Safety detection method and system for yard track, yard crane and medium

Abstract

The application provides a yard slot safety detection method and system, a yard crane and a medium, and relates to the technical field of automation. The method is applied to a radar detection system, the radar detection system is in communication connection with a programmable logic controller (PLC) of a spreader and a 3D radar arranged at a short side of the spreader. The method responds to a lock signal sent by the PLC, determines the current state of the spreader according to the lock signal, and the current state of the spreader includes that the spreader is not loaded with a container and the spreader is loaded with a container. A detection processing module is used to 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, and to perform safety detection on the spreader in the yard slot according to the point cloud of the safety detection area. The method can avoid a safety detection blind area and improve the effect and efficiency of safety detection in the yard slot.

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 channel. Background Art

[0002] With the improvement of port automation level, more and more port operations are beginning to be handled automatically, such as the automatic loading and unloading of containers.

[0003] During automated container loading and unloading operations, insufficient lifting height can cause container collisions between crane cranes and the containers they lift as they navigate the container yard. This is also known as a "bowl-tossing" accident. To prevent this, the traditional solution is to raise the crane to a sufficient height. However, this approach is inefficient and unsuitable for today's logistics speeds.

[0004] To ensure efficient yard tracking, related technologies can be used to install radar and cameras beneath the trolley frame. These radar and cameras monitor the height and position of containers beneath the trolley frame in real time, allowing for real-time safety checks on the spreader's yard tracking, ensuring the spreader is raised to a safe height where collisions are unlikely. However, this detection method has significant blind spots, resulting in poor safety detection effectiveness and low efficiency. Summary of the Invention

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

[0006] In a first aspect, embodiments of the present application provide a method for safely detecting a container yard slippage, which is applied to a radar detection system. The radar detection system is communicatively connected to a programmable logic controller (PLC) of a spreader and a 3D radar disposed on a short side of the spreader. The method includes:

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

[0008] Determining a safety detection area point cloud corresponding to the current state of the spreader based on the point cloud data sent by the 3D radar;

[0009] The safety inspection of the spreader in the yard is performed based on the point cloud of the safety inspection area.

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

[0011] Performing a coordinate rotation transformation on the point cloud data sent by the 3D radar according to a preset unified coordinate system 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] Determining a lower point cloud position of a safety detection area according to a current state of the spreader, a body height of the spreader, and a preset third distance;

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

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

[0016] 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 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 a 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 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.

[0018] In one possible implementation, determining the lower point cloud position of the safety detection area based on the current state of the spreader, the body height of the spreader, and a preset third distance includes:

[0019] If the current state of the spreader is that the spreader is not carrying a container, determining a 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 spreader is a spreader carrying a box, the second lower point cloud position of the safety detection area is determined according to the spreader body height, the height of the box carried by the spreader, 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 based on the standard point cloud data, the method further includes:

[0022] Determining whether a target side neighboring box exists for the spreader based on the standard point cloud data;

[0023] If so, performing the step of determining the opposite side point cloud of the target side adjacent shell box of the spreader according to the standard point cloud data;

[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] Determining whether the spreader has a target side adjacent row of boxes based on the standard point cloud data;

[0027] If so, executing 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;

[0028] If not, 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 a safety inspection of the spreader in the yard according to the point cloud of the safety inspection area includes:

[0030] Performing filtering 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 location of the obstacle if an 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, 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, configured to respond to a lock signal sent by the PLC and determine 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 based on the point cloud data sent by the 3D radar; and perform a safety detection of the spreader in the yard based on 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 communicatively connected to a programmable logic controller (PLC) of a spreader and a 3D radar disposed on a short side of the spreader, wherein the 3D radars are multiple and are disposed at preset positions on both sides of the short side of the spreader, so that the 3D radars can scan adjacent shell boxes and adjacent rows of shell boxes of the spreader;

[0041] The radar detection system comprises:

[0042] a processor, and a memory communicatively coupled 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 movement of the first aspect.

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

[0046] There are multiple 3D radars, which are respectively arranged at preset positions on the short sides of both sides of the spreader, so that the 3D radars 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 slot 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 slot 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, and 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 that 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. 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 diagram of a certain field bridge in the related technology;

[0052] Figure 2 This is 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 structural diagram of a radar detection system according to an embodiment of the present application;

[0055] Figure 5 This is a 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 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

[0058] 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.

[0059] The terms "first," "second," "third," "fourth," and the like (if any) in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the application described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or apparatus.

[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 comply with the provisions of relevant laws and regulations and do 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. 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 crane 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 crane 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 movement of the present application can be applied to the scenario of automatic loading and unloading of port container yards. Any scenario involving spreaders moving in the container yard can be applied to the safety detection method, system, yard crane and medium for yard channel movement of the present application.

[0065] A programmable logic controller (PLC) is a digital computing controller with a microprocessor used for automated control. It can store and execute control instructions at any time by loading them into memory. A PLC consists of a CPU, instruction and data memory, input / output interfaces, a power supply, and digital-to-analog converters.

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

[0067] During automated container loading and unloading operations, insufficient lifting height can cause container collisions between crane cranes and the containers they lift as they navigate the container yard. This is also known as a "bowl-tossing" accident. To prevent this, the traditional solution is to raise the crane to a sufficient height. However, this approach is inefficient and unsuitable for today's logistics speeds.

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

[0069] However, the above detection methods also have many problems:

[0070] (1) Radar, camera and other sensors are installed on the trolley frame. If the spreader is moved at a low 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 spreader, resulting in low safety detection efficiency.

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

[0073] The present invention provides a method, system, yard bridge, and medium for detecting the safety of a storage yard channel. This method utilizes a 3D radar positioned on the short side of a spreader to avoid safety detection blind spots, enabling the 3D radar to scan adjacent boxes and adjacent rows of boxes, thereby improving safety detection effectiveness. Furthermore, the spreader's current state can be determined based on a lock signal sent by a PLC, and targeted safety detection can be performed using the point cloud of the safety detection area corresponding to the current state. This not only improves the efficiency of safety detection, but also further enhances the effectiveness of safety detection.

[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 2 This is a system architecture diagram of an embodiment of the present application, such as Figure 2 As shown, 1 is the trolley frame, 2 is the spreader, and 4 is the 3D radar. The 3D radar 4 is installed on both short sides of the spreader 2 and can scan the adjacent boxes and adjacent rows of boxes. The radar detection system is 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 based on the lock signal. The current state of the spreader 2 can include the spreader without boxes or the spreader with boxes. Based on 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. Based on the safety detection area point cloud, the spreader 2 is tested for safety in the yard.

[0076] Figure 3 This is a flow chart of a method for detecting the safety of a stacking slot in an embodiment of the present application. This embodiment describes the method for detecting the safety of a stacking slot in an embodiment of the present application using a radar detection system as the execution subject. The radar detection system can be connected to the programmable logic controller (PLC) of the spreader and the 3D radar set on the short side of the spreader. Figure 3 As shown, the method for detecting the safety of the storage yard channel 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 container and the spreader carrying a container.

[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 to communicate, 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 can also be replaced by multiple single-line radars.

[0080] In this embodiment, a spreader can be a lifting component used to lift containers on a yard crane. A spreader is typically rectangular, with two long sides and two short sides. Multiple 3D radars can be installed, each positioned at a predetermined location on each short side of the spreader. The specific predetermined locations can be flexibly set by those skilled in the art and are not limited here, as long as the 3D radar can scan adjacent containers and adjacent rows of containers.

[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 shells and adjacent rows of shells 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 installed on the short side of the spreader, rather than on the trolley. This simplifies installation and maintenance, eliminating the need for workers to climb onto the trolley for maintenance and commissioning, improving safety and convenience. Furthermore, the 3D radar's placement on the short side of the spreader effectively avoids blind spots when the spreader is moved to a lower position.

[0084] In this embodiment, when the spreader is aligned with the container's keyhole, the PLC sends a locking signal to the radar detection system, connecting the spreader to the container and placing it in a container-carrying state. When the spreader is disengaged from the container's keyhole, the PLC sends an unlocking signal to the radar detection system, disengaging the spreader from the container and placing it in an empty, unloaded state.

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

[0086] In this embodiment, when the spreader 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: Based on the point cloud of the safety detection area, a safety detection of the spreader in the yard slot is performed.

[0089] In this embodiment, obstacle detection can be performed based on the point cloud of the safety detection area. If an obstacle is detected, the current movement of the spreader is unsafe and corresponding measures need to be taken according to the location of the obstacle. If no obstacle is detected, the spreader can move 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 all 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 based on the lock signal, and determine the safety detection area point cloud corresponding to the current state of the spreader based on 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 that 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.

[0091] In one 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 container's keyhole, the PLC sends a locking signal to the radar detection system, connecting the spreader to the container and placing it in a container-carrying state. When the spreader is disengaged from the container's keyhole, the PLC sends an unlocking signal to the radar detection system, disengaging the spreader from the container and placing it in an empty, unloaded state.

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

[0097] In one possible implementation, step S302 of determining the safety detection area point cloud corresponding to the current state of the spreader based on the point cloud data sent by the 3D radar 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, where 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 height of the spreader body, and a preset third distance.

[0101] S24: Determine the safety detection area point cloud 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. The unified coordinate system can be a coordinate system with the center of the spreader 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 based on a sixth distance from the center of the spreader. The point cloud position of the safety detection area corresponding to the current state of the spreader can be determined based on 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 10 dm, and no limitation is imposed herein.

[0104] In this embodiment, after obtaining the point cloud data transmitted by the 3D radar, it is necessary to perform a coordinate rotation transformation on the point cloud data according to a preset unified coordinate system to align the standard point cloud data 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, fully considering adjacent containers and adjacent rows of containers that may collide during container loading and unloading, ensuring the effectiveness and comprehensiveness of the point cloud in the safety detection area, thereby improving the safety detection of spreader yard troughs.

[0105] In one possible implementation, determining the point cloud position of the target side of the safety detection area based on the standard point cloud data in 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 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.

[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 spreader 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.

[0108] In the embodiment, the adjacent box can be the box on the left and right sides of the spreader, and the adjacent row box can be the box on the front and rear sides of the spreader.

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

[0110] In the embodiment, if the target side is the front side, the rear side edge point cloud of the adjacent row box on the front side of the spreader is determined according to the standard point cloud data, and 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 box on the rear side of the spreader is determined according to the standard point cloud data, and 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 the embodiment, when the spreader is loading and unloading containers in the dense yard, the spreader (the spreader and the container carried by the spreader) usually has adjacent boxes and adjacent row boxes, and the safety detection area needs to be determined according to the positions of the adjacent boxes and the adjacent row boxes and the current state of the spreader to avoid collision when the spreader loads and unloads containers.

[0112] In the 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 30 dm, the second distance can be 2 m, and the first distance and the second distance can be the same or different, which is not limited herein.

[0113] In the embodiment, if the target side is the left side or the right side, the target side point cloud position of the safety detection area can be determined according to the opposite side edge point cloud of the target side adjacent box of the spreader and the preset first distance, so that the target side point cloud position is in a safe position where the adjacent box will not be collided when the spreader loads and unloads containers. If the target side is the front side or the rear side, the target side point cloud position of the safety detection area can be determined according to the opposite side edge point cloud of the target side adjacent row box of the spreader and the preset second distance, so that the target side point cloud position is in a safe position where the adjacent row box will not be collided when the spreader loads and unloads containers.

[0114] In one possible embodiment, the step S23 of determining the lower side 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 can include:

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

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

[0117] In the present embodiment, the third distance can be flexibly set by those skilled in the art, for example, the third distance can be 10 dm, or 20 dm, which is not limited herein.

[0118] In the present embodiment, if the current state of the spreader is that the spreader is not carrying a container, the safe position of the empty spreader not colliding with the lower side container can be determined according to the body height of the spreader and the preset third distance. If the current state of the spreader is that the spreader is carrying a container, in addition to the body height of the spreader and the preset third distance, the height of the container carried by the spreader also needs to be considered, so as to determine the safe position of the spreader when loading and unloading the container without colliding with the lower side container.

[0119] In one possible embodiment, before the step of determining the opposite side edge point cloud of the target side adjacent container of the spreader according to the standard point cloud data in the above step S31, it can further include:

[0120] S51: determining whether the target side adjacent container of the spreader exists according to the standard point cloud data.

[0121] S52: if it exists, performing the step of determining the opposite side edge point cloud of the target side adjacent container of the spreader according to the standard point cloud data.

[0122] S53: if it does not exist, determining the point cloud position of the target side of the safety detection area according to a fourth distance from the center of the spreader.

[0123] Correspondingly, before the step of determining the opposite side edge point cloud of the target side adjacent row container of the spreader according to the standard point cloud data in the above step S32, it can further include:

[0124] S54: determining whether the target side adjacent row container of the spreader exists according to the standard point cloud data.

[0125] S55: if it exists, performing the step of determining the opposite side edge point cloud of the target side adjacent row container of the spreader according to the standard point cloud data.

[0126] S56: if it does not exist, determining the point cloud position of the target side of the safety detection area according to a fifth distance from the center of the spreader.

[0127] In the present embodiment, if the left side adjacent container does not exist, the point cloud position of the left side of the safety detection area is determined according to a fourth distance from the center of the spreader; if the right side adjacent container does not exist, the point cloud position of the right side of the safety detection area is determined according to a fourth distance from the center of the spreader.

[0128] In the embodiment, if there is no front-side adjacent container, the point cloud position of the front side of the safety detection area is determined according to the fifth distance from the center of the spreader; if there is no rear-side adjacent container, the point cloud position of the rear side of the safety detection area is determined according to the fifth distance from the center of the spreader.

[0129] In the embodiment, before determining the opposite-side edge point cloud of the target-side adjacent container of the spreader, it is also necessary to determine whether the target-side adjacent container exists, and the point cloud position of the target side of the safety detection area is adjusted according to whether the target-side adjacent container exists, so as to improve the efficiency of safety detection according to the safety detection area. Similarly, before determining the opposite-side edge point cloud of the target-side adjacent row container of the spreader, it is also necessary to determine whether the target-side adjacent row container exists, and the point cloud position of the target side of the safety detection area is adjusted according to whether the target-side adjacent row container exists, so as to improve the efficiency of safety detection according to the safety detection area.

[0130] In one possible embodiment, the step S303 of performing safety detection on the yard track of the spreader according to the safety detection area point cloud can include:

[0131] S61: performing filtering processing on the safety detection area point cloud to obtain filtered point cloud.

[0132] S62: performing obstacle detection on the filtered point cloud to obtain a safety detection result, the safety detection result including whether there is an obstacle and the position of the obstacle when the obstacle exists.

[0133] S63: sending the safety detection result to the PLC, the PLC being configured to control the motion control system to perform safety control on the yard track of the spreader according to the obstacle detection result.

[0134] In the embodiment, when there is an obstacle in the safety detection area, the PLC can control the motion control system to adjust the running speed of the spreader according to the position of the obstacle, so as 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 normally run to complete the loading and unloading of the container.

[0135] In the embodiment, after determining the safety detection area point cloud, the safety detection area point cloud can be first subjected to filtering processing 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 the obstacle exists, the yard track of the spreader can be accurately subjected to safety detection, so as to avoid the “bowling” accident.

[0136] The safety detection method for the yard track of the present application will be described below with reference to a specific embodiment.

[0137] In a specific embodiment, a port uses a yard crane to automatically load and unload containers, and a 3D radar is arranged on each short side of the spreader of the yard crane. During loading and unloading, the radar detection system detects the safety of the yard track of the spreader. The specific process is as follows:

[0138] Step 1: The PLC sends a locking signal to the radar detection system. After receiving the locking signal, the radar detection system determines that the current state of the spreader is that the spreader is carrying containers.

[0139] Step 2: The radar detection system performs coordinate rotation transformation on the point cloud data sent by the 3D radar according to a preset unified coordinate system to obtain standard point cloud data.

[0140] Step 3: The radar detection system determines the point cloud position of the target side of the safety detection area according to the standard point cloud data, and the target side includes the front side, the rear side, the left side and the right side.

[0141] Step 4: The radar detection system determines the lower side 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 20dm.

[0142] Step 5: The radar detection system determines the safety detection area point cloud corresponding to the current state of the spreader according to the point cloud position of the target side and the lower side point cloud position.

[0143] Step 6: The radar detection system performs safety detection on the yard track of the spreader according to the safety detection area point cloud to obtain a safety detection result, and sends the safety detection result to the PLC.

[0144] Step 7: The PLC controls the safety of the yard track of the spreader according to the obstacle detection result.

[0145] Figure 4 For the structure diagram of the radar detection system of an embodiment of the present application, as shown in Figure 4 The radar detection system includes: a state determination module 41, configured to determine the current state of the spreader according to the locking signal sent by the PLC in response to the locking signal, and the current state of the spreader includes that the spreader is not carrying containers and the spreader is carrying containers; a detection processing module 42, configured 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 safety detection on the yard track of the spreader according to the safety detection area point cloud.

[0146] The radar detection system provided by the embodiment of the present application can execute the technical solutions shown in the method embodiment, and the implementation principles and beneficial effects are similar, which will not be described here.

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

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

[0149] If so, the current state of the spreader is determined to be 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. Its implementation principles and beneficial effects are similar and 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] Determine the point cloud position of the target side of the safety detection area based on the standard point cloud data, and the target side includes the front side, the back side, the left side, and the right side;

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

[0156] According to the point cloud position of the target side and the point cloud position of 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. Its implementation principles and beneficial effects are similar and 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 adjacent box of the spreader 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 first distance;

[0160] If the target side is the front or rear side, determine 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; 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. Its implementation principles and beneficial effects are similar and 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 container, determine the first lower point cloud position of the safety detection area according to the spreader body height and the preset third distance;

[0164] If the current state of the spreader is that the spreader is carrying a box, the second lower point cloud position of the safety detection area is determined according to the spreader body height, the height of the box carried by the spreader, 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. Its implementation principles and beneficial effects are similar and will not be repeated here.

[0166] In a possible implementation, before determining the point cloud of the opposite side of the target side adjacent to the shell box of the spreader based on 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 the spreader has a target side adjacent box;

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

[0169] If it does not exist, then determine 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 point cloud of the opposite side of the adjacent row of boxes on the target side of the spreader based on the standard point cloud data, the detection processing module 42 may 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. Its implementation principles and beneficial effects are similar and 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] Obstacle detection is performed on the filtered point cloud to obtain safety detection results. The safety detection results include whether there are obstacles and the location of obstacles when there are obstacles.

[0178] The safety detection results are sent to the PLC, which is used to control the safety 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. Its implementation principles and beneficial effects are similar and will not be repeated here.

[0180] Figure 5 This is a structural diagram of a radar detection system according to an embodiment of the present application. The radar detection system is respectively communicated with the programmable logic controller PLC of the sling and the 3D radar arranged on the 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 the 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 in communication with the processor 501; the memory 502 stores computer-executable instructions; the processor 501 executes the computer-executable instructions stored in the memory 502 to implement the steps of the safety detection method for yard slotting 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-described radar detection system, the memory 502 and processor 501 are electrically connected, directly or indirectly, to enable data transmission or interaction. For example, these components may be electrically connected via one or more communication buses or signal lines, such as a bus connection. The memory 502 stores computer-executable instructions for implementing the data access control method, including at least one software functional module 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 electrically erasable programmable read-only memory (EEPROM), etc. The memory 502 is used to store programs, and the processor 501 executes the programs after receiving execution instructions. Furthermore, the software programs and modules in the memory 502 may also include an operating system, which may include various software components and / or drivers for managing system tasks (e.g., 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 can be an integrated circuit chip with signal processing capabilities. The processor 501 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0186] An embodiment of the present application further 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; there are multiple 3D radars, and the multiple 3D radars are respectively set at the preset positions of the short sides on 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 this application is not limited by the order of the actions described, because according to this 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 this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0190] It should be further noted that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed 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 performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed 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-described device embodiments are merely illustrative, and the device of the present application may also be implemented in other ways. For example, the division of units / modules in the above-described embodiments is merely a logical functional division, and actual implementations may employ other division methods. For example, multiple units, modules, or components may be combined or integrated into another system, or some features may be omitted or not implemented.

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

[0193] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined in any way. To keep the description concise, not all possible combinations of the technical features in the above embodiments are 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 invention after considering the specification and practicing the invention disclosed herein. This application 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 description and examples are to be considered merely as exemplary, 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 exact structure 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 provided 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, the current state of the spreader including the spreader not carrying a box and the spreader carrying a box; Determining a safety detection area point cloud corresponding to the current state of the spreader based on the point cloud data sent by the 3D radar; Performing a safety inspection of the spreader in the yard according to the point cloud of the safety inspection area; Determining the safety detection area point cloud corresponding to the current state of the spreader based on the point cloud data sent by the 3D radar includes: Performing a coordinate rotation transformation on the point cloud data sent by the 3D radar according to a preset unified coordinate system 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; Determining a lower point cloud position of a safety detection area according to a current state of the spreader, a body height of the spreader, and a preset third distance; Determining a safety detection area point cloud 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; Determining the point cloud position of the target side of the safety detection area based on the standard point cloud data includes: 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 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 a 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 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.

2. The method for detecting the safety of the storage yard channel according to claim 1, characterized in that: The step of determining 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 includes: If the current state of the spreader is that the spreader is not carrying a container, determining a 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 spreader is a spreader carrying a box, the second lower point cloud position of the safety detection area is determined according to the spreader body height, the height of the box carried by the spreader, and a preset third distance.

3. The method for detecting the safety of the storage yard channel according to claim 1, characterized in that: Before determining the opposite side point cloud of the target side adjacent shell box of the spreader according to the standard point cloud data, the method further includes: Determining whether a target side neighboring box exists for the spreader based on the standard point cloud data; If so, performing the step of determining the opposite side point cloud of the target side adjacent shell box of the spreader according to the standard point cloud data; 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: Determining whether the spreader has a target side adjacent row of boxes based on the standard point cloud data; If so, executing 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; If not, 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.

4. The method for detecting the safety of the storage yard channel according to any one of claims 1 to 3, 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 location of the obstacle if an 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.

5. The method for detecting the safety of the storage yard channel according to any one of claims 1 to 3, 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.

6. A radar detection system, characterized in that: The radar detection system is respectively connected to the programmable logic controller (PLC) of the spreader and a 3D radar arranged on the short side of the spreader. The 3D radars are multiple and are respectively arranged at preset positions on both sides of the short side of the spreader so that the 3D radars can scan the adjacent shell boxes and adjacent rows of shell 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 to 5.

7. A field bridge, characterized in that: The field bridge includes a spreader, the radar detection system according to claim 6, and a 3D radar arranged on a short side of the spreader, wherein the radar detection system is communicatively connected to a programmable logic controller (PLC) of the spreader and the 3D radar respectively; There are multiple 3D radars, which are respectively arranged at preset positions on the short sides of both sides of the spreader, so that the 3D radars can scan the adjacent shell boxes and adjacent row boxes of the spreader.

8. 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 running of a storage yard according to any one of claims 1 to 5.

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