Container bottom lock detection method, device and system

Abstract

The embodiment of the invention provides a container bottom lock detection method, device and system, and the method comprises the steps: responding to a quay crane, loading a container onto a container truck, and obtaining first detection information of carrying out the installation state detection of a bottom lock of the container through a first detection device; when it is determined that the installation state of the bottom lock is that the bottom lock exists according to the first detection information, second detection information obtained when a second detection device conducts position state detection on the bottom lock is obtained; when it is determined that the position state of the bottom lock accords with a preset position state according to the second detection information, a first indication message is sent to a container truck for transporting the container, and the first indication message is used for indicating the container truck to travel to the intelligent lock station from the quay crane position so as to pick up the bottom lock; and in response to completion of bottom lock picking by the intelligent lock station, a second indication message is sent to the container truck, and the second indication message is used for indicating the container truck to travel from the intelligent lock station to the transportation destination. Through the method, the transportation efficiency of the container can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and in particular to a method, device and system for detecting a bottom lock of a container. Background Art

[0002] With the continuous development of automated driving technology, port transportation is gradually becoming highly automated and intelligent, with unmanned self-driving container trucks (hereinafter referred to as unmanned container trucks) being used for loading and transporting containers.

[0003] The relevant technology for the transportation routes of unmanned container trucks includes an inherent unlocking link at smart lock stations. However, since not all containers are equipped with bottom locks, if the unmanned container trucks still follow the original route and go to the smart lock stations to unlock the containers, a lot of time will be wasted. In addition, when the container is equipped with a bottom lock, due to the lack of an effective bottom lock detection solution, the bottom lock may not be installed properly, the lock position may deviate, etc., and it is difficult to identify whether the unlocking is successful, which will affect the transportation efficiency and safety of the container.

[0004] Therefore, there is an urgent need to provide a solution that can effectively detect the bottom lock of the container to improve the transportation efficiency of the container. Summary of the invention

[0005] The embodiments of the present application provide a container bottom lock detection method, device and system to solve at least one of the above technical problems.

[0006] According to a first aspect of an embodiment of the present application, a method for detecting a bottom lock of a container is provided, comprising: in response to a quay crane loading a container onto a container truck, obtaining first detection information of a first detection device detecting an installation status of a bottom lock of the container; when it is determined according to the first detection information that the installation status of the bottom lock is with a bottom lock, obtaining second detection information of a second detection device detecting a position status of the bottom lock; when it is determined according to the second detection information that the position status of the bottom lock meets a preset position status, sending a first indication message to a container truck transporting the container, the first indication message being used to instruct the container truck to travel from the quay crane position to a smart lock station to unlock the bottom lock; in response to the smart lock station completing unlocking of the bottom lock, sending a second indication message to the container truck, the second indication message being used to instruct the container truck to travel from the smart lock station to a transportation destination.

[0007] Through the above technical solution, after the container is automatically loaded on the quay crane, the first detection device and the second detection device are used to detect the installation status and the position status of the bottom lock respectively, and when the container has a bottom lock and the position status meets the expected conditions, it is transported to the smart lock station to unlock and then transported to the destination. Based on the bottom lock detection and the interaction with the smart lock station and the container truck, the unmanned container truck is transported to the corresponding destination according to the bottom lock status, which effectively improves the accuracy of unlocking and locking, and achieves the purpose of improving the transportation efficiency of the unmanned container truck.

[0008] In one embodiment, before obtaining second detection information from a second detection device that detects the position status of the bottom lock, the method also includes: when it is determined according to the first detection information that the installation status of the bottom lock is without a bottom lock, sending a third indication message to the truck transporting the container, wherein the third indication message is used to instruct the container truck to travel from the quay crane position to the transportation destination.

[0009] Through the above technical solution, in the absence of a bottom lock, the unmanned container truck can be instructed to drive directly to the transportation destination, which can reduce unnecessary unlocking links, shorten transportation time, and improve transportation efficiency.

[0010] In one embodiment, the first detection device and the second detection device are deployed at corresponding positions on the container for installing the bottom lock; wherein the first detection device is a photoelectric sensor, and the second detection device is a camera.

[0011] Through the above technical solution, the detection accuracy of the installation state and installation position of the bottom lock can be effectively improved.

[0012] In one embodiment, the method is applied to a microcontroller MCU, a first input and output I / O pin of the MCU is electrically connected to a second I / O pin of the first detection device, the second I / O pin outputs a corresponding level signal to the first I / O pin according to the installation status of the bottom lock detected by the first detection device, and the first detection information includes the level signal; the method also includes: collecting the level signal output by the second I / O pin through the first I / O pin; when multiple level signals collected continuously are preset level signals, determining that the installation status of the bottom lock is with a bottom lock.

[0013] Through the above technical solution, the level signal output by the detection device is collected by the I / O pin of the MCU, and multiple collections are performed to determine whether the bottom lock is installed, which can effectively improve the detection accuracy of the bottom lock installation status.

[0014] In one embodiment, the second detection information includes a position detection image, and the method further includes: based on a target detection algorithm, detecting first position information of the bottom lock in the position detection image; when the first position information is consistent with reference position information of the bottom lock in a locked state, determining that the position state of the bottom lock meets a preset position state.

[0015] Through the above technical solution, the position detection image collected by the second detection device is detected using a target detection algorithm to determine the position state of the bottom lock, thereby improving the detection accuracy of the position state of the bottom lock.

[0016] In one embodiment, before detecting the position information of the bottom lock in the position detection image based on the target detection algorithm, the method also includes: adjusting the resource allocation priority of the MCU according to the resource information required by the target detection algorithm, and the resource allocation priority is used to give priority to calling computing resources for the target detection algorithm.

[0017] Through the above technical solution, the resource allocation priority of the MCU is adjusted during target detection, which can effectively avoid the delay problem caused by insufficient computing power of the target detection algorithm.

[0018] In one embodiment, after sending a first indication message to the container truck transporting the container, the method further includes: obtaining third detection information of the second detection device performing position status detection on the bottom lock, and obtaining second position information of the bottom lock according to the third detection information; when the second position information is consistent with the reference position information of the bottom lock in the unlocked state, determining that the smart lock station has completed unlocking the bottom lock.

[0019] Through the above technical solution, by controlling the second detection device to perform unlocking detection on the bottom lock after sending the first instruction message to the unmanned container truck, the accuracy of the bottom lock state can be improved, thereby improving the transportation efficiency.

[0020] In one embodiment, the first indication message and / or the second indication message adopts a predefined message format, and the predefined message format includes at least one of the following: a container truck number bit, a container identification bit, a data bit for indicating the bottom lock status, and a check bit for indicating data verification information.

[0021] Through the above technical solution,

[0022] According to a second aspect of an embodiment of the present application, a container bottom lock detection device is provided, comprising:

[0023] A first detection module is configured to obtain first detection information of a first detection device detecting an installation state of a bottom lock of the container after detecting that the quay crane loads the container onto the container truck;

[0024] A second detection module is configured to obtain second detection information of a position state detection of the bottom lock by a second detection device in response to the installation state of the bottom lock being that the bottom lock is installed;

[0025] a first indication module, configured to send a first indication message to a container truck transporting the container when it is determined according to the second detection information that the position state of the bottom lock meets a preset position state, wherein the first indication message is used to instruct the container truck to drive from the quay crane position to the smart lock station to unlock the bottom lock;

[0026] The second indication module is configured to send a second indication message to the container truck in response to the completion of unlocking the bottom lock by the smart lock station, wherein the second indication message is used to instruct the container truck to travel from the smart lock station to the transportation destination.

[0027] In one embodiment, the bottom lock detection device can be used to execute any possible implementation of the first aspect described above.

[0028] According to a third aspect of an embodiment of the present application, there is provided a container bottom lock detection system, comprising a collection device, and a container truck, a quay crane and an intelligent lock station electrically connected to the collection device respectively;

[0029] The acquisition device includes an MCU, a photoelectric sensor electrically connected to the MCU for detecting the installation state of the container bottom lock, and a camera for detecting the installation position of the bottom lock, and the MCU is used to execute the container bottom lock detection method provided in any one of the first aspects above;

[0030] The container truck is used to receive the instruction message transmitted by the MCU, so as to drive to the destination corresponding to the instruction message according to the instruction message, and the destination includes a smart lock station or a transportation destination;

[0031] The quay crane is used to load the container onto the container truck and transmit a loading completion message to the MCU;

[0032] The intelligent lock station is used to unlock the bottom lock of the container and transmit a unlocking completion message to the MCU.

[0033] In a fourth aspect, the present application further provides an MCU, which includes: a memory and a processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory, so that the computer device executes the container bottom lock detection method provided in any one of the first aspects above.

[0034] In a fifth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the container bottom lock detection method provided in any one of the first aspects above.

[0035] In a sixth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, which, when executed by a processor, implements the container bottom lock detection method provided in any one of the first aspects above. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 One of the flow diagrams of a container bottom lock detection method provided in an embodiment of the present application;

[0037] Figure 2 This is a schematic diagram of the installation position of the first detection device in the embodiment of the present application;

[0038] Figure 3 A second flow chart of a container bottom lock detection method provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of a flow chart of another container bottom lock detection method provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of a flow chart of another container bottom lock detection method provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of a predefined message format in an embodiment of the present application;

[0042] Figure 7a One of the application scenario schematic diagrams provided in the embodiment of the present application;

[0043] Figure 7b The second schematic diagram of the application scenario provided in the embodiment of the present application;

[0044] Figure 8 For the embodiment of this application Figure 7b A schematic diagram of the structure of the acquisition device 760;

[0045] Fig. 9 A schematic diagram of the structure of a container bottom lock detection device provided in an embodiment of the present application;

[0046] Fig.10 A structural schematic diagram of a container bottom lock detection system provided in an embodiment of the present application;

[0047] Fig.11 A schematic diagram of the structure of an MCU provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] To facilitate understanding of the embodiments of the present application, the terms involved in the embodiments of the present application are first explained:

[0049] Quay crane, also known as quayside container crane, is a heavy mechanical equipment commonly used in ports and docks, mainly used to load and unload containers on container ships. Quay cranes can be installed on the edge of the dock and move on tracks to efficiently transfer containers between ships and docks.

[0050] The intelligent lock station is a device that integrates modern information technology and automated control technology. It can be used to manage and operate the unlocking and installation of the locks at the bottom of the container. It is mainly used in ports and logistics centers, and cooperates with unmanned container trucks and automated quay cranes to ensure the safe and efficient operation of containers during transportation and loading and unloading.

[0051] Yard Crane, also known as yard container crane, is a heavy mechanical equipment used in container yards. It is mainly used to move and stack containers in container yards, and can help achieve efficient storage and transshipment of containers.

[0052] In the related art, an automated quay crane is used to load containers onto an unmanned container truck, which transports the containers and drives to an intelligent lock station when it is about to reach the destination. The intelligent lock station automatically unlocks the lock connected to the bottom of the container (i.e., the bottom lock), and then the unmanned container truck transports the container to the designated location. However, the following situations often exist: 1) The container unloaded from the ship has no lock, but the unmanned container truck still follows the route to the intelligent lock station to unlock it, which wastes time and has low transportation efficiency; 2) The container unloaded from the ship has a lock, and the unmanned container truck follows the route to the intelligent lock station to unlock it, but it needs to be confirmed whether the unlocking is successful; 3) When the automated quay crane loads the container, the bottom lock may not be installed properly or the lock position may deviate.

[0053] In view of this, an embodiment of the present application provides a container bottom lock detection method, device and system, which obtains first detection information of a first detection device detecting the installation status of the container's bottom lock in response to a quay crane loading the container onto a container truck, and when the installation status of the bottom lock is that there is a bottom lock, controls the second detection device to detect the position status of the bottom lock, and when the position status of the bottom lock meets the preset position status, sends a first indication message to the container truck transporting the container, and the first indication message is used to instruct the container truck to travel from the quay crane position to the smart lock station to unlock the bottom lock. In response to the smart lock station completing the unlocking of the bottom lock, sends a second indication message to the container truck, and the second indication message is used to instruct the container truck to travel from the smart lock station to the transportation destination. During this process, after the container is automatically loaded on the quay crane, the first detection device and the second detection device are used to detect the installation status and the position status of the bottom lock respectively. When the container has a bottom lock and the position status meets the expected conditions, it is transported to the smart lock station to unlock and then transported to the destination. By detecting the bottom lock and interacting with the smart lock station and the container truck, the unmanned container truck is transported to the corresponding destination according to the status of the bottom lock, which effectively improves the accuracy of unlocking and locking, and improves the transportation efficiency of the unmanned container truck.

[0054] The container bottom lock detection solution provided in the embodiment of the present application can be applied to scenarios such as ports, highways, logistics, mines, closed parks or urban transportation.

[0055] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below in conjunction with the drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limitations on the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0056] Please refer to Figure 1 , Figure 1 A flowchart of a container bottom lock detection method is provided for an embodiment of the present application. The execution subject may be a microcontroller unit (MCU). The method includes steps S101-S104:

[0057] Step S101: in response to the quay crane loading the container onto the container truck, first detection information of the first detection device detecting the installation status of the bottom lock of the container is obtained.

[0058] In this embodiment, the MCU can be integrated on the container truck or deployed as an independent device on the container truck or other equipment. Taking the port transportation container as an example, the quay crane loads the container on the ship onto the container truck and can send a transfer completion message to the MCU. In response to the container loading message, the MCU controls the first detection device to perform installation status detection on the bottom lock. The first detection device can be controlled to perform installation status detection by issuing a control instruction to the first detection device, or the first detection device can perform spontaneous detection and transmit the detection information to the MCU.

[0059] In one example, the first detection device may be a photoelectric sensor, such as a through-beam photoelectric sensor or a reflective photoelectric sensor. It is understandable that the photoelectric sensor can use the photoelectric effect to detect and measure the existence, position, distance or other physical quantities of an object. Taking a reflective photoelectric sensor as an example, it may include a light source and a receiver. By installing the light source and the receiver on the same side, the light beam is irradiated to the lock angle area. When using a mirror reflection type, a reflector may be installed opposite the lock angle. When the bottom lock exists, the light beam is blocked and the receiver cannot detect the reflected light; when using a diffuse reflection type, when the bottom lock exists, the light beam will be reflected by the bottom lock, and the receiver detects the reflected light. In some examples, in addition to being a photoelectric sensor, the first detection device may also be other detection devices that can efficiently detect whether there is a bottom lock, such as an infrared sensor, an ultrasonic sensor, and the like.

[0060] In another example, the number of the first detection devices may be multiple, and they are respectively installed at the four locking angle positions of the container, such as Figure 2 As shown, detection ranges a and b are detection ranges corresponding to two locking angle positions (the other two locking angles are the back side, not shown), that is, the installation position of the first detection device. In some examples, the installation position of the first detection device may also be other positions, which is not particularly limited in this embodiment.

[0061] It can be understood that in response to the conditions or states on which the executed operations depend, when the dependent conditions or states are met, one or more operations executed can be in real time or have a set delay; unless otherwise specified, there is no restriction on the order of execution of the multiple operations executed.

[0062] Step S102: when it is determined according to the first detection information that the installation state of the bottom lock is with the bottom lock, second detection information of a second detection device detecting the position state of the bottom lock is obtained.

[0063] Taking the above-mentioned first detection device as a photoelectric sensor as an example, when it detects that the installation state of the bottom lock is with a bottom lock, the MCU controls the second detection device to perform position state detection by initiating a control instruction, wherein the second detection device can be a camera, which detects the position state of the bottom lock by collecting the bottom lock position. When it is detected that the installation state of the bottom lock is without a bottom lock, the process can be terminated and the subsequent position state detection process will no longer be executed, which can effectively reduce the waste of computing resources. Optionally, combined with Figure 2 As shown, in addition to the deployment of the first detection device, the second detection device can also be deployed at the corresponding position on the container for installing the bottom lock, that is, the first detection device and the second detection device are respectively installed at the four lock foot positions.

[0064] The first detection device and the second detection device in this embodiment are used to describe similar objects, and they can be the same detection device or different detection devices, which is not particularly limited in this embodiment. For example, the first detection device and the second detection device can both be cameras, or can both be photoelectric sensors, and different detection algorithms can be used for detection when performing installation state detection and position state detection.

[0065] Step S103: When it is determined according to the second detection information that the position state of the bottom lock meets the preset position state, a first indication message is sent to the container truck transporting the container, wherein the first indication message is used to instruct the container truck to travel from the quay crane position to the smart lock station to unlock the bottom lock.

[0066] In the related art, there is usually no detection process for the bottom lock of the container. After completing the loading, the unmanned container truck directly drives to the smart lock station or the transportation destination, which easily leads to the situation that the container cannot be unloaded after reaching the transportation destination without removing the lock, and then goes to the smart lock station again to remove the lock, or goes to the smart lock station directly to remove the lock without the bottom lock, which wastes a lot of time and resources. This embodiment detects the bottom lock of the container and transmits a corresponding instruction message to the container truck according to the detection result to instruct the container to go to the corresponding destination according to the bottom lock status, which can save time and resources and improve transportation efficiency.

[0067] In this embodiment, the first indication message may adopt a message of a specific format, for example, a format that may include a container truck number bit, a container identification bit, a data bit for indicating the bottom lock state, and a check bit for indicating data verification information, so as to achieve correct data transmission to the container truck and make a correct response. It can be understood that the container truck number bit is used to store the container truck number information, and the container identification bit is used to store the container identification (such as the label or other identification information). Similarly, the data bit and the check bit, for specific examples, can be found in the embodiments below, and will not be described in detail here.

[0068] It should be noted that those skilled in the art can adaptively set the preset position state in combination with practical applications and existing technologies. For example, the preset position state can be a specific position or condition of the bottom lock in the locked state, such as the specific physical position of the bottom lock, such as rotating to a specified angle (for example, 90 degrees or 180 degrees) to ensure that the locking is firm, which is considered to meet the preset position state.

[0069] Step S104: In response to the smart lock station completing unlocking the bottom lock, a second instruction message is sent to the container truck, where the second instruction message is used to instruct the container truck to travel from the smart lock station to the transportation destination.

[0070] For example, after the smart lock station removes the bottom lock, it will send a lock removal completion message to the MCU. In response to the completion of the lock removal by the smart lock station, the MCU sends a second instruction message to the unmanned container truck to instruct the container truck to travel to the transportation destination. The second instruction message can also be in a specific hour format.

[0071] In some embodiments, considering that in actual applications, although the smart lock station has executed the unlocking action, it may not successfully unlock the bottom lock, which will affect the subsequent unloading of the container, in order to ensure that the smart lock station successfully unloads the bottom lock, the position status of the bottom lock after unlocking is detected with the help of a second detection device. When the corresponding unlocking position status is reached, it is determined that the bottom lock is unlocked. At this time, a second indication message is sent to the unmanned container truck, which can further improve the transportation efficiency of the unmanned container truck.

[0072] Through the above technical solution, after the container is automatically loaded on the quay crane, the first detection device and the second detection device are used to detect the installation status and the position status of the bottom lock respectively, and when the container has the bottom lock and the position status meets the expected conditions, it is transported to the smart lock station to remove the lock and then transported to the destination. By detecting the bottom lock and interacting with the smart lock station and the container truck, the unmanned container truck is transported to the corresponding destination according to the status of the bottom lock, which effectively increases the accuracy of unlocking and locking, and improves the transportation efficiency of the unmanned container truck.

[0073] In an alternative embodiment, if Figure 3 As shown, the method further includes step S301:

[0074] Step S301: When it is determined according to the first detection information that the installation state of the bottom lock is without the bottom lock, a third indication message is sent to the truck transporting the container, wherein the third indication message is used to instruct the container truck to travel from the quay crane position to the transportation destination.

[0075] Instead of the related art in which the unmanned container truck drives directly to the smart lock station to unlock after loading, this embodiment interacts with the unmanned container truck in the absence of a bottom lock and instructs it to drive directly to the transportation destination. This can reduce unnecessary unlocking steps and greatly improve transportation efficiency.

[0076] It should be noted that the first indication message, the second indication message, and the third indication message may be of the same message type (for example, the three may be of the same message format), or of different message types, which is not particularly limited in this embodiment. The first indication message, the second indication message, and the third indication message may be sent in a broadcast form.

[0077] Figure 4 It is a flow chart of another method for detecting bottom locks of containers provided by an embodiment of the present application. On the basis of the above embodiment, this embodiment determines whether a bottom lock is included by collecting the level signal output by the detection device to improve the detection accuracy of the bottom lock. Specifically, the first input and output I / O pin of the MCU is electrically connected to the second I / O pin of the first detection device, and the second I / O pin outputs a corresponding level signal to the first I / O pin according to the installation state of the bottom lock detected by the first detection device. The first detection information includes the level signal. In addition to the above steps S101-S104, the method provided by this embodiment may also include the following steps S401 and S402:

[0078] Step S401: collecting a level signal output by a second I / O pin of the first detection device through a first I / O pin.

[0079] In this embodiment, the photoelectric sensor detects the presence of the bottom lock by detecting the light signal in the environment (such as the intensity of light, the presence or absence of light, etc.). According to the detected light signal, the internal circuit of the photoelectric sensor generates a corresponding level signal (high level or low level, in this embodiment, the detection of the presence of the bottom lock is taken as a high level as an example), and outputs it to the first I / O pin of the MCU through the second I / O pin.

[0080] Step S402: When the multiple level signals collected continuously are preset level signals, determine that the installation state of the bottom lock is with the bottom lock.

[0081] Among them, the preset level signal can be adaptively adjusted according to the actual application. For example, in this embodiment, the preset level signal can be a high level (such as 3.5V to 5V), and in some applications it can also be a low level (such as 0V to 0.25V). This embodiment does not specifically limit this.

[0082] Exemplarily, the photoelectric sensor switches the I / O state by sensing the presence or absence of the bottom lock. A high level represents no bottom lock, and a low level represents a bottom lock. The MCU's I / O pin identifies the state change and determines whether the bottom lock is present. The I / O level is sampled three times continuously to prevent the influence of glitches or other signals. This can be defined in the MCU program in advance and be consistent with the photoelectric sensor state.

[0083] Through the above technical solution, the level signal output by the detection device is collected by the I / O pin of the MCU, and multiple collections are performed to determine whether the bottom lock is installed, which can effectively improve the detection accuracy of the bottom lock installation status.

[0084] Figure 5 This is a flow chart of another method for detecting a bottom lock of a container provided by an embodiment of the present application. On the basis of the above embodiment, this embodiment uses a target detection algorithm to detect the position detection image collected by the second detection device to determine the position state of the bottom lock, thereby improving the detection accuracy of the position state of the bottom lock. Specifically, in addition to the above steps S101-S104, the method provided by this embodiment may also include the following steps S501-S502:

[0085] Step S501: Detect first position information of the bottom lock in the position detection image based on a target detection algorithm.

[0086] In this embodiment, the process of acquiring the second detection information is to acquire the position detection image of the bottom lock collected by the second detection device.

[0087] Taking the second detection device as a camera as an example, the MCU sends a detection instruction to the camera to control the camera to detect the position status of the bottom lock. The camera collects the position detection image of the bottom lock, where the position detection image can be one or more. After the camera collects the detection image, it can also transmit it to the I / O pin of the MCU through the I / O pin. In some embodiments, data can also be transmitted through the communication module. This embodiment does not specifically limit the specific transmission method.

[0088] Among them, the target detection algorithm can adopt any algorithm that can perform target detection, such as You Only Look Once (YOLO), Single Shot MultiBoxDetector (SSD), and the like.

[0089] After acquiring the position detection image, the MCU uses the target detection algorithm to detect the bottom lock position information in the position detection image to determine the position of the bottom lock, such as identifying the detection frame of the bottom lock in the position detection image, and calibrating the bottom lock position information in the detection frame with the reference position information of the bottom lock in the locked state.

[0090] Step S502: When the first position information is consistent with the reference position information of the bottom lock in the locked state, determining that the position state of the bottom lock meets the preset position state.

[0091] Among them, the reference position information of the bottom lock in the locked state can be determined based on prior data or measured by a large number of experiments. The reference position information indicates that the position of the bottom lock is normal and has not deviated or fallen off. When the detected bottom lock position information is consistent with the reference position information, it is considered that the position state of the bottom lock meets the preset position state, which can effectively improve the detection accuracy of the bottom lock position state.

[0092] Furthermore, considering that the computing power resources of the MCU are limited, and the target detection algorithm requires higher computing power, in order to avoid delay problems caused by insufficient computing power, etc., this embodiment may design a resource adjustment step after obtaining the position detection image of the bottom lock collected by the second detection device and before detecting the position information of the bottom lock in the position detection image based on the target detection algorithm. Specifically, the method may further include the following steps:

[0093] According to the resource information required by the target detection algorithm, the resource allocation priority of the MCU is adjusted, and the resource allocation priority is used to give priority to calling computing resources for the target detection algorithm.

[0094] Exemplarily, at the beginning of the target detection task, the target detection algorithm is initialized and obtains the resource information it needs, which may include computing power (CPU / GPU), memory, I / O bandwidth, etc. The MCU analyzes its demand for computing resources based on the resource information required by the target detection algorithm, such as evaluation of algorithm complexity, data processing volume, real-time requirements, etc. The MCU adjusts the internal resource allocation priority based on the resource demand analysis results. For example, the MCU adjusts the task scheduling strategy and places the target detection algorithm's task in a high-priority queue to ensure that it can obtain computing resources first, and can reserve necessary computing resources and memory for the target detection algorithm to ensure that it can be called immediately when needed.

[0095] When the target detection algorithm starts to execute, the MCU will prioritize the allocation of computing resources according to the adjusted priority. For example, the CPU / GPU time slices are prioritized to ensure that the target detection algorithm can obtain the CPU or GPU computing time slices first, sufficient memory is allocated to the target detection algorithm to meet its data processing needs, and I / O bandwidth is prioritized to ensure the timeliness and efficiency of data transmission, etc. In addition, during the execution of the target detection algorithm, the MCU can also monitor the usage of system resources in real time. If it detects resource constraints or other high-priority tasks, the MCU can dynamically adjust the resource allocation strategy to balance the overall system performance. For example, if the computing requirements of the target detection algorithm suddenly increase, the MCU can temporarily increase its priority to ensure that its computing requirements are met.

[0096] In some embodiments, considering that the unlocking at the smart lock station may not be successful, if the unmanned container truck drives directly to the transportation destination, it may be necessary to go back and forth to unlock. Therefore, this embodiment further detects whether the smart lock station has actually completed the unlocking, so as to further improve the transportation efficiency of the unmanned container truck. Specifically, after the above step S103 sends the first indication message to the container truck transporting the container, and before step S104 responds to the completion of the unlocking of the bottom lock by the smart lock station, the following steps may also be included: control the second detection device to detect the position status of the bottom lock to obtain the second position information; when the second position information is consistent with the reference position information of the bottom lock in the unlocked state, it is determined that the smart lock station has completed the unlocking of the bottom lock.

[0097] Among them, the process of MCU controlling the second detection device to detect the position status of the bottom lock has been introduced in the above steps, and the reference position information is the same, so it will not be repeated here. In addition, when the second position information is inconsistent with the corresponding reference position information, the MCU can also determine the specific location of the unlocking failure based on the detection image, thereby locating the cause of the failure, and synchronize the failure cause to the smart lock station, further unlocking, and improving the unlocking efficiency. The above locking process is the same.

[0098] This embodiment can improve the accuracy of the bottom lock state and thus improve the transportation efficiency by controlling the second detection device to perform unlocking detection on the bottom lock after sending the first instruction message to the unmanned container truck.

[0099] As mentioned in the above embodiment, the first indication message may adopt a specific message format, which is further described below. In this embodiment, any one or both of the first indication message and the second indication message may adopt a predefined message format, and the predefined message format includes at least one of the following: a container truck number bit, a container identification bit, a data bit for indicating the bottom lock status, and a check bit for indicating data check information.

[0100] In some embodiments, in addition to the data bits in the above examples, other bits may also be included, for example, a start bit may also be included. Figure 6 Specifically, the corresponding information of each bit is shown in the following Table 1:

[0101] Table 1

[0102]

[0103] Through the above technical solution, the indication message can be clearly indicated. When the MCU broadcasts the message in a broadcasting manner, the relevant equipment can respond quickly according to the indication message.

[0104] To facilitate the understanding of the embodiments of the present application, Figure 7a The example application scenario is further introduced, such as Figure 7a As shown, it includes a ship 710, a quay crane 720, an intelligent lock station 730, and a yard crane 740. The quay crane 720 loads and unloads containers from the ship 710 to an unmanned container truck. The unmanned container truck drives to the intelligent lock station 730 to unlock the container, and then moves and stacks the containers at the yard crane 740, and finally drives to the transportation destination. Figure 7a In the scenario, the collection device is used to detect and broadcast the bottom lock of the container, such as Figure 7b As shown, the collection device 760 broadcasts corresponding instruction messages to the quay crane 720, the unmanned container truck 770, the smart lock station 730 and the yard crane 740.

[0105] In this application scenario, the collection device 760 is as follows: Figure 8As shown, it includes an MCU 761, a photoelectric sensor 762 electrically connected to the MCU 761, a camera 763 electrically connected to the MCU 761 through a deserializer 764, and a communication module 765 electrically connected to the MCU 761. Optionally, the number of the photoelectric sensor 762 and the camera 763 can be 4, which are respectively deployed on the 4 locking feet of the container. Two cameras in the same direction can share a deserializer 764. The camera 763 and the deserializer 764 can be connected through a high-speed serial bus (Gigabit Multimedia Serial Link, GMSL), the deserializer 764 and the MCU 761 can be connected through a mobile industry processor interface (Mobile Industry Processor Interface, MIPI), and the communication module 765 and the MCU 761 are connected through. Optionally, MCU761 can perform image recognition, photoelectric signal processing, status signal forwarding and other processes. The camera 763 can collect the bottom lock image. The photoelectric sensor completes the identification of the bottom lock position and transmits it to MCU761 through the status signal. MCU761 first determines the status of the photoelectric sensor and then determines the status of image acquisition. When both statuses are confirmed to be correct, the status of the bottom lock is sent to the unmanned container truck domain control, smart lock station and quay crane through the communication module 765 (such as a 4G module).

[0106] Exemplarily, after the camera 763 passes through the deserializer 764, it is connected to the MCU761 through MIPI. After preprocessing and target detection, MCU761 confirms the status of the bottom lock. The image acquisition and analysis process will consume the resources and computing power of the MCU. When executing image acquisition, the priority of other processes is reduced to avoid competing for MCU resources. Among them, an interrupt signal and an exposure signal may be included between the deserializer and the MCU. The interrupt signal and the exposure signal are respectively connected to different I / O pins of the MCU. When the camera exposure signal occurs, an interrupt signal will be generated synchronously. When the MCU receives the interrupt signal, the priority of the camera image processing process will be increased, and computing power and cache will be allocated with high priority. After the photoelectric sensor and image analysis, MCU761 will give different bottom lock states. The bottom lock state message is sent to the domain control and smart lock station and quay crane of the unmanned container truck through the communication module 765 to plan and control the vehicle route. An example of the bottom lock state is shown in Table 2 below:

[0107] Table 2

[0108]

[0109]

[0110] Exemplarily, after the collection device detects the status of the bottom lock of the container, it can send an instruction message in the form of broadcasting. For example, when an unmanned container truck is at the dock and the container is dropped in, it is in the locked state. The collection device will send a message such as: 0x1f 0x10x1 0x0f 0xdd indicates that container No. 1 is locked successfully. After the unmanned container truck receives and parses the message, it recognizes that the lock is successful and drives into the smart lock station. At the same time, the smart lock station will also receive the message and will be ready to wait for the target vehicle to unlock; or, when the unmanned container truck is at the smart lock station and needs to be unlocked, the collection device will send a message: 0x1f 0x1 0x1 0xf0 0xdc indicates that container No. 1 is unlocked successfully, the unmanned container truck receives the message, and the destination yard also receives the message, waiting for the unmanned container truck to transfer the container.

[0111] In this exemplary embodiment, the bottom lock of the container is detected by a collection device, and it can be detected whether the bottom lock is successfully removed, whether the lock is successfully locked, whether there is a bottom lock, etc. The photoelectric sensor senses the presence or absence of the bottom lock and can output signals of different levels. The camera can accurately confirm the status of the bottom lock through image acquisition. After the collection device collects the status of the bottom lock of the container, the signal is given to the domain control and intelligent lock station platform and the quay crane through the communication module. The message format is defined in advance to ensure normal communication. The domain control identifies the status of the bottom lock and plans and controls the route of the unmanned container truck. The intelligent lock station identifies the status of the bottom lock and gives a status indication. The quay crane receives the successful locking information and determines whether a second locking is required, thereby ensuring successful unlocking and locking and improving transportation efficiency.

[0112] Fig. 9 is a structural schematic diagram of a container bottom lock detection device provided in an embodiment of the present application, such as Fig. 9 As shown, the device 900 includes a first detection module 901, a second detection module 902, a first indication module 903 and a second indication module 904, wherein:

[0113] A first detection module 901 is configured to obtain first detection information of a first detection device detecting an installation status of a bottom lock of a container after detecting that the quay crane loads the container onto a container truck;

[0114] A second detection module 902, which is configured to obtain second detection information of a position state detection of the bottom lock by a second detection device in response to the installation state of the bottom lock being with the bottom lock;

[0115] A first indication module 903 is configured to send a first indication message to a container truck transporting the container when it is determined according to the second detection information that the position state of the bottom lock meets the preset position state, wherein the first indication message is used to instruct the container truck to drive from the quay crane position to the smart lock station to unlock the bottom lock;

[0116] The second indication module 904 is configured to send a second indication message to the container truck in response to the completion of unlocking the bottom lock by the smart lock station, wherein the second indication message is used to instruct the container truck to travel from the smart lock station to the transportation destination.

[0117] In one embodiment, the device further comprises:

[0118] A third indication module is configured to send a third indication message to the container truck transporting the container when it is determined according to the first detection information that the installation state of the bottom lock is without the bottom lock, wherein the third indication message is used to instruct the container truck to travel from the quay crane position to the transportation destination.

[0119] In one embodiment, the first detection device and the second detection device are deployed at corresponding positions on the container for installing the bottom lock; wherein the first detection device is a photoelectric sensor, and the second detection device is a camera.

[0120] In one embodiment, the device is applied to a microcontroller MCU, a first input / output I / O pin of the MCU is electrically connected to a second I / O pin of the first detection device, and the second I / O pin outputs a corresponding level signal to the first I / O pin according to the installation state of the bottom lock detected by the first detection device; the device also includes:

[0121] an acquisition module, configured to acquire the level signal output by the second I / O pin through the first I / O pin;

[0122] The first determination module is configured to determine that the installation state of the bottom lock is having the bottom lock when the multiple level signals collected continuously are preset level signals.

[0123] In one embodiment, the device further comprises:

[0124] An image acquisition module, configured to acquire a position detection image of the bottom lock collected by the second detection device;

[0125] A position detection module, which is configured to detect first position information of the bottom lock in the position detection image based on a target detection algorithm;

[0126] The second determining module is configured to determine that the position state of the bottom lock meets the preset position state when the first position information is consistent with the reference position information of the bottom lock in the locked state.

[0127] In one embodiment, the device further comprises:

[0128] The resource adjustment module adjusts the resource allocation priority of the MCU according to the resource information required by the target detection algorithm, and the resource allocation priority is used to give priority to calling computing resources for the target detection algorithm.

[0129] In one embodiment, the device further comprises:

[0130] A third detection module is configured to obtain third detection information of the position state detection of the bottom lock by the second detection device after the first indication module sends the first indication message to the container truck transporting the container and before the second indication module responds to the completion of the unlocking of the bottom lock by the smart lock station, and obtain the second position information of the bottom lock according to the third detection information;

[0131] The third determination module is configured to determine that the smart lock station has completed unlocking the bottom lock when the second position information is consistent with the reference position information of the bottom lock in the unlocked state.

[0132] In one embodiment, the first indication message and / or the second indication message adopts a predefined message format, and the predefined message format includes at least one of the following: a container truck number bit, a container identification bit, a data bit for indicating the bottom lock status, and a check bit for indicating data verification information.

[0133] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the method embodiments of the present application, and no further elaboration is made here.

[0134] Fig.10 is a structural diagram of a container bottom lock detection system provided by an embodiment of the present disclosure, such as Fig.10 As shown, the system includes a collection device 101, and a container truck 102, a quay crane 103 and an intelligent lock station 104 electrically connected to the collection device 101 respectively;

[0135] The acquisition device 101 includes an MCU 1011, a photoelectric sensor 1012 electrically connected to the MCU 1011 for detecting the installation state of the container bottom lock, and a camera 1013 for detecting the installation position of the bottom lock. The MCU 1011 is used to execute the container bottom lock detection method provided in any one of the first aspects above;

[0136] The container truck 102 is used to receive the instruction message transmitted by the MCU 1011, so as to drive to the destination corresponding to the instruction message according to the instruction message, and the destination includes a smart lock station or a transportation destination;

[0137] The quay crane 103 is used to load the container onto the container truck and transmit a loading completion message to the MCU 1011;

[0138] The intelligent lock station 104 is used to unlock the bottom lock of the container and transmit a unlocking completion message to the MCU 1011 .

[0139] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the method embodiments of the present application, and no further elaboration is made here.

[0140] Fig.11 is a schematic diagram of the structure of an MCU provided in an embodiment of the present application, such as Fig.11 As shown, the MCU includes: a memory and a processor; a processor 111, and a memory 112 communicatively connected to the processor 111;

[0141] The memory 112 stores computer-executable instructions;

[0142] The processor 111 executes the computer-executable instructions stored in the memory 112 to implement the container bottom lock detection method, wherein the memory 112 and the processor 111 are connected via a bus 113 .

[0143] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the method embodiments of the present application, and no further elaboration is made here.

[0144] The embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the container bottom lock detection method as described above.

[0145] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the method embodiments of the present application, and no further elaboration is made here.

[0146] The embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it is used to implement the above-mentioned container bottom lock detection method.

[0147] The relevant instructions can be understood by referring to the relevant descriptions and effects corresponding to the steps in the method embodiments of the present application, and no further elaboration is made here.

[0148] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium).

[0149] As is well known to those skilled in the art, the term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0150] Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0151] In the description of the embodiments of the present application, the term "and / or" merely indicates an association relationship that describes associated objects, indicating that three relationships may exist. For example, A and / or B may indicate the following three situations: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" indicates any combination of at least two of any one or more of a plurality of. For example, at least one of A, B, and C may indicate any one or more elements selected from a set that includes A, B, and C.

[0152] In the description of the embodiments of the present application, the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the term "plurality" means two or more, unless otherwise precisely and specifically specified.

[0153] In the description of the embodiment of the present application, the terms "first", "second", "third", "fourth", etc. (if present) are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A container bottom lock detection method, characterized in that: include: In response to the quay crane loading the container onto the container truck, obtaining first detection information of the first detection device detecting the installation state of the bottom lock of the container; When it is determined according to the first detection information that the installation state of the bottom lock is with the bottom lock, obtaining second detection information of the position state detection of the bottom lock by a second detection device; When it is determined according to the second detection information that the position state of the bottom lock meets the preset position state, a first instruction message is sent to the container truck transporting the container, wherein the first instruction message is used to instruct the container truck to drive from the quay crane position to the smart lock station to unlock the bottom lock; In response to the smart lock station completing unlocking of the bottom lock, a second instruction message is sent to the container truck, where the second instruction message is used to instruct the container truck to travel from the smart lock station to the transportation destination.

2. The method according to claim 1, characterized in that The method further comprises: When it is determined according to the first detection information that the installation state of the bottom lock is without the bottom lock, a third instruction message is sent to the truck transporting the container, wherein the third instruction message is used to instruct the container truck to travel from the quay crane position to the transportation destination.

3. The method according to claim 1 or 2, characterized in that: The first detection device and the second detection device are deployed at corresponding positions on the container for installing the bottom lock; wherein the first detection device is a photoelectric sensor, and the second detection device is a camera.

4. The method according to claim 1, characterized in that: The method is applied to a microcontroller MCU, wherein a first input / output I / O pin of the MCU is electrically connected to a second I / O pin of the first detection device, and the second I / O pin outputs a corresponding level signal to the first I / O pin according to the installation state of the bottom lock detected by the first detection device, and the first detection information includes the level signal; The method further comprises: Collecting the level signal output by the second I / O pin through the first I / O pin; When the multiple level signals collected continuously are preset level signals, it is determined that the installation state of the bottom lock is with the bottom lock.

5. The method according to claim 1 or 4, characterized in that: The second detection information includes a position detection image; and the method further includes: Based on the target detection algorithm, detecting first position information of the bottom lock in the position detection image; When the first position information is consistent with the reference position information of the bottom lock in the locked state, it is determined that the position state of the bottom lock meets the preset position state.

6. The method according to claim 5, characterized in that Before detecting the position information of the bottom lock in the position detection image based on the target detection algorithm, the method further includes: According to the resource information required by the target detection algorithm, the resource allocation priority of the MCU is adjusted, and the resource allocation priority is used to give priority to calling computing resources for the target detection algorithm.

7. The method according to any one of claims 1 to 6, characterized in that: After sending the first instruction message to the container truck transporting the container, the method further includes: Acquire third detection information of the position state of the bottom lock detected by the second detection device, and obtain second position information of the bottom lock according to the third detection information; When the second position information is consistent with the reference position information of the bottom lock in the unlocked state, it is determined that the smart lock station has completed unlocking the bottom lock.

8. The method according to any one of claims 1 to 6, characterized in that: The first indication message and / or the second indication message adopts a predefined message format, and the predefined message format includes at least one of the following: a container truck number bit, a container identification bit, a data bit for indicating the bottom lock status, and a check bit for indicating data verification information.

9. A container bottom lock detection device, characterized in that: include: A first detection module is configured to obtain first detection information of a first detection device detecting an installation state of a bottom lock of the container after detecting that the quay crane loads the container onto the container truck; A second detection module is configured to obtain second detection information of a position state detection of the bottom lock by a second detection device in response to the installation state of the bottom lock being that the bottom lock is installed; a first indication module, configured to send a first indication message to a container truck transporting the container when it is determined according to the second detection information that the position state of the bottom lock meets a preset position state, wherein the first indication message is used to instruct the container truck to drive from the quay crane position to the smart lock station to unlock the bottom lock; The second indication module is configured to send a second indication message to the container truck in response to the completion of unlocking the bottom lock by the smart lock station, wherein the second indication message is used to instruct the container truck to travel from the smart lock station to the transportation destination.

10. A container bottom lock detection system, characterized in that: It includes a collection device, and a container truck, a quay crane and an intelligent lock station electrically connected to the collection device respectively; The acquisition device includes an MCU, a photoelectric sensor electrically connected to the MCU for detecting the installation state of the container bottom lock, and a camera for detecting the installation position of the bottom lock, and the MCU is used to execute the container bottom lock detection method according to any one of claims 1 to 8; The container truck is used to receive the instruction message transmitted by the MCU, so as to drive to the destination corresponding to the instruction message according to the instruction message, and the destination includes a smart lock station or a transportation destination; The quay crane is used to load the container onto the container truck and transmit a loading completion message to the MCU; The intelligent lock station is used to unlock the bottom lock of the container and transmit a unlocking completion message to the MCU.

Images