent to the PLC, and the PLC is used to perform safety control of the spreader in the yard according to the obstacle detection result.

7. The method for detecting the safety of the storage yard channel according to any one of claims 1 to 5, characterized in that: Determining the current state of the spreader according to the lock signal includes: Determining whether the lock signal is a locking signal; If so, determining that the current state of the spreader is a spreader carrying a box; If not, it is determined that the current state of the spreader is that the spreader is not carrying a container.

8. A radar detection system, characterized in that: The radar detection system is respectively connected to the programmable logic controller PLC of the spreader and the 3D radar arranged on the short side of the spreader, and the 3D radar is multiple, and the multiple 3D radars are respectively arranged at preset positions on the short sides of both sides of the spreader, so that the 3D radar can scan the adjacent shell boxes and adjacent row boxes of the spreader; The radar detection system comprises: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executable instructions; The processor is used to execute the computer-executable instructions stored in the memory to implement the safe detection method for yard channel movement according to any one of claims 1-7.

9. A field bridge, characterized in that: The field bridge includes a spreader, a radar detection system as claimed in claim 8, and a 3D radar arranged on a short side of the spreader, wherein the radar detection system is respectively connected to a programmable logic controller PLC of the spreader and the 3D radar for communication; There are multiple 3D radars, and the multiple 3D radars are respectively arranged at preset positions on the short sides of both sides of the spreader, so that the 3D radar can scan the adjacent shell boxes and adjacent row boxes of the spreader.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method for safely detecting the occurrence of a stowage groove in a yard according to any one of claims 1 to 7.

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