Train flat lifting prevention detection method, electronic device and yard bridge

Abstract

The application provides a train flat plate anti-lifting detection method, an electronic device and a yard bridge, which can be used in the field of hoisting equipment. The method is applied to the control system of the yard bridge, the control system comprises a plurality of scanning devices, the scanning devices are arranged on the trolley of the yard bridge, and the scanning devices are used for longitudinally scanning the train flat plate, the container and the lifting appliance of the yard bridge. The method comprises the following steps: in the process that the lifting appliance performs the box lifting operation, point cloud data collected by the scanning device and an instruction lifting height of the lifting appliance are acquired in real time; based on the point cloud data, height data of the container, the train flat plate and the lifting appliance are acquired; when the instruction lifting height meets any height threshold value in a detection height set, whether the train flat plate is lifted or the container is completely separated from the train flat plate is determined based on the height data of the container, the train flat plate and the lifting appliance and the instruction lifting height. The application effectively improves the detection effect of the train flat plate anti-lifting detection and reduces the safety hidden danger.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting equipment, and in particular to a train flatbed anti-lifting detection method, electronic equipment and a field bridge. Background Art

[0002] Flatbeds are used as a means of transport, securing containers to the train platform. This method of transport offers high efficiency, low cost, and excellent safety. To prevent containers from tipping or jumping during transport, the four corners of the containers are secured to the train platform with locking devices.

[0003] Therefore, when using a yard crane to load and unload containers on a train flatbed, anti-lifting detection is required to avoid the accidental lifting of the train flatbed due to the locking device on the train flatbed not being completely separated from the container when the yard crane is operating on the container, thereby reducing safety hazards.

[0004] However, the existing train flatbed anti-lifting detection method has poor detection effect and is prone to missed judgment and misjudgment. Summary of the Invention

[0005] The present invention provides a train flatbed anti-lifting detection method, electronic equipment and a field bridge, which are used to solve the technical problem that the existing train flatbed anti-lifting detection method has poor detection effect.

[0006] According to a first aspect of the present disclosure, the present invention provides a method for detecting anti-lifting of a train flatbed, which is applied to a control system of a field crane. The control system includes multiple scanning devices, each of which is arranged on a trolley of the field crane and is used to longitudinally scan a train flatbed, a container, and a spreader of the field crane. The method includes:

[0007] During the process of the spreader performing the box lifting operation, the point cloud data collected by the scanning device and the commanded lifting height of the spreader are obtained in real time;

[0008] Based on the point cloud data, obtaining height data of the container, the train platform, and the spreader; wherein the height data includes the real-time height of each top corner area of ​​the container, the train platform, and the spreader;

[0009] When the commanded lifting height meets any height threshold in a detection height set, it is determined whether the train platform is lifted or whether the container is completely detached from the train platform based on the height data of the container, the train platform and the spreader, as well as the commanded lifting height; wherein the detection height set includes multiple preset height thresholds.

[0010] In a feasible embodiment, determining whether the train flatbed is lifted or whether the container is completely detached from the train flatbed based on the height data of the container, the train flatbed, and the spreader, and the commanded lifting height, includes:

[0011] If the deviation between the real-time height and the initial height of any top surface angle area of ​​the train flatbed is greater than a first preset threshold, it is determined that the train flatbed is lifted;

[0012] If the change values ​​of the height differences between the top surface angle areas corresponding to the container and the train flatbed are inconsistent, it is determined that the container has not completely left the train flatbed; wherein the height difference is the real-time height difference value of the top surface angle areas corresponding to the container and the train flatbed.

[0013] In a feasible embodiment, the method further includes:

[0014] If the deviation between the real-time height and the initial height of each top surface corner area of ​​the train flatbed is not greater than a first preset threshold, it is determined that the train flatbed is not lifted;

[0015] If the height difference between the container and the train platform corresponding to each top surface angle area is consistent, and the height difference is consistent with the height change of the commanded lifting height, it is determined that the container is completely separated from the train platform.

[0016] In a feasible embodiment, after determining that the container has not completely detached from the train flatbed, the method further includes:

[0017] If the difference between the maximum and minimum values ​​of the height differences between the top surface corner areas corresponding to the container and the train platform exceeds a preset range, and the difference is consistent with the height change of the commanded lifting height, it is determined that at most two corners of the container have not left the train platform;

[0018] If the difference between the change in the height difference between each top surface corner area corresponding to the container and the train flatbed and the change in the command lifting height is less than a second preset threshold, it is determined that at least three corners of the container have not left the train flatbed.

[0019] In a feasible embodiment, the method further includes:

[0020] Obtaining a container landing signal sent by a container landing sensor on the spreader; wherein the container landing signal is used to indicate whether the spreader is in contact with the container landing;

[0021] When the landing signal disappears or the real-time height changes of the spreader and the container are consistent, the real-time heights of the container, the train platform and each top corner area of ​​the spreader, as well as the commanded lifting height are recorded as the initial height.

[0022] In a feasible implementation, obtaining height data of the container, the train platform, and the spreader based on the point cloud data includes:

[0023] Filtering the point cloud data to obtain a target point cloud set of a preset target area; wherein the target area includes each top surface corner area of ​​the container, the train platform, and the spreader;

[0024] Based on the target point cloud set, the real-time heights of each top surface corner area of ​​the container, the train platform and the spreader are obtained.

[0025] In a feasible implementation manner, before obtaining the point cloud data collected by the scanning device, the method further includes:

[0026] The coordinate system of the scanning device is corrected so that the coordinate system of the scanning device remains parallel to the coordinate system of the spreader.

[0027] In a feasible embodiment, the method further includes:

[0028] If the train flatbed is lifted or the container is not completely separated from the train flatbed, the spreader is controlled to perform a container placement operation.

[0029] According to a second aspect of the present disclosure, the present invention provides a train flatbed anti-lifting detection device, which is applied to a field crane control system. The control system includes multiple scanning devices, each of which is arranged on a trolley of the field crane and is used to longitudinally scan a train flatbed, a container, and a spreader of the field crane. The device includes:

[0030] a data acquisition module, configured to acquire, in real time, the point cloud data collected by the scanning device and the commanded lifting height of the spreader during the process of the spreader performing a box lifting operation;

[0031] a height acquisition module, configured to acquire height data of the container, the train platform, and the spreader based on the point cloud data; wherein the height data includes the real-time height of each top surface corner area of ​​the container, the train platform, and the spreader;

[0032] a lifting detection module that determines whether the train platform is lifted or the container is completely detached from the train platform based on the height data of the container, the train platform, and the spreader, as well as the commanded lifting height, when the commanded lifting height meets any height threshold in a detection height set, wherein the detection height set includes multiple preset height thresholds.

[0033] According to a third aspect of the present disclosure, the present invention provides an electronic device, comprising a processor, and a memory communicatively connected to the processor;

[0034] The memory stores computer-executable instructions;

[0035] The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of the first aspects.

[0036] According to a fourth aspect of the present disclosure, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed, they are used to implement any one of the methods in the first aspect.

[0037] According to a fifth aspect of the present disclosure, the present invention provides a computer program product, comprising a computer program, wherein when the computer program is executed, the computer program is used to implement any one of the methods of the first aspect.

[0038] According to a sixth aspect of the present disclosure, the present invention provides a field bridge, the field bridge comprising a field bridge body and a control system, the control system comprising a plurality of scanning devices and the electronic device according to the third aspect;

[0039] The scanning device is arranged on the trolley of the yard bridge, and is used for longitudinally scanning the train flatbed, the container and the spreader of the yard bridge.

[0040] Compared with the existing technology, the present invention has the following beneficial effects:

[0041] The present invention provides a train flatbed anti-lift detection method, electronic equipment, and field crane. By mounting a scanning device on a trolley for longitudinal scanning, the scanning device collects point cloud data obtained by scanning a container, the train flatbed, and the spreader. Based on the point cloud data, the height data of the container, the train flatbed, and the spreader are obtained. This provides accurate height data during the anti-lift detection process, improving the accuracy of the anti-lift detection. Furthermore, by setting multiple height thresholds, the anti-lift detection is triggered when the commanded lifting height meets each threshold. This multi-stage detection method further improves the effectiveness of the train flatbed anti-lift detection and reduces safety hazards. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings incorporated in and forming a part of the specification illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.

[0043] Figure 1 An application scenario schematic diagram of a train flat plate anti-lifting detection method provided by an embodiment of the present application is shown in the figure.

[0044] Figure 2 A flowchart of a train flat plate anti-lifting detection method provided by an embodiment of the present application is shown in the figure.

[0045] Figure 3 A flowchart of another train flat plate anti-lifting detection method provided by an embodiment of the present application is shown in the figure.

[0046] Figure 4 A structure schematic diagram of a train flat plate anti-lifting detection device provided by an embodiment of the present application is shown in the figure.

[0047] Figure 5 A structure schematic diagram of an electronic device provided by an embodiment of the present application is shown in the figure.

[0048] The specific embodiments of the present application have been shown and described in the above-described drawings, and will be described in more detail hereinafter. These drawings and descriptions are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0049] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The same reference numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all the implementations consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0050] Before the embodiments of the present application are further described, the terms and names involved in the embodiments of the present application are first described, and the terms and names involved in the embodiments of the present application are applicable to the following explanations:

[0051] A gantry crane is a type of lifting equipment with a telescopic arm and a rotating mechanism. It can move horizontally, lift, and rotate within a certain range, enabling rapid loading, unloading, and handling of cargo. Based on their method of movement, gantry cranes are generally categorized as tire-mounted cranes and rail-mounted cranes. Additionally, there are different types, such as cantilever gantry cranes, truss gantry cranes, and floating gantry cranes, to accommodate different scenarios and cargo needs. Specifically, a gantry crane primarily includes a bridge frame, engine, motor, trolley, small car, wire rope, sling, and control system components.

[0052] Scanning devices, specifically lidar and 3D radar devices, measure the distance between an object and the sensor by emitting laser pulses and receiving reflected signals. The time required for the laser pulse to return is calculated and converted into distance, generating three-dimensional point cloud data. A 3D radar device is a radar device capable of three-dimensional imaging and distance measurement of a target object. Its principle is based on the radar beam emitting electromagnetic waves toward the target object. When the electromagnetic waves encounter the target object, they are reflected and scattered. These reflected and scattered signals are received and processed by the radar receiver to determine information such as the target object's position, speed, and shape.

[0053] The F-TR lock is a container locking device. The F-TR lock has the function of preventing the container from overturning and jumping, which improves the locking ability of the container, thereby ensuring the transportation safety of the container after the railway speed is increased. After detecting that the container is installed in the specified position, the unit controller will control the lock body to automatically rise and lock it. The working principle of the F-TR lock is that when the unit controller of the F-TR lock receives the system unlocking command, the lock body will automatically unlock and descend into the lock seat. In addition, the unit controller can also monitor the lock operation status and container load status in real time. Once the lock status or container load status is abnormal, it will immediately and automatically alarm the on-board centralized controller and cloud system.

[0054] Flatbeds are used as a means of transport, securing containers to the train platform. This method of transport offers high efficiency, low cost, and excellent safety. To prevent containers from tipping or jumping during transport, the four corners of the containers are secured to the train platform with locking devices.

[0055] Therefore, when using a yard crane to load and unload containers on a train flatbed, anti-lifting detection is required to avoid the accidental lifting of the train flatbed due to the locking device on the train flatbed not being completely separated from the container when the yard crane is operating on the container, thereby reducing safety hazards.

[0056] However, the existing train flatbed anti-lifting detection method has poor detection effect and is prone to missed judgment and misjudgment.

[0057] In response to the above technical problems, the present invention proposes a train flatbed anti-lifting detection method, which performs train flatbed anti-lifting detection in sections and multiple times by scanning and measuring height data, effectively improving the detection effect of train flatbed anti-lifting detection and reducing safety hazards.

[0058] Next, combine Figure 1 , the application scenarios involved in the train flatbed anti-lifting detection method of the present invention are described.

[0059] Figure 1 Schematic diagram of the application scenario of the train flatbed anti-lifting detection method provided by the embodiment of the present invention, see Figure 1 This application scenario includes a platform crane, a train flatbed 107, and a container 106, with the container 106 mounted on the train flatbed 107. The platform crane includes a bridge 105, a trolley 102, a trolley 101, and a spreader 104, as well as a control system for controlling the operation of the platform crane. The control system also includes multiple scanning devices 103, which are mounted on the trolley 101 and are used to perform longitudinal scanning of the train flatbed 107, the container 106, and the spreader 104. By collecting point cloud data of the train flatbed 107, the container 106, and the spreader 104, the height data of the train flatbed 107, the container 106, and the spreader 104 is calculated, and the obtained height data is used to perform anti-lifting detection on the train flatbed 107.

[0060] Among them, by installing the scanning device 103 on the trolley 101 for longitudinal scanning, the problem of measurement error caused by the laser or radar beam emitted by the scanning device 103 being affected by the hollow structure of the train flatbed 107 and the posture change of the sling 400 is solved, thereby improving the accuracy of the scanning.

[0061] Specifically, the scanning device 103 is a 3D radar device.

[0062] Specifically, the number of scanning devices 103 is greater than two. Preferably, when two scanning devices 103 are provided, the installation positions of the two scanning devices 103 on the trolley 101 correspond to the areas where the spreader 104 is located diagonally, so that the spreader 104, the train flatbed 107, and the container 106 can be fully scanned.

[0063] It should be noted that Figure 1 This is only a schematic diagram of an application scenario provided by an embodiment of the present invention. Figure 1 The actual form of the various devices included in the Figure 1 The interaction mode or connection mode between various devices is limited, and in the specific application of the technical solution, it can be set according to actual needs.

[0064] The following is a detailed description of the technical solution of the train platform anti-lifting detection method provided by the present invention through specific embodiments. It should be noted that the following embodiments can exist independently or in combination with each other, and the same or similar content may not be repeated in different embodiments.

[0065] Figure 2 A flow chart of a train flatbed anti-lifting detection method provided by an embodiment of the present invention is provided. Figure 2 In some embodiments, the train flatbed anti-lifting detection method is applied to a field crane control system. The control system includes multiple scanning devices, which are installed on a field crane trolley. The scanning devices are used to longitudinally scan the train flatbed, container, and field crane spreader. The method process includes the following steps:

[0066] S201, when the spreader performs the box lifting operation, the point cloud data collected by the scanning device and the lifting height command of the spreader are obtained in real time.

[0067] During the process of the spreader lifting the container, the point cloud data collected by the scanning device and the lifting height command of the spreader obtained from the control system itself are obtained.

[0068] S202, based on the point cloud data, obtaining height data of the container, the train platform and the spreader; wherein the height data includes the real-time height of each top surface corner area of ​​the container, the train platform and the spreader.

[0069] Among them, the point cloud data collected by the scanning equipment can be used to calculate the real-time height of the container, train flatbed and spreader, and this height data can be used to make relevant judgments for subsequent train flatbed anti-lifting detection.

[0070] Specifically, since existing containers are basically rectangular box structures, the top surfaces of the train flatbeds that are suitable for transporting containers and the slings that lift containers are also rectangular. Therefore, the four corners of the top surfaces of the train flatbeds, containers and slings can be used as measurement points for height data, which is conducive to reducing complex geometric calculations or conversions, improving measurement efficiency and reducing measurement errors.

[0071] Moreover, by measuring the real-time heights of the corner areas of the container, train flatbed, and spreader top surface, and using this height data to make relevant determinations for subsequent train flatbed anti-lifting detection, it is also possible to solve the problem of determining whether the locking device is attached to the container before the container is fully lifted when the spreader is not fully returned to the center or the container is overloaded, resulting in the four corners of the box being lifted asynchronously.

[0072] S203, when the commanded lifting height meets any height threshold in the detection height set, determine whether the train flatbed is lifted or whether the container is completely detached from the train flatbed based on the height data of the container, the train flatbed and the spreader, as well as the commanded lifting height; wherein the detection height set includes multiple preset height thresholds.

[0073] During container lifting operations, to ensure operational safety and avoid potential safety hazards, a platform anti-lift detection system is required based on the height data of the container, platform, and spreader, as well as the commanded lift height. This system determines whether the platform is lifted or the container is completely detached from the platform. By detecting a set of heights, multiple height thresholds can be set to trigger anti-lift detection. This multi-stage detection method further improves the effectiveness of platform anti-lift detection and reduces potential safety hazards.

[0074] Specifically, to balance detection efficiency and detection effect, the number of height thresholds is set to three. For example, the height thresholds are set to 4CM, 6CM, and 8CM. When the commanded lifting height meets 4CM, 6CM, and 8CM respectively, an anti-lifting detection will be performed respectively.

[0075] In this embodiment, a scanning device mounted on a trolley performs longitudinal scanning, capturing point cloud data from the container, train platform, and spreader. Based on this point cloud data, the height data of the container, train platform, and spreader are obtained. This provides accurate height data during anti-lift detection, improving the accuracy of anti-lift detection. Furthermore, by setting multiple height thresholds, anti-lift detection is triggered when the commanded lifting height meets each threshold. This multi-stage detection method further improves the effectiveness of anti-lift detection for train platform, reducing safety hazards.

[0076] In addition, since F-TR locks are generally used to fix the train flatbed and container, a method of multiple segmented lifting based on the structural characteristics of the F-TR lock and the lifting characteristics of the yard crane solves the problems of automatic unlocking and anti-lifting of the F-TR lock when lifting the container.

[0077] exist Figure 1 Based on the embodiment shown below, Figure 3 , further introduces the technical solution of the above-mentioned train flatbed anti-lifting detection method.

[0078] Figure 3 A flow chart of another train flatbed anti-lifting detection method provided by an embodiment of the present invention is provided. Figure 3 In some embodiments, the train flatbed anti-lifting detection method includes the following steps:

[0079] S301, correct the coordinate system of the scanning device, so that the coordinate system of the scanning device is parallel to the coordinate system of the spreader.

[0080] By correcting the coordinate system, the relative positional relationship between the scanning device and the spreader can be ensured to be accurate, thereby avoiding positioning errors caused by mismatched coordinate systems. The parallel and accurate coordinate system enables the scanning device to accurately capture the position information of the spreader, providing reliable data support for subsequent operations.

[0081] S302, during the lifting operation of the spreader, real-time acquisition of the point cloud data collected by the scanning device and the instruction lifting height of the spreader.

[0082] Specifically, assuming that two 3D radars are installed as scanning devices, the point clouds of radar A and radar B are acquired.

[0083] The point cloud data of radar A is.

[0084] The point cloud data of radar B is.

[0085] S303, screening the point cloud data to obtain a target point cloud set of a preset target region; wherein the target region includes a container, a train platform and each top corner region of the spreader.

[0086] By screening the target point cloud set, the amount of point cloud data can be reduced, thereby reducing the amount of subsequent point cloud processing and improving the efficiency of point cloud data processing.

[0087] The ROI region (Region of Interest, region of interest) determines the target point cloud set (the point cloud PROI{(x1, y1, z1), (x2, y2, z2)…(xn, yn, zn)} of the region corresponding to the four top corner regions of the train platform and the four top corner regions of the container and the nearby region, the point cloud CROI{(x1, y1, z1), (x2, y2, z2)…(xn, yn, zn)} of the region corresponding to the four top corner regions of the container and the nearby region, and the point cloud SROI{(x1, y1, z1), (x2, y2, z2)…(xn, yn, zn)} of the region corresponding to the four top corner regions of the spreader and the four top corner regions of the container and the nearby region).

[0088] S304, based on the target point cloud set, obtaining the real-time height of each top corner region of the container, the train platform and the spreader.

[0089] Among them, since point cloud processing has a wide range of applications in computer vision, 3D reconstruction, robot navigation, autonomous driving and other fields, there are many mature point cloud processing algorithms on the market, such as PCL algorithm, Open3D algorithm, CloudCompare, MeshLab, etc.

[0090] Specifically, PROI, CROI, and SROI are calculated and processed to obtain the corresponding heights Hi1(s, c, p), Hi2(s, c, p), Hi3(s, c, p), and Hi4(s, c, p) of the four top corner areas of the train platform, container, and spreader in the target point set. Where s is the top corner area height of the spreader, c is the top corner area height of the container, p is the top corner area height of the train platform, and i represents the i-th detection.

[0091] Preferably, while acquiring the altitude data, the initial altitude is recorded by the following method, which specifically includes:

[0092] Step 1: Acquire a container landing signal sent by a container landing sensor on a spreader; wherein the container landing signal is used to indicate whether the spreader is in contact with the container.

[0093] The box landing signal is obtained by the sensor installed on the spreader and transmitted to the control system.

[0094] Step 2: When the landing signal disappears or the real-time height changes of the spreader and the container are consistent, the real-time heights of the current container, train flatbed and spreader top corner areas, as well as the commanded lifting height are recorded as the initial height.

[0095] The commanded lifting height and actual spreader height may differ due to factors such as the ductility of the wire rope, the diameters of different drum coils, and the varying degrees of slack at the four corners of the spreader after landing. To prevent false alarms caused by height inconsistencies, the aforementioned method is used to update the initial heights of the train platform, container, spreader, and command during the target lift. Specifically, when the landing signal disappears (a falling edge from 1 to 0), the spreader contacts the container, or the real-time height changes of the spreader and container coincide, the corresponding heights H01(s, c, p), H02(s, c, p), H03(s, c, p), and H04(s, c, p) of the four top corners of the train platform, container, and spreader at the target point are recorded. The corresponding spreader height S0 at that moment is also recorded to mitigate the effects of loose ropes.

[0096] S305 : If the deviation between the real-time height and the initial height of any top surface angle area of ​​the train flatbed is greater than a first preset threshold, it is determined that the train flatbed is lifted.

[0097] If the deviation between the real-time height and the initial height of any top surface angle area of ​​the train flatbed is greater than a first preset threshold, it indicates that the height of the train flatbed has changed too much and the train flatbed has also been lifted by the hoist.

[0098] Specifically, ∆Pij=Hij.p-H0j.p, where ∆Pij represents the deviation value, i represents the i-th detection, j represents the j-th top surface angle area, Hij.p represents the real-time height of the j-th top surface angle area of ​​the train flatbed during the i-th detection, and H0j.p represents the initial height of the j-th top surface angle area of ​​the train flatbed.

[0099] S306, if the change values ​​of the height differences of the top surface angle areas corresponding to the container and the train flatbed are inconsistent, it is determined that the container has not completely left the train flatbed; wherein the height difference is the real-time height difference value of the top surface angle areas corresponding to the container and the train flatbed.

[0100] Among them, if the change values ​​of the height differences of the various top surface angle areas corresponding to the container and the train flatbed are inconsistent, it means that the container is not lifted vertically but tilted, which means that the container has not completely separated from the train flatbed and one or more corners of the container are not unlocked from the locking device.

[0101] Specifically, ∆CPj=Hij.p-Hij.c, where ∆CPj represents the height difference between the jth top surface angle area corresponding to the container and the train flatbed, Hij.p represents the real-time height of the jth top surface angle area detected by the train flatbed for the i-th time, and Hij.c represents the real-time height of the jth top surface angle area detected by the container for the i-th time.

[0102] Preferably, if the difference between the maximum change value and the minimum change value of the height difference changes of each top surface corner area corresponding to the container and the train flatbed exceeds a preset range, and the difference is consistent with the height change of the commanded lifting height, it is determined that at most two corners of the container have not left the train flatbed;

[0103] Specifically, ∆j = Max(∆CP0, ∆CP0, ∆CP0, ∆CP4) - Min(∆CP0, ∆CP0, ∆CP0, ∆CP4), where ∆j represents the difference between the maximum and minimum change in the height difference between the container and the train flatbed at each top surface angle.

[0104] If the difference between the change in height difference between each top surface corner area corresponding to the container and the train flatbed and the change in the commanded lifting height is less than a second preset threshold, it is determined that at least three corners of the container have not left the train flatbed.

[0105] Among them, by further determining the number of container corners that have not separated from the train platform, a preliminary judgment can be made on the condition of the container hanging corners, providing information for subsequent abnormal troubleshooting and improving the efficiency of subsequent abnormal troubleshooting.

[0106] S307: If the train platform is lifted or the container is not completely separated from the train platform, the lifting device is controlled to perform the container release operation.

[0107] If the flatbed is lifted or the container is not completely off the flatbed, the spreader is controlled to release the container, placing it back on the flatbed and releasing the locking mechanism between the container and the flatbed. The spreader is then controlled to retrieve the container again, attempting to lift the container.

[0108] S308: If the deviation between the real-time height and the initial height of each top surface corner area of ​​the train flatbed is not greater than a first preset threshold, it is determined that the train flatbed is not lifted.

[0109] Correspondingly, if the deviation values ​​between the real-time height and the initial height of each top surface corner area of ​​the train flatbed are not greater than the first preset threshold, it means that the train flatbed is not lifted.

[0110] S309: If the height difference between the container and the train platform corresponding to each top surface angle area is consistent, and the height difference is consistent with the height change of the commanded lifting height, it is determined that the container is completely separated from the train platform.

[0111] Correspondingly, if the height difference between the top surface angle areas corresponding to the container and the train platform is consistent, it indicates that the container is completely separated from the train platform.

[0112] S310: If the train platform is not lifted and the container is completely separated from the train platform, the spreader is controlled to continue to perform the container lifting operation.

[0113] If the train flatbed is not lifted or the container is completely detached from the train flatbed, the spreader is controlled to continue the container lifting operation until the container lifting operation is completed.

[0114] Among them, if the train platform is lifted or the container is not completely off the train platform, in order to avoid safety hazards, the container lifting operation cannot be continued. At this time, the control system controls the spreader to perform the container release operation, and after the container release operation is completed,

[0115] In this embodiment, various abnormal situations are accurately detected through height data, further improving the detection effect of anti-lifting detection.

[0116] Figure 4 This is a schematic diagram of the structure of a train flatbed anti-lifting detection device provided by an embodiment of the present invention, see Figure 4The train flatbed anti-lifting detection device includes various functional modules for implementing the aforementioned train flatbed anti-lifting detection method. Any functional module can be implemented by software and / or hardware.

[0117] In some embodiments, the train flatbed anti-lifting detection device 400 is applied to the control system of the field crane. The control system includes multiple scanning devices, which are installed on the field crane's trolley and are used to longitudinally scan the train flatbed, container, and field crane's spreader. The device 400 includes a data acquisition module 401, a height acquisition module 402, and a lifting detection module 403. Among them:

[0118] The data acquisition module 401 is used to obtain point cloud data collected by the scanning device and the commanded lifting height of the spreader in real time during the spreader's box lifting operation;

[0119] The height acquisition module 402 is used to obtain the height data of the container, the train platform and the spreader based on the point cloud data; wherein the height data includes the real-time height of each top corner area of ​​the container, the train platform and the spreader;

[0120] The lifting detection module 403 determines whether the train flatbed is lifted or whether the container is completely detached from the train flatbed based on the height data of the container, the train flatbed, and the spreader, as well as the commanded lifting height, when the commanded lifting height meets any height threshold in the detection height set, wherein the detection height set includes multiple preset height thresholds.

[0121] In some embodiments, the lifting detection module 403 is specifically used to:

[0122] If the deviation between the real-time height and the initial height of any top surface angle area of ​​the train flatbed is greater than a first preset threshold, it is determined that the train flatbed is lifted;

[0123] If the change values ​​of the height differences of the top surface angle areas corresponding to the container and the train flatbed are inconsistent, it is determined that the container has not completely left the train flatbed; wherein the height difference is the real-time height difference value of the top surface angle areas corresponding to the container and the train flatbed.

[0124] In some embodiments, the lifting detection module 403 is further configured to:

[0125] If the deviation between the real-time height and the initial height of each top surface corner area of ​​the train flatbed is not greater than a first preset threshold, it is determined that the train flatbed is not lifted;

[0126] If the height difference between the container and the train platform is consistent, and the height difference is consistent with the height change of the commanded lifting height, it is determined that the container is completely off the train platform.

[0127] In some embodiments, after determining that the container has not completely detached from the train platform, the lifting detection module 403 is further configured to:

[0128] If the difference between the maximum and minimum values ​​of the height differences between the top surface corners of the container and the train platform exceeds a preset range, and the difference is consistent with the height change of the commanded lifting height, it is determined that at most two corners of the container have not left the train platform;

[0129] If the difference between the change in height difference between each top surface corner area corresponding to the container and the train flatbed and the change in the commanded lifting height is less than a second preset threshold, it is determined that at least three corners of the container have not left the train flatbed.

[0130] In some embodiments, the height acquisition module 402 is further configured to:

[0131] Obtaining a container landing signal sent by a container landing sensor on the spreader; wherein the container landing signal is used to indicate whether the spreader is in contact with the container;

[0132] When the landing signal disappears or the real-time height changes of the spreader and the container are consistent, the real-time heights of the current container, train flatbed and spreader top corner areas, as well as the commanded lifting height are recorded as the initial height.

[0133] In some embodiments, the height acquisition module 402 is specifically configured to:

[0134] Filter the point cloud data to obtain a target point cloud set of a preset target area; the target area includes the top corner areas of the container, train platform, and spreader;

[0135] Based on the target point cloud set, the real-time height of each top corner area of ​​the container, train platform and spreader is obtained.

[0136] In some embodiments, the apparatus 400 further includes a coordinate correction module 404. Before acquiring the point cloud data collected by the scanning device, the coordinate correction module 404 is specifically configured to:

[0137] Correct the coordinate system of the scanning device so that the coordinate system of the scanning device remains parallel to the coordinate system of the spreader.

[0138] In some embodiments, the apparatus 400 further includes a spreader control module 405, which is specifically configured to:

[0139] If the train platform is lifted or the container is not completely separated from the train platform, the spreader is controlled to perform the container release operation.

[0140] The train flatbed anti-lifting detection device 400 provided in an embodiment of the present invention is used to implement the technical solution provided in the aforementioned train flatbed anti-lifting detection method embodiment. Its implementation principle and technical effects are similar to those in the aforementioned method embodiment and will not be repeated here.

[0141] It should be noted that it should be understood that the division of the various modules of the above device is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or physically separated. Moreover, these modules can all be implemented in the form of software called by a processing element, or all be implemented in the form of hardware. Alternatively, some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the data acquisition module 401 can be a separately established processing element, or it can be integrated into a certain chip of the above device for implementation. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a certain processing element of the above device for performing the functions of the above data acquisition module 401. The implementation of other modules is similar. In addition, these modules can all or partly be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0142] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention, see Figure 5 The electronic device 105 includes a processor 501 and a memory 502 in communication with the processor 501;

[0143] Memory 502 stores computer-executable instructions;

[0144] The processor 501 executes the computer-executable instructions stored in the memory 502 to implement the technical solution of the aforementioned train flatbed anti-lifting detection method.

[0145] In the electronic device 105 described above, the memory 502 and processor 501 are directly or indirectly electrically connected to each other to enable data transmission or interaction. For example, these components can be electrically connected via one or more communication buses or signal lines, such as a bus. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be categorized as address buses, data buses, control buses, etc., but this does not mean there is only one bus or only one type of bus. The memory 502 stores computer-executable instructions for implementing the aforementioned train platform anti-lifting detection 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.

[0146] The memory 502 includes at least one type of readable storage medium, including but not limited to random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM). 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 (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.

[0147] 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), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), etc. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor can be a microprocessor, or the processor 501 can also be any conventional processor.

[0148] The electronic device 105 is used to execute the technical solution provided by the aforementioned train flatbed anti-lifting detection method embodiment. Its implementation principle and technical effects are similar to those in the aforementioned method embodiment and will not be repeated here.

[0149] An embodiment of the present invention further provides a field bridge, comprising a field bridge body and a control system, wherein the control system comprises a plurality of scanning devices and the above-mentioned electronic device;

[0150] The scanning device is installed on the trolley of the yard crane and is used to longitudinally scan the train flatbed, container and the spreader of the yard crane.

[0151] An embodiment of the present invention further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement the technical solution of the aforementioned train flatbed anti-lifting detection method.

[0152] The computer-readable storage medium may be implemented by any type of volatile or non-volatile memory device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The computer-readable storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0153] An exemplary readable storage medium is coupled to the processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may be located in an application-specific integrated circuit (ASIC). Of course, the processor and the readable storage medium may also be present as discrete components in the control device of the train flatbed anti-lifting detection device.

[0154] An embodiment of the present invention further provides a computer program product, including a computer program, which, when executed, is used to implement the technical solution of the aforementioned train flatbed anti-lifting detection method.

[0155] In the above embodiments, those skilled in the art will appreciate that the above method embodiments can be implemented in whole or in part via software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. A computer program product comprises one or more computer instructions. When the computer program instructions are loaded and executed on a computer, they fully or partially produce the processes or functions according to the embodiments of the present invention. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless network, microwave, etc.) means. A computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that integrates one or more available media. Available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid-state drives (SSDs)).

[0156] 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.

[0157] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the appended claims.

[0158] It should be understood that the present invention is not limited to the exact construction described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof, which is limited only by the appended claims.

Claims

1. A train flatbed anti-lifting detection method, characterized in that: A control system applied to a field crane comprises a plurality of scanning devices, the scanning devices being arranged on a trolley of the field crane and configured to longitudinally scan a train flatbed, a container, and a spreader of the field crane. The method comprises: During the process of the spreader performing the box lifting operation, the point cloud data collected by the scanning device and the commanded lifting height of the spreader are obtained in real time; Based on the point cloud data, obtaining height data of the container, the train platform, and the spreader; wherein the height data includes the real-time height of each top corner area of ​​the container, the train platform, and the spreader; When the commanded lifting height meets any height threshold in a detection height set, it is determined whether the train platform is lifted or whether the container is completely detached from the train platform based on the height data of the container, the train platform and the spreader, as well as the commanded lifting height; wherein the detection height set includes multiple preset height thresholds.

2. The method according to claim 1, characterized in that Determining whether the train flatbed is lifted or whether the container is completely detached from the train flatbed based on the height data of the container, the train flatbed, and the spreader, and the commanded lifting height, includes: If the deviation between the real-time height and the initial height of any top surface angle area of ​​the train flatbed is greater than a first preset threshold, it is determined that the train flatbed is lifted; If the change values ​​of the height differences between the top surface angle areas corresponding to the container and the train flatbed are inconsistent, it is determined that the container has not completely left the train flatbed; wherein the height difference is the real-time height difference value of the top surface angle areas corresponding to the container and the train flatbed.

3. The method according to claim 2, characterized in that The method further comprises: If the deviation between the real-time height and the initial height of each top surface corner area of ​​the train flatbed is not greater than a first preset threshold, it is determined that the train flatbed is not lifted; If the height difference between the container and the train platform corresponding to each top surface angle area is consistent, and the height difference is consistent with the height change of the commanded lifting height, it is determined that the container is completely separated from the train platform.

4. The method according to claim 2, characterized in that After determining that the container has not completely detached from the train flatbed, the method further includes: If the difference between the maximum and minimum values ​​of the height differences between the top surface corner areas corresponding to the container and the train platform exceeds a preset range, and the difference is consistent with the height change of the commanded lifting height, it is determined that at most two corners of the container have not left the train platform; If the difference between the change in the height difference between each top surface corner area corresponding to the container and the train platform and the change in the command lifting height is less than a second preset threshold, it is determined that at least three corners of the container have not left the train platform.

5. The method according to claim 2, characterized in that The method further comprises: Obtaining a container landing signal sent by a container landing sensor on the spreader; wherein the container landing signal is used to indicate whether the spreader is in contact with the container landing; When the landing signal disappears or the real-time height changes of the spreader and the container are consistent, the real-time heights of the container, the train platform and each top corner area of ​​the spreader, as well as the commanded lifting height are recorded as the initial height.

6. The method according to any one of claims 1 to 5, characterized in that Acquiring height data of the container, the train platform, and the spreader based on the point cloud data, including: Filtering the point cloud data to obtain a target point cloud set of a preset target area; wherein the target area includes each top surface corner area of ​​the container, the train platform, and the spreader; Based on the target point cloud set, the real-time heights of each top surface corner area of ​​the container, the train platform and the spreader are obtained.

7. The method according to any one of claims 1 to 5, characterized in that Before acquiring the point cloud data collected by the scanning device, the method further includes: The coordinate system of the scanning device is corrected so that the coordinate system of the scanning device remains parallel to the coordinate system of the spreader.

8. The method according to any one of claims 1 to 5, characterized in that The method further comprises: If the train flatbed is lifted or the container is not completely separated from the train flatbed, the spreader is controlled to perform a container placement operation.

9. An electronic device, characterized in that: comprising a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 8.

10. A field bridge, characterized in that: The field bridge comprises a field bridge body and a control system, wherein the control system comprises a plurality of scanning devices and the electronic device according to claim 9; The scanning device is arranged on the trolley of the yard bridge, and is used for longitudinally scanning the train flatbed, the container and the spreader of the yard bridge.

Images