Container close stacking inspection method and device, field bridge and equipment

Abstract

According to the container close stacking inspection method and device, the yard bridge and the equipment, close stacking information of a container yard is obtained, and the close stacking information comprises the arrangement position and the number of the containers; according to the close stacking information of the container yard, a yard row layer container height array is obtained; each container in the container yard is inspected according to the container height array of the row layers of the container yard and a preset inspection method, the inspection result of close stacking of the containers is obtained, and the preset inspection method comprises a sunken position inspection method, an adjacent row two-layer container height difference inspection method and a same-layer-height flat container inspection method. According to the technical scheme, the risk of container close packing is effectively identified, and the safety of container close packing is improved.

Description

Technical Field

[0001] The present application relates to the technical field of safety inspection, and in particular to a method, device, yard crane and equipment for inspecting dense stacking of containers. Background Art

[0002] In the container management at the port, empty containers are light in weight and easy to overturn when stacked in multiple layers. Therefore, dense stacking is usually adopted, that is, the containers are placed close to each other to increase stability, avoid the risk of containers being blown down by the wind, and at the same time improve the utilization rate of the storage space.

[0003] In the prior art, manual work is usually used to complete the dense stacking of containers to ensure that the containers fit tightly together in the dense stacking scenario.

[0004] However, when containers are densely stacked, it is impossible to accurately judge the placement and condition of the containers, which reduces the safety of dense stacking of containers. Summary of the invention

[0005] The present application provides a method, device, yard bridge and equipment for inspecting dense stacking of containers, which are used to solve the technical problem in the prior art that when densely stacking containers, the placement and condition of the containers cannot be accurately judged, thereby reducing the safety of dense stacking of containers.

[0006] In a first aspect, the present application provides a method for inspecting dense stacking of containers, comprising:

[0007] Acquiring dense stacking information of the container yard, wherein the dense stacking information includes arrangement positions and quantities of containers;

[0008] According to the dense stacking information of the container yard, obtaining a stacking yard layer box height array;

[0009] According to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the dense stacking of containers, wherein the preset inspection method includes a method for inspecting the sunken position, a method for inspecting the height difference between two layers of boxes in adjacent rows, and a method for inspecting flat boxes on the same level.

[0010] Furthermore, according to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the container dense stacking, including:

[0011] Determine the target stacking position according to the stacking box height array in the stacking yard;

[0012] Determine whether there is a container in the target layer position according to the recessed position inspection method in the preset inspection method;

[0013] If there is no container in the target row position, determine the adjacent row container information of the target row position;

[0014] If the adjacent row container information indicates that there are containers in the adjacent row, an inspection result is obtained that there are sunken positions in the dense stacking of containers.

[0015] Furthermore, the method further comprises:

[0016] If the target layer arrangement position meets the first preset layer arrangement requirement, a new target layer arrangement position is determined;

[0017] According to the recessed position inspection method in the preset inspection method, a container dense stacking inspection is performed on the new target layer position to obtain a container dense stacking inspection result.

[0018] Furthermore, according to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the container dense stacking, and the method also includes:

[0019] Determine the target row position according to the stacking yard layer box height array;

[0020] According to the adjacent row two-layer box height difference inspection method in the preset inspection method, determine the height difference information between the target row position and the adjacent row two-layer box;

[0021] If the height difference information between the target row position and the two layers of containers in the adjacent row indicates that the number of layer heights of the target row position and the adjacent row of containers meets the layer height difference threshold requirement, an inspection result is obtained that there is a problem of height difference between the two layers of containers in adjacent rows in the dense stacking of containers.

[0022] Furthermore, the method further comprises:

[0023] If the target row position meets the preset row requirement, a new target row position is determined;

[0024] According to the method for inspecting the height difference between two layers of containers in adjacent rows in the preset inspection method, a container dense stacking inspection is performed on the new target row position to obtain a container dense stacking inspection result.

[0025] Furthermore, according to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the container dense stacking, and the method also includes:

[0026] Determine the target layer position according to the stacking yard layer box height array;

[0027] According to the same-layer high flat container inspection method in the preset inspection method, determining whether the container at the target layer position meets the preset container height requirement;

[0028] If the container at the target layer position does not meet the preset container height requirement, an inspection result is obtained that there is a flat container of the same height at the target layer position.

[0029] Furthermore, the method further comprises:

[0030] If the container in the target layer position meets the preset container height requirement and the second preset layer arrangement requirement, a new target layer position is determined;

[0031] According to the same-layer high flat container inspection method in the preset inspection method, a container dense stacking inspection is performed on the new target layer position to obtain a container dense stacking inspection result.

[0032] In a second aspect, the present application proposes a container close stacking inspection device, comprising:

[0033] A dense stacking information acquisition module, used to acquire dense stacking information of the container yard, wherein the dense stacking information includes the arrangement position and quantity of containers;

[0034] A stacking yard box height array acquisition module is used to acquire a stacking yard box height array according to the dense stacking information of the container stacking yard;

[0035] The inspection result obtaining module is used to inspect each container in the container yard according to the stacking yard layer box height array and the preset inspection method to obtain the inspection result of the dense stacking of containers, wherein the preset inspection method includes a concave position inspection method, a height difference inspection method for two layers of adjacent rows of boxes, and a same-layer high flat box inspection method.

[0036] In a third aspect, the present application proposes a yard crane, comprising the device for inspecting dense stacking of containers as described in the second aspect.

[0037] In a fourth aspect, the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0038] The memory stores computer-executable instructions;

[0039] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects.

[0040] The method, device, yard crane and equipment for inspecting dense stacking of containers provided in the present application obtain dense stacking information of the container yard, the dense stacking information includes the arrangement position and quantity of the containers; obtain the stacking yard layer box height array according to the dense stacking information of the container yard; inspect each container in the container yard according to the stacking yard layer box height array and the preset inspection method, and obtain the inspection result of dense stacking of containers, wherein the preset inspection method includes a recessed position inspection method, a height difference inspection method for two layers of adjacent rows of boxes and a same-level high flat box inspection method, thereby identifying the risk of dense stacking of containers in advance and improving the safety of dense stacking of containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] Figure 1 The overall flow chart of the method for inspecting dense stacking of containers provided in this application;

[0043] Figure 2 A schematic diagram of a flow chart of a first embodiment of a method for inspecting dense stacking of containers provided in the present application;

[0044] Figure 3 A schematic diagram of a flow chart of a second embodiment of a method for inspecting dense stacking of containers provided in the present application;

[0045] Figure 4 A schematic diagram of a flow chart of a third embodiment of a method for inspecting dense stacking of containers provided in the present application;

[0046] Figure 5 A schematic diagram of a flow chart of a fourth embodiment of a method for inspecting dense stacking of containers provided in the present application;

[0047] Figure 6 A schematic diagram of the process of inspecting the depressed position in the method for inspecting dense stacking of containers provided in this application;

[0048] Figure 7 A schematic diagram of the process of checking the height difference between two adjacent layers of containers in the method for checking dense stacking of containers provided in this application;

[0049] Figure 8 A schematic diagram of the process of inspecting high-rise flat containers on the same floor in the method for inspecting dense stacking of containers provided in this application;

[0050] Fig. 9 A schematic diagram of a structure for obtaining dense stacking information in a method for inspecting dense stacking of containers provided in the present application;

[0051] Fig.10 A schematic diagram of the structure of a device for inspecting dense stacking of containers provided in an embodiment of the present application;

[0052] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0053] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0054] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0055] Existing container storage management technology lacks automated and intelligent safety inspection methods, and mainly relies on manual or inefficient equipment to monitor the height and arrangement structure of the yard, resulting in low detection accuracy and poor operating efficiency. It is also difficult to timely identify hidden dangers such as sunken positions in the yard, height differences between adjacent rows, and inconsistent heights of boxes on the same floor, thereby increasing the risk of unstable storage and dumping, affecting the safety and continuity of operations.

[0056] In response to the above technical problems, this technical solution is based on laser radar scanning technology and multi-method inspection modules, and solves the problem of lack of real-time automated detection and risk management in the existing technology through dense stack information collection, box height array analysis and dynamic iterative inspection. A multi-level dynamic analysis mechanism is constructed using preset methods (depression inspection, height difference inspection of two layers of boxes in adjacent rows and inspection of flat boxes on the same level) to achieve efficient and accurate risk identification and automated processing, thereby significantly improving the safety and intelligent management level of the storage structure.

[0057] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0058] Figure 1 The overall flow chart of the container close stacking inspection method provided in this application. Figure 1As shown in the figure, the flowchart shows the safety risk inspection process based on the height array of the layered boxes in the container yard. First, the height array of the layered boxes in the yard is input as the basic data for analysis. Then, three preset inspection methods are used to conduct a detailed analysis of the yard: the depression inspection is used to detect whether there is a risk of unstable storage in the local low-lying position in the yard; the height difference inspection of the two layers of boxes in adjacent rows is used to analyze whether the height difference of adjacent rows exceeds the safety threshold to prevent the structure from tilting or being unstable; the same-layer high-flat box inspection is used to confirm whether there are two or more boxes of different heights on the same layer, and to evaluate the horizontal consistency and storage balance. Then, according to the inspection results, it is determined whether there is a safety risk in the yard: if there is a safety risk, enter the risk handling step and take adjustment measures to ensure stability; if there is no risk, directly end the inspection process. Finally, after the inspection is completed, the results are output to provide safety guidance for subsequent operations. Through multi-dimensional analysis of the dense container yard, the flowchart automatically identifies potential risks in the storage structure, and combines real-time processing functions to improve the safety of yard operations and the efficiency of automated management.

[0059] Figure 2 This is a flow chart of the first embodiment of the method for inspecting dense stacking of containers provided in this application. Figure 2 As shown, the method may include:

[0060] S201. Obtain dense stacking information of a container yard.

[0061] Among them, dense stacking yard is only a stacking method for containers that are not loaded with goods. Since containers that are not loaded with goods are light in weight and easy to overturn when stacked in multiple layers, dense stacking is usually adopted to increase stability to prevent the risk of being blown down by the wind, while improving the space utilization rate of container storage.

[0062] A container yard is an area used to store and stack containers. Rows, layers, and shells are formed according to the stacking method. Rows refer to the arrangement in the north-south direction, layers refer to the arrangement in the vertical direction, and shells refer to the arrangement in the east-west direction.

[0063] Dense stacking information refers to the detailed data of the arrangement, layout, location coordinates and quantity of containers in the yard, including the specific conditions of the row, layer and bay of each container.

[0064] Exemplarily, obtaining the dense stacking information of the container yard includes two steps. The first is to scan the yard through the laser radar equipment installed on the yard bridge to obtain the height and position data of the container surface in real time, and convert the scanned data into three-dimensional coordinates for analyzing the storage status, wherein the laser radar is a device based on laser beam ranging technology, which determines the distance and shape of the object by emitting a laser beam and strategically reflecting the echo time. In the embodiment of the present application, the laser radar is mainly used to detect the height, position and number of containers in the dense yard, so as to subsequently generate the dense stacking data of the containers. The second is to use the data obtained by the laser radar to construct a three-dimensional model of the yard, which includes the number, position and height of the containers in each bay, so as to obtain basic container storage density and structure information.

[0065] S202: According to the dense stacking information of the container yard, an array of container heights in the yard is obtained.

[0066] The stacking yard layer container height array is a two-dimensional array used to represent the height of containers in the stacking yard. Each column of the array corresponds to a row, each row corresponds to a layer, and the value in the array represents the height of the position.

[0067] For example, according to the dense stacking information of the container yard, the height of each row and each layer of the container is calculated, and then an array is formed according to the height data. For example, the array format of the height of the container layer in the yard is shown in the following table:

[0068] 1st row 2 rows 3 rows 4 rows 5 rows 6 rows 7 rows 8 rows 9 rows 4 layers 2590 2590 2590 3 layers 2590 2590 2590 2590 2590 2nd floor 2590 2590 2590 2590 2590 2590 2590 1st floor 2590 2590 2590 2590 2590 2590 2590 2590 2590

[0069] Among them, the height of the container on the fourth layer of the fourth row is 2590mm.

[0070] S203, inspecting each container in the container yard according to the stacking yard layer height array and the preset inspection method, and obtaining the inspection result of the dense stacking of containers.

[0071] Among them, the preset inspection method is a method for analyzing the height array of the yard to check whether there is a safety risk in the container storage status.

[0072] The preset inspection methods include the sunken position inspection method, the height difference inspection method for two layers of boxes in adjacent rows, and the same-level high flat box inspection method. The sunken position inspection method is used to check whether there are deep sunken areas in the yard, which are prone to cause the risk of container tipping or sliding. The adjacent row two-layer box height inspection method is used to compare the height difference of adjacent rows of containers, identify abnormal differences, and avoid the risk of imbalance caused by uneven heights. The same-level high flat box inspection method is used to check whether there are two or more box heights in all rows on the same level, so as to determine the consistency of the horizontal height of the containers on the same level.

[0073] Exemplarily, for the sunken position inspection method, the stacking array of high containers in the yard can be traversed to compare the height difference of each adjacent container position to identify container positions that are significantly lower than the surrounding areas. If a position is lower than the surrounding positions by more than a set threshold, the position is marked as a "sunken position".

[0074] The method for inspecting dense stacking of containers provided in the embodiment of the present application adopts laser radar technology to obtain three-dimensional container yard information, and converts the spatial data collected by the laser radar into a height array that is easy to analyze. At the same time, a preset inspection method is used to analyze the dense stacking status, thereby improving the safety and efficiency of container storage operations, realizing real-time risk monitoring and early warning, and reducing the accident rate and operation interruption time.

[0075] Figure 3 This is a flow chart of the second embodiment of the method for inspecting dense stacking of containers provided in this application. Figure 3 As shown, in Figure 2 Based on the embodiment, each container in the container yard is inspected according to the stacking layer height array and the preset inspection method to obtain the inspection results of the dense stacking of containers, including:

[0076] S301, determining a target stacking position according to a stacking box height array in the stacking yard.

[0077] The target row and layer position refers to the specific stockpile position currently being focused on during the inspection process, including the specific position of a row and a layer, which is used to analyze the stockpile situation at that point.

[0078] Exemplarily, firstly, according to the stacking box height array, the target stacking position is initialized to the first row and the first layer, so as to traverse the stacking box height array row by row and layer by layer, and analyze each specific position.

[0079] S302: Determine whether there is a container in the target layer position according to a recessed position inspection method in a preset inspection method.

[0080] In this step, the height value of the current target stacking position is read from the stacking container height array, and based on the height value, it is determined whether there is a container at the target stacking position.

[0081] S303: If there is no container in the target row position, determine the container information of the adjacent rows of the target row position.

[0082] If the stacking box height array indicates that the height value of the target stacking position is 0, it means that there is no box in the target stacking position. At this time, the corresponding layer heights of the left and right adjacent rows of the target stacking position can be extracted according to the stacking box height array.

[0083] S304. If the adjacent row container information shows that there are containers in the adjacent row, an inspection result is obtained that there are sunken positions in the densely stacked containers.

[0084] Among them, if there are boxes in both the left and right rows (i.e., the height is greater than 0), it can be determined that the target row layer position is a sunken position. At this time, an inspection and analysis report can be output to mark the specific position and risk level of the sunken position. In a feasible way, the inspection and analysis report can be stored in the container control system to display the abnormal position in the control system. The automation equipment in the control system can automatically adjust the position of the box according to the inspection and analysis results, for example, stacking new containers above the sunken position to fill the empty space, or moving the boxes of adjacent rows to reduce the height difference.

[0085] In the embodiment of the present application, there is another situation. If there is no box on either side of the target layer position, it can be determined that the target layer position is not a recessed position. At this time, you can continue to check whether there is a recessed position in the next row or layer.

[0086] Further, if the target layer arrangement position meets the first preset layer arrangement requirement, a new target layer arrangement position is determined;

[0087] According to the sunken position inspection method in the preset inspection method, a container dense stacking inspection is performed on the new target layer position to obtain a container dense stacking inspection result.

[0088] In the embodiment of the present application, the first preset layer requirement includes two conditions, one is that the layer where the target layer position is located is the last row but not the last layer, and the other is that the layer where the target layer position is located is not the last row. Therefore, after the target layer position is inspected for the concave position, it is necessary to continue to inspect the dense stacking of containers according to the preset layer requirement.

[0089] Exemplarily, when the target layer position meets the first condition in the first preset layer requirement, that is, the target layer position is the last row but not the last layer, the next layer position of the target layer position is used as the new target layer position, and a new round of container close stacking inspection is performed on the new target layer position according to the concave position inspection method, thereby obtaining the close stacking inspection result of the new target layer position. For example, if the target layer position is the second layer of the third row, there is no fourth row but there is a third layer, and the third layer is not the last layer, the position of the third layer of the first row is used as the new target layer position, and the concave position inspection is continued.

[0090] In another achievable manner, when the target layer position meets the second condition in the first preset layer requirement, that is, when the target layer position is not the last row, the next row position of the target layer position is used as the new target layer position, and the sunken position inspection is continued. For example, if the target layer position is the second layer of the first row and there is a box, the second layer of the second row is used as the new target layer position, and the inspection is performed according to the sunken position inspection method to obtain the inspection result.

[0091] The method for inspecting dense stacking of containers provided in the embodiment of the present application inspects the storage status of containers row by row and layer by layer, identifies safety hazards such as sunken positions, and dynamically adjusts the target position to continue analysis when the first preset layer requirement is met, thereby ensuring that the analysis process covers the entire yard, while taking into account risk identification in both horizontal and vertical directions, thereby improving inspection efficiency and enhancing safety and stability in complex storage environments.

[0092] Figure 4 This is a flow chart of the third embodiment of the method for inspecting dense stacking of containers provided in this application. Figure 4 As shown, in Figure 2 Based on the embodiment, according to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the container dense stacking, and the method also includes:

[0093] S401, determining the target row position according to the stacking layer box height array.

[0094] In this step, the initial analysis position is set to the first row, and the stacking yard array is traversed row by row in order, and the height information of each row is analyzed from left to right. After each row analysis is completed, switch to the next row to continue checking until all rows are traversed.

[0095] S402. Determine the height difference information between the target row and the two-layer boxes of the adjacent row according to the height difference inspection method of the two-layer boxes of the adjacent rows in the preset inspection method.

[0096] The height difference between two layers of containers refers to the maximum height difference between the target row and the adjacent row. Specifically, according to the stacking layer container height array, the highest layer height of the target row and the highest layer height of the adjacent row are extracted, and the difference between the highest layer number of the adjacent row and the highest layer number of the target row is determined, and the next step of inspection and analysis is carried out based on the difference.

[0097] S403. If the height difference information between the target row and the adjacent row indicates that the number of container layers at the target row and the adjacent row meets the height difference threshold requirement, then an inspection result is obtained in which there is a height difference problem between the adjacent rows of containers in the dense stacking of containers.

[0098] The height difference threshold requirement of the layer boxes refers to a preset safety standard, which can be set according to the actual situation of the container. For example, the height difference threshold of the layer boxes can be that the height difference between adjacent rows shall not exceed one layer. In this step, if the height difference between the target row and the adjacent row exceeds the height difference threshold of the layer boxes, the target row position is marked as having a two-layer height difference problem, and the inspection results can be stored in the analysis report so that the operator can control and adjust the overall layout of the container.

[0099] In another achievable manner, if the height difference between the target row and the adjacent row does not exceed the layer box height difference threshold, the next row is switched to continue the inspection and analysis until all rows are traversed.

[0100] Further, if the target row position meets the preset row requirement, a new target row position is determined;

[0101] According to the height difference inspection method of two layers of containers in adjacent rows in the preset inspection method, the container dense stacking inspection is performed on the new target row position to obtain the container dense stacking inspection result.

[0102] In this step, the preset row requirement means that the current target row position meets the condition of "there is a next row", that is, the current row is not the last row. Therefore, when the target row position meets the preset row requirement, you can continue to move right to the next row for inspection.

[0103] In an embodiment of the present application, after inspecting the target row position, determine whether there is a next row at the current target row position. If there is a next row, take the next row as the new target row position for further inspection. For example, if the current target row is the second row and there is a third row, take the third row as the new target row position, and continue to analyze the height difference between its left and right adjacent rows on the same floor. Specifically, according to the adjacent row two-layer box height difference inspection method in the preset inspection method, compare the new target row position with the highest number of layers of the left and right adjacent rows. If the height difference exceeds the layer box height difference threshold, mark the new target row position as having a two-layer box height difference problem. If it does not exceed the layer box height difference threshold, continue to inspect the next row.

[0104] For example, the target row position is set to the first row. First, according to the adjacent row two-layer box height difference inspection method in the preset inspection method, check the height difference between the first row and the adjacent rows on the left and right. If there is no row on the left side of the target row position and the height difference with the second row on the right is 0 layers, the safety requirements are met. Then update the target row position. If the current target row position meets the preset layer row requirements, use the second row as the new target row position, and then analyze the height difference between the second row and the adjacent rows. That is, compare the new target row position with the first row on the left. If the height difference is 0, it means that the safety requirements are met. Compare it with the third row on the right. If the height difference is 2 layers, it exceeds the layer box height difference threshold, and it is marked as a risk point. Then continue to iterate the inspection and analysis until all rows are inspected.

[0105] The method for inspecting dense stacking of containers provided in the embodiment of the present application, combined with the preset row requirements and the method for inspecting the height difference between two layers of containers in adjacent rows, realizes an efficient mechanism for dynamic analysis and risk identification of each row, and ensures that the inspection covers the entire yard by adjusting the target position in real time, and promptly discovers areas with abnormal height differences, thereby enhancing the safety and stability of the container storage structure.

[0106] Figure 5 This is a flow chart of the fourth embodiment of the method for inspecting dense stacking of containers provided in this application. Figure 5 As shown, in Figure 2 Based on the embodiment, according to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the container dense stacking, and the method also includes:

[0107] S501. Determine the target layer position according to the stacking yard layer box height array.

[0108] In this embodiment, the initial target layer position can be set to the first layer, and according to the stacking box height array of the yard, the layer is traversed step by step, and the storage status of each layer is analyzed from top to bottom to ensure that all levels are checked.

[0109] S502: Determine whether the container at the target layer position meets the preset container height requirement according to the same-layer high flat container inspection method in the preset inspection method.

[0110] The same-layer high-level flat container inspection method is used to determine whether the heights of all rows of containers on the same layer are consistent. If there are two or more heights, the layer is marked as a "same-layer high-level flat container problem." The preset container height requirement means that the heights of containers on the same layer should be consistent.

[0111] Specifically, the container height data of all rows in the target layer position are traversed, and the height classifications are counted. If the number of classifications is greater than 1, and there are two or more container heights, it means that the current target layer does not meet the preset container height requirements. If the number of classifications is 1, and the container heights of the current target layer are consistent, the next layer analysis can be performed.

[0112] S503: If the container at the target layer position does not meet the preset container height requirement, an inspection result is obtained that there is a flat container at the target layer position with the same height.

[0113] In this step, if the current target layer does not meet the preset box height requirement, that is, there is height inconsistency on the same layer, the inspection result will be obtained that there are flat boxes of the same height at the target layer position, which will lead to unstable storage or difficulty in equipment operation. At this time, an analysis report can be output to record the abnormal layer position and specific height information for subsequent adjustment or operation reference.

[0114] If the current target layer is the last layer, the analysis ends and the report is saved. If the analysis of the current target layer is completed and there is a next layer, switch to the next layer to continue the inspection.

[0115] Further, if the container in the target layer position meets the preset container height requirement and the second preset layer row requirement, a new target layer position is determined;

[0116] According to the same-layer high flat container inspection method in the preset inspection method, a container dense stacking inspection is performed on the new target layer position to obtain a container dense stacking inspection result.

[0117] In an embodiment of the present application, after checking the height of the container at the target layer position, if the current target layer position meets the second preset layer arrangement requirement, that is, there is a next layer, then the next layer will continue to be checked. Specifically, the target layer position is adjusted to the next layer, and the same-layer high flat container inspection method is repeated to analyze whether there is a height inconsistency problem in the next layer. If there are two or more container heights at the new target layer position, the new target layer is marked as a "same-layer high flat container problem" and the inspection result is output; if the new target layer height is consistent, continue to determine whether there is a next layer. Continue to iterate until all layer analysis is completed.

[0118] The container dense stacking inspection method provided in the embodiment of the present application ensures comprehensive coverage analysis of all levels and ranks of the container yard through dynamic hierarchical analysis and continuous iterative inspection. Combined with the same-layer high flat container inspection method and dynamic position adjustment mechanism, it can efficiently identify the risk of inconsistent container storage heights and output adjustment suggestions or control instructions in real time, thereby improving the stability, safety and operating efficiency of the storage structure, and is suitable for the automated management needs of high-density, multi-layer complex storage environments.

[0119] Figure 6 This is a flow chart of the concave position inspection process in the container close stacking inspection method provided in this application. Figure 6 As shown, in Figure 3 Based on the embodiment, each layer is iterated according to the input stacking layer box height array. If there is no container at a layer position and there are containers on its left and right, it is determined that there is a risk of a sunken position at this position.

[0120] Figure 7 This is a schematic diagram of the process of checking the height difference between two adjacent layers of containers in the container dense stacking inspection method provided in this application. Figure 7 As shown, in Figure 4 On the basis of the embodiment, according to the input stacking layer box height array, each row is iterated. If one of the highest layers on the left and right sides of a row is higher than the highest layer of the current row by one layer, it is determined that there is a risk of a two-layer box height difference between the highest layer of the adjacent row.

[0121] Figure 8 This is a schematic diagram of the process of inspecting high-level flat containers on the same floor in the method for inspecting densely stacked containers provided in this application. Figure 8 As shown, in Figure 5 On the basis of the embodiment, according to the input stacking layer box height array, each layer is iterated. If there are two or more box heights in all rows of a layer, it is determined that there is a risk of flat boxes of the same height in the layer.

[0122] Fig. 9 This is a schematic diagram of the structure of obtaining dense stacking information in the method for inspecting dense stacking of containers provided in this application. Fig. 9 As shown, a laser radar is used to scan the height of the top of each row of densely stacked containers to infer the height array of each row and layer.

[0123] Fig.10 This is a schematic diagram of the structure of the container close stacking inspection device provided in the embodiment of the present application. Fig.10 As shown, the container close stacking inspection device 100 comprises:

[0124] The dense stacking information acquisition module 1001 is used to acquire the dense stacking information of the container yard, and the dense stacking information includes the arrangement position and quantity of the containers.

[0125] The stacking yard layer box height array acquisition module 1002 is used to acquire the stacking yard layer box height array according to the dense stacking information of the container stacking yard.

[0126] The inspection result obtaining module 1003 is used to inspect each container in the container yard according to the stacking layer height array and the preset inspection method to obtain the inspection result of the dense stacking of containers, wherein the preset inspection method includes a concave position inspection method, a height difference inspection method for two layers of adjacent rows of containers, and a same-layer high flat container inspection method.

[0127] Furthermore, the inspection result obtaining module 1003 is also specifically used for:

[0128] Determine the target stacking position according to the stacking box height array in the yard;

[0129] Determine whether there is a container in the target layer position according to the recessed position inspection method in the preset inspection method;

[0130] If there is no container in the target row position, then determine the adjacent row container information of the target row position;

[0131] If the adjacent row container information indicates that there are containers in the adjacent row, an inspection result is obtained that a concave position exists in the dense stack of containers.

[0132] Furthermore, the inspection result obtaining module 1003 is also specifically used for:

[0133] If the target layer arrangement position meets the first preset layer arrangement requirement, a new target layer arrangement position is determined;

[0134] According to the sunken position inspection method in the preset inspection method, a container dense stacking inspection is performed on the new target layer position to obtain a container dense stacking inspection result.

[0135] Furthermore, the inspection result obtaining module 1003 is also specifically used for:

[0136] Determine the target row position according to the stacking layer box height array;

[0137] According to the adjacent row two-layer box height difference inspection method in the preset inspection method, determine the height difference information between the target row position and the adjacent row two-layer box;

[0138] If the height difference information between the target row position and the adjacent row of containers represents that the number of layer heights of the target row position and the adjacent row of containers meets the layer height difference threshold requirement, then the inspection result of the problem of height difference between the two layers of containers in the adjacent rows of dense container stacking is obtained.

[0139] Furthermore, the inspection result obtaining module 1003 is also specifically used for:

[0140] If the target row position meets the preset row requirements, a new target row position is determined;

[0141] According to the height difference inspection method of two layers of containers in adjacent rows in the preset inspection method, the container dense stacking inspection is performed on the new target row position to obtain the container dense stacking inspection result.

[0142] Furthermore, the inspection result obtaining module 1003 is also specifically used for:

[0143] Determine the target layer location based on the stacking box height array;

[0144] According to the same-layer high flat container inspection method in the preset inspection method, determine whether the container at the target layer position meets the preset container height requirement;

[0145] If the container at the target layer position does not meet the preset container height requirement, an inspection result is obtained that there is a flat container of the same height at the target layer position.

[0146] Furthermore, the inspection result obtaining module 1003 is also specifically used for:

[0147] If the container at the target layer position meets the preset container height requirement and the second preset layer arrangement requirement, a new target layer position is determined;

[0148] According to the same-layer high flat container inspection method in the preset inspection method, a container dense stacking inspection is performed on the new target layer position to obtain a container dense stacking inspection result.

[0149] As can be seen from the above, the container dense stacking inspection device provided by this application realizes the automatic collection, analysis and risk detection of dense stacking information of container yards by integrating laser radar scanning, data analysis and multi-method inspection modules. Its sunken position inspection, height difference inspection of two layers of adjacent rows of boxes and inspection methods of high-level boxes on the same floor can fully identify safety hazards in the storage structure, provide real-time inspection results and adjustment suggestions, thereby improving operational safety, operating efficiency and automated management level, and is suitable for the intelligent management needs of complex and high-density yard environments.

[0150] Fig.11 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig.11 As shown, the electronic device 110 includes:

[0151] One or more processing core processors 1101 , one or more computer-readable storage media memories 1102 , communication components 1103 and other components. The processor 1101 , the memory 1102 and the communication component 1103 are connected via a bus 1104 .

[0152] In a specific implementation process, at least one processor 1101 executes the computer execution instructions stored in the memory 1102, so that at least one processor 1101 executes the above container dense stacking inspection method.

[0153] The specific implementation process of the processor 1101 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0154] In the above Fig.11 In the illustrated embodiment, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0155] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0156] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0157] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0158] In addition, an embodiment of the present application further provides a field crane, which includes the above-mentioned container close stacking inspection device.

[0159] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0160] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for inspecting dense stacking of containers, characterized in that: include: Acquiring dense stacking information of the container yard, wherein the dense stacking information includes arrangement positions and quantities of containers; According to the dense stacking information of the container yard, obtaining a stacking yard layer box height array; According to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the dense stacking of containers, wherein the preset inspection method includes a method for inspecting the sunken position, a method for inspecting the height difference between two layers of boxes in adjacent rows, and a method for inspecting flat boxes on the same level.

2. The method according to claim 1, characterized in that According to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the container dense stacking, including: Determine the target stacking position according to the stacking box height array in the stacking yard; Determine whether there is a container in the target layer position according to the recessed position inspection method in the preset inspection method; If there is no container in the target row position, determine the adjacent row container information of the target row position; If the adjacent row container information indicates that there are containers in the adjacent row, an inspection result is obtained that there are sunken positions in the dense stacking of containers.

3. The method according to claim 2, characterized in that The method further comprises: If the target layer arrangement position meets the first preset layer arrangement requirement, a new target layer arrangement position is determined; According to the recessed position inspection method in the preset inspection method, a container dense stacking inspection is performed on the new target layer position to obtain a container dense stacking inspection result.

4. The method according to claim 1, characterized in that According to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the container dense stacking, and the method further includes: Determine the target row position according to the stacking yard layer box height array; According to the adjacent row two-layer box height difference inspection method in the preset inspection method, determine the height difference information between the target row position and the adjacent row two-layer box; If the height difference information between the target row position and the two layers of containers in the adjacent row indicates that the number of layer heights of the target row position and the adjacent row of containers meets the layer height difference threshold requirement, an inspection result is obtained that there is a problem of height difference between the two layers of containers in adjacent rows in the dense stacking of containers.

5. The method according to claim 4, characterized in that The method further comprises: If the target row position meets the preset row requirement, a new target row position is determined; According to the method for inspecting the height difference between two layers of containers in adjacent rows in the preset inspection method, a container dense stacking inspection is performed on the new target row position to obtain a container dense stacking inspection result.

6. The method according to claim 1, characterized in that According to the stacking yard layer box height array and the preset inspection method, each container in the container stacking yard is inspected to obtain the inspection result of the container dense stacking, and the method further includes: Determine the target layer position according to the stacking yard layer box height array; According to the same-layer high flat container inspection method in the preset inspection method, determining whether the container at the target layer position meets the preset container height requirement; If the container at the target layer position does not meet the preset container height requirement, an inspection result is obtained that there is a flat container of the same height at the target layer position.

7. The method according to claim 6, characterized in that The method further comprises: If the container in the target layer position meets the preset container height requirement and the second preset layer arrangement requirement, a new target layer position is determined; According to the same-layer high flat container inspection method in the preset inspection method, a container dense stacking inspection is performed on the new target layer position to obtain a container dense stacking inspection result.

8. A device for inspecting densely stacked containers, characterized in that: include: A dense stacking information acquisition module is used to acquire dense stacking information of a container yard, wherein the dense stacking information includes the arrangement position and quantity of containers; A stacking yard box height array acquisition module is used to acquire a stacking yard box height array according to the dense stacking information of the container stacking yard; The inspection result obtaining module is used to inspect each container in the container yard according to the stacking yard layer box height array and the preset inspection method to obtain the inspection result of the dense stacking of containers, wherein the preset inspection method includes a concave position inspection method, a height difference inspection method for two layers of adjacent rows of boxes, and a same-layer high flat box inspection method.

9. A field bridge, characterized in that: The invention comprises the device for inspecting dense stacking of containers as claimed in claim 8.

10. An electronic device, characterized in that: include: 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 7.

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