Container placing method, device and equipment applied to container adjusting door machine and medium

Abstract

The embodiment of the invention provides a container placing device, device and equipment applied to a container adjusting door machine and a medium. The method comprises the steps that firstly, in the container placing process, the position of a container is determined through a first image obtained by a camera on a door leg; then, a second image is obtained through a target camera on the lifting appliance; wherein the target camera is any one of cameras respectively arranged at any three corners of the lifting appliance; then, according to the second image, determining a first position corresponding to a vehicle plate corner of the container truck, a second position corresponding to a vehicle plate lock head of the container truck, a third position of a lock printing point of the container truck, and a fourth position corresponding to a container corner point of the container; and finally, according to the first position, the second position, the third position and the fourth position, the lifting appliance is adjusted to complete box placing operation. In this way, the container placing accuracy and efficiency are improved.

Description

Technical Field

[0001] The present application relates to the technical field of container discharging, and particularly to a container discharging method, device, equipment and medium applied to a container gantry crane for adjusting the container door. Background Art

[0002] With the rapid development of China's economic trade, the rapid growth of port container stuffing operations has led to a sharp increase in the demand for container handling, stacking and transshipment. The efficient operation of ports depends on accurate container hoisting positioning. As a common loading and unloading equipment in the terminal, the positioning accuracy of the spreader of the rail-mounted container gantry crane directly affects the operation efficiency and safety of the port. Therefore, how to accurately confirm the container discharging position is crucial for improving the automation and intelligent level of port operations.

[0003] In the prior art, the method for confirming container discharging usually relies on manual experience. Specifically, first, the operator visually observes the corner lines of the container on the ground (i.e., the edges or corner locking holes of the four corners of the container), and then controls the position and angle of the spreader according to the judged position and angle deviation of the spreader relative to the corner lines, and finally completes the container discharging operation.

[0004] However, the method for container discharging in the prior art has a high labor cost, low safety, and it is difficult to ensure the accuracy and efficiency of the operation. Summary of the Invention

[0005] The embodiments of the present application provide a container discharging method, device, equipment and medium applied to a container gantry crane for adjusting the container door, so as to solve the problems of high labor cost, low safety, and difficulty in ensuring the accuracy and efficiency of the operation in the prior art.

[0006] In a first aspect, the embodiments of the present application provide a container discharging method applied to a container gantry crane for adjusting the container door, which is applied to a yard crane. The yard crane includes a spreader and gantry legs. The spreader has four corners, and each corner is supported by one of the gantry legs. Cameras are arranged on any three corners of the spreader and any one of the gantry legs. The method is characterized in that it includes:

[0007] During the discharging process, the position of the container is determined by a first image obtained by the camera on the gantry leg;

[0008] A second image is obtained by a target camera on the spreader; wherein, the target camera is any one of the cameras respectively arranged on any three corners of the spreader;

[0009] Determine a first position corresponding to the corner of the container truck's deck, a second position corresponding to the deck lock of the container truck, a third position of the container truck's lock imprint point, and a fourth position corresponding to the corner point of the container according to the second image;

[0010] Adjust the spreader according to the first position, the second position, the third position and the fourth position to complete the container placing operation.

[0011] In a possible implementation manner, determining the correct position of the container by the first image obtained by the camera on the gantry leg includes:

[0012] Identify the target object in the first image;

[0013] If the target object is identified, it is determined that the position of the container is incorrect, and the spreader is controlled to rotate the container by a preset angle;

[0014] If the target object is not identified, it is determined that the position of the container is correct;

[0015] Wherein, the target object represents a specific object on the side of the container.

[0016] In a possible implementation manner, adjusting the spreader according to the first position, the second position, the third position and the fourth position to complete the container placing operation includes:

[0017] Construct a dimension chain based on the first position, the second position and the third position;

[0018] Calculate the deviation distance between the lock imprint point of the container truck and the corner point of the container according to the dimension chain and the fourth position;

[0019] When the deviation distance is less than the preset deviation range, control the spreader to descend to place the container on the container truck;

[0020] When the deviation distance is greater than or equal to the preset deviation range, control the spreader to adjust the horizontal position of the container according to the deviation distance until the deviation distance is less than the preset deviation range.

[0021] In a possible implementation manner, the method further includes:

[0022] Determine the position of the first edge of the container and the position of the second edge of the container truck respectively according to the second image;

[0023] Calculate the angle between the first edge and the second edge based on the positions of the first edge and the second edge;

[0024] Determine the rotation angle of the spreader according to the angle;

[0025] Control the lifting posture of the spreader according to the rotation angle.

[0026] In a possible implementation manner, the controlling the lifting posture of the spreader according to the rotation angle includes:

[0027] When the rotation angle is not zero, control the spreader to rotate to adjust the horizontal degree of the container until the rotation angle is zero;

[0028] When the rotation angle is zero, control the spreader to lower to place the container on the container truck.

[0029] In a possible implementation manner, the method further includes:

[0030] Determine the fifth position corresponding to the end point of the hydraulic rod according to the second image;

[0031] Calculate the distance between the corner point of the container and the end point of the hydraulic rod in real time according to the fourth position and the fifth position;

[0032] When the distance between the corner point of the container and the end point of the hydraulic rod is less than a preset warning distance, issue a safety warning.

[0033] In a possible implementation manner, the method further includes:

[0034] During the process of placing the second container on the container truck, determine the sixth position of the target corner point of the first container from the second image; wherein, the target corner point is any one of the two corner points on the opposite side of the first container and the second container;

[0035] Determine the seventh position of the target locking point of the container truck according to the first position and the sixth position; the target locking point is the locking point adjacent to the target corner point;

[0036] Calculate the distance between the first container and the second container according to the sixth position and the seventh position;

[0037] When the distance between the first container and the second container is less than a preset distance threshold, issue a safety warning.

[0038] In a second aspect, an embodiment of the present application provides a container discharging device applied to a container door adjusting machine, including:

[0039] A first determination module, configured to determine the position of the container during the discharging process based on a first image obtained by a camera on the door leg;

[0040] An acquisition module, configured to acquire a second image through a target camera on the spreader; wherein, the target camera is any one of the cameras respectively arranged at any three corners of the spreader;

[0041] A second determination module, configured to determine a first position corresponding to the corner of the container truck's car body, a second position corresponding to the car body lock of the container truck, a third position of the container truck's lock imprint point, and a fourth position corresponding to the corner point of the container according to the second image;

[0042] An adjustment module, configured to adjust the spreader according to the first position, the second position, the third position, and the fourth position to complete the discharging operation.

[0043] In a possible implementation manner, the first determination module is specifically configured to:

[0044] Identify a target object in the first image;

[0045] If the target object is identified, it is determined that the position of the container is incorrect, and the spreader is controlled to rotate the container by a preset angle;

[0046] If the target object is not identified, it is determined that the position of the container is correct;

[0047] Wherein, the target object represents a specific object on the side of the container.

[0048] In a possible implementation manner, the adjustment module is specifically configured to

[0049] Construct a dimension chain based on the first position, the second position, and the third position;

[0050] Calculate a deviation distance between the lock imprint point of the container truck and the corner point of the container according to the dimension chain and the fourth position;

[0051] When the deviation distance is less than a preset deviation range, control the spreader to descend to place the container on the container truck;

[0052] When the deviation distance is greater than or equal to the preset deviation range, control the spreader to adjust the horizontal position of the container according to the deviation distance until the deviation distance is less than the preset deviation range.

[0053] In a possible implementation manner, the device further includes a processing module, and the processing module is configured to:

[0054] Determine the position of the first edge of the container and the position of the second edge of the container truck respectively according to the second image;

[0055] Calculate the included angle between the first edge and the second edge based on the positions of the first edge and the second edge;

[0056] Determine the rotation angle of the spreader according to the included angle;

[0057] Control the lifting posture of the spreader according to the rotation angle.

[0058] In a possible implementation manner, the processing module is specifically configured to:

[0059] When the rotation angle is not zero, control the spreader to rotate to adjust the horizontal level of the container until the rotation angle is zero;

[0060] When the rotation angle is zero, control the spreader to lower to place the container on the container truck.

[0061] In a possible implementation manner, the processing module is further configured to:

[0062] Determine the fifth position corresponding to the end point of the hydraulic rod according to the second image;

[0063] Calculate the distance between the corner point of the container and the end point of the hydraulic rod in real time according to the fourth position and the fifth position;

[0064] When the distance between the corner point of the container and the end point of the hydraulic rod is less than the preset warning distance, issue a safety warning.

[0065] In a possible implementation manner, the processing module is further configured to:

[0066] During the process of placing the second container on the container truck, determine the sixth position of the target corner point of the first container from the second image; wherein, the target corner point is any one of the two corner points on the opposite side of the first container and the second container;

[0067] Determine a seventh position of the target locking point of the container truck based on the first position and the sixth position; the target locking point is a locking point adjacent to the target corner point of the container.

[0068] Calculate the distance between the first container and the second container based on the sixth position and the seventh position.

[0069] When the distance between the first container and the second container is less than a preset distance threshold, issue a safety warning.

[0070] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0071] The memory stores computer-executable instructions;

[0072] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementation manners of the first aspect.

[0073] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, they are used to implement the above first aspect and / or various possible implementation manners of the first aspect.

[0074] The container placing method, device, equipment and medium for a container door adjusting machine provided by the embodiments of the present application. First, during the container placing process, determine the position of the container through the first image obtained by the camera on the door leg, so as to determine whether the orientation position of the container needs to be adjusted, reduce the subsequent correction time, and improve the container placing efficiency; then, obtain a second image through the target camera on the spreader; where the target camera is any one of the cameras respectively arranged at any three corners of the spreader; then, according to the second image, determine the first position corresponding to the corner of the vehicle board of the container truck, the second position corresponding to the lock head of the vehicle board of the container truck, the third position of the locking point of the container truck, and the fourth position corresponding to the corner point of the container. So far, through multi-point determination, the container placing error caused by the inability to obtain single-point information is avoided, and the accuracy of container placing is improved; finally, adjust the spreader according to the first position, the second position, the third position and the fourth position to complete the container placing operation. Through this automatic container placing method, the accuracy and efficiency of container placing are improved, and the labor cost is reduced. Description of the Drawings

[0075] The drawings here are incorporated into the description and form a part of this description, showing embodiments consistent with the present application, and are used together with the description to explain the principles of the present application.

[0076] Figure 1 Structural schematic diagram of the yard crane provided by the embodiment of the present application;

[0077] Figure 2 Flow schematic of the container discharging method applied to the container door adjusting machine provided by the embodiment of the present application Figure 1 ;

[0078] Figure 3 Flow schematic of the container discharging method applied to the container door adjusting machine provided by the embodiment of the present application Figure 2 ;

[0079] Figure 4 Point position schematic diagram of the container discharging method applied to the container door adjusting machine provided by the embodiment of the present application;

[0080] Figure 5 Structural schematic diagram of the container discharging device applied to the container door adjusting machine provided by the embodiment of the present application;

[0081] Figure 6 Structural schematic diagram of the electronic device provided by the embodiment of the present application.

[0082] Through the above-mentioned drawings, the clear embodiments of the present application have been shown, and more detailed descriptions will be given later. These drawings and textual descriptions are not intended to limit the scope of the concept 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. Specific embodiments

[0083] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are only examples of the devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0084] With the rapid development of China's economic trade, the rapid growth of port container stuffing operations has led to a sharp increase in the demand for container handling, stacking, and transshipment. The efficient operation of the port depends on the accurate container hoisting and positioning. As a common loading and unloading device in the terminal, the positioning accuracy of the spreader of the rail-mounted container gantry crane directly affects the operation efficiency and safety of the port. Therefore, how to accurately confirm the container landing position is crucial for improving the automation and intelligence level of port operations.

[0085] In the prior art, the method for confirming the placement of a container on a chassis usually relies on manual experience. Specifically, first, the operator visually observes the corner lines of the container on the ground (i.e., the edges or corner locking holes of the four corners of the container), and then judges the position and angular deviation of the spreader relative to the corner lines according to experience to control the position and angle of the spreader, and finally completes the operation of placing the container on the chassis.

[0086] However, in the method for confirming the placement of a container on a chassis in the prior art, on the one hand, it is easy for workers to be affected by factors such as light, weather, and angle when using visual inspection, resulting in docking deviation; on the other hand, the operator needs to repeatedly adjust the spreader, which takes a long time and affects the overall loading and unloading efficiency. Moreover, improper operation may cause the spreader to impact the container, affecting the service life of the equipment and even causing accidents.

[0087] Based on this, the present application proposes a method for placing a container on a chassis applied to a container door adjusting machine. Since the prior art usually uses the method of manual visual inspection to place a container on a chassis, but due to the limited visual accuracy of the operator, especially in long-term operations or complex working conditions (such as strong wind speed, rainy and foggy weather), misjudgment is likely to occur, resulting in offset or repeated adjustment of the container placement, affecting the efficiency. With the improvement of the intelligent level, high-precision cameras can clearly capture images within the range and continue data processing. And considering that there are multiple points of coincidence when placing a container on a chassis, the accuracy of container placement can be improved by respectively obtaining the positions corresponding to the corner of the vehicle deck, the locking head of the vehicle deck, the locking mark point of the vehicle deck, and the corner point of the container, avoiding the direction error caused by the inability to obtain a single point.

[0088] The technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. These 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 with reference to the accompanying drawings.

[0089] Figure 1 is a schematic structural diagram of a container door adjusting machine provided by an embodiment of the present application; as Figure 1 shown, the container door adjusting machine includes a spreader 101, door legs 104, and at least four cameras, wherein three of the cameras 102 are installed at three corners of the spreader, and one of the cameras 103 is installed on one of the door legs 104; the container door adjusting machine is used to adjust the position of the container 105 to complete the operation of placing the container on the chassis.

[0090] It should also be noted that the spreader usually further includes a trolley device and a hoist trolley device. Among them, the trolley device is used to adjust the position of the container left and right, and the hoist trolley device is used to adjust the position of the container front and back.

[0091] Figure 2Flow schematic of the container discharging method applied to the container door adjusting machine provided by the embodiments of the present application Figure 1 ; As Figure 2 shown, the method includes:

[0092] S201. During the container discharging process, determine the position of the container based on the first image obtained by the camera on the door leg.

[0093] It should be noted that since when the container is hoisted, it is necessary to ensure that the door of the container is in the same direction as the parking position of the container truck to facilitate the loading and unloading work. Therefore, before the container is hoisted, it is necessary to determine the position of the container based on the first image obtained by the camera on the door leg to determine whether the position of the container meets the requirements.

[0094] In one implementation, first identify the target object in the first image; then, if the target object is identified, it is determined that the position of the container is incorrect, and the spreader is controlled to rotate the container by a preset angle; if the target object is not identified, it is determined that the position of the container is correct.

[0095] Wherein, the target object represents a specific object on the side of the container.

[0096] For example, for a standard placed container, the first image obtained by the camera on the door leg in a fixed direction contains features such as the container door handle, hinge, and door frame; while for the container to be hoisted, if the first image obtained by the camera on the door leg in a fixed direction does not contain any of the features such as the container door handle, hinge, and door frame, it means that the placement position of the container to be hoisted is incorrect and needs to be adjusted in direction. Correspondingly, if the first image obtained by the camera on the door leg in a fixed direction contains any of the features such as the container door handle, hinge, and door frame, it means that the placement position of the container to be hoisted is correct and does not need to be adjusted in direction.

[0097] It can be understood that through this method, the orientation of the container can be quickly judged before hoisting, and timely adjustment can be made when errors are found, rather than correcting after the container is discharged, thereby reducing repeated operations, optimizing the operation process, and improving the operation efficiency.

[0098] S202. Obtain a second image through the target camera on the spreader.

[0099] Wherein, the target camera is any one of the cameras respectively arranged at any three corners of the spreader.

[0100] It can be understood that by arranging cameras at any three corners of the spreader, complete information of the container discharging area, that is, the second image, can be collected at different angles and heights. And through the combination of multiple cameras, the key point coordinates can be calculated from multiple angles to improve the positioning accuracy.

[0101] S203. Determine a first position corresponding to the corner of the container truck's deck, a second position corresponding to the deck lock of the container truck, a third position of the container truck's lock imprint point, and a fourth position corresponding to the corner point of the container based on the second image.

[0102] It should be noted that the first position corresponding to the corner of the deck is used to determine the boundary of the container placement area on the container truck, helping to calibrate the placement position; the second position corresponding to the deck lock of the container truck is used to identify the locking position to ensure that the container can be correctly placed and locked; the third position of the container truck's lock imprint point indicates the standard container placement point; the fourth position corresponding to the corner point of the container is used to confirm the actual placement position of the container and compare it with the corresponding first position / second position / third position.

[0103] It can be understood that by the coordinate information of multiple key points, the relative positions of the container and the truck can be accurately identified, avoiding single-point identification errors.

[0104] S204. Adjust the spreader according to the first position, the second position, the third position, and the fourth position to complete the container placement operation.

[0105] It can be understood that by the first position, the second position, the third position, and the fourth position obtained by the camera, the dependence on manual operation experience can be reduced, intelligent container placement can be realized, and the operation accuracy and efficiency can be improved.

[0106] The container placement method for a container gantry crane provided by the embodiment of the present application. First, during the container placement process, the position of the container is determined by the first image obtained by the camera on the gantry leg, so that it can be determined whether the orientation position of the container needs to be adjusted, reducing the subsequent correction time and improving the container placement efficiency; then, a second image is obtained by the target camera on the spreader; where the target camera is any one of the cameras respectively arranged at any three corners of the spreader; then, based on the second image, a first position corresponding to the corner of the container truck's deck, a second position corresponding to the deck lock of the container truck, a third position of the container truck's lock imprint point, and a fourth position corresponding to the corner point of the container are determined. So far, by determining through multiple positions, the container placement error caused by the inability to obtain single-point information is avoided, and the accuracy of container placement is improved; finally, the spreader is adjusted according to the first position, the second position, the third position, and the fourth position to complete the container placement operation. Through this automated container placement method, the accuracy and efficiency of container placement are improved, and the labor cost is reduced.

[0107] In an implementable manner, when performing the operation of a single 20-foot container with a hydraulic rod, in order to prevent the hydraulic rod from colliding with the container or other structures during the hoisting process, it is necessary to determine the distance between the container and the hydraulic rod in real time. If the distance is less than the safety distance, an alarm reminder is required. Specifically:

[0108] First, according to the second image, determine the fifth position corresponding to the end point of the hydraulic rod; then, according to the fourth position and the fifth position, calculate the distance between the corner point of the container and the end point of the hydraulic rod in real time; finally, when the distance between the corner point of the container and the end point of the hydraulic rod is less than the preset warning distance, issue a safety warning.

[0109] It should be noted that a main function of the hydraulic rod is to provide a lifting function. When the container truck is loading and unloading a single 20-foot container, it is necessary to raise or lower the 20-foot container from the container truck bed to the ground. The hydraulic system controls the lifting of the container through the hydraulic rod to ensure that the container can be placed or lifted smoothly and safely.

[0110] Optionally, the safety warning method can be a sound alarm through a buzzer, voice alarm, etc., and the dangerous area can also be highlighted in the camera image to remind the monitoring personnel to handle it. The specific warning method is not specifically limited in the embodiments of the present application.

[0111] For example, through the second image obtained by the camera on the spreader, use the target detection algorithm to identify the position of the end point of the hydraulic rod as (x5, y5, z5), and the fourth position corresponding to the corner point of the container is (x4, y4, z4). Use the Euclidean distance formula or three-dimensional point cloud calculation to calculate the real-time distance between the end point of the hydraulic rod and the corner point of the container. The specific formula can be:

[0112]

[0113] Among them, d is the real-time distance between the end point of the hydraulic rod and the corner point of the container, and x5, y5, z5 are the spatial coordinate values of the position of the end point of the hydraulic rod respectively; x4, y4, z4 are the spatial coordinate values of the fourth position corresponding to the corner point of the container respectively.

[0114] It can be understood that by monitoring the position relationship between the end point of the hydraulic rod and the corner point of the container in real time through the camera and triggering the safety warning by calculating the real-time distance, the safety and accuracy of the hoisting operation are effectively improved, the suspension and repair time caused by collisions can be reduced, and the overall efficiency of container loading and unloading can be improved.

[0115] In another feasible way, when performing double 20-foot container operations, since two containers need to be placed side by side on a container truck, if the spacing is too small, it may cause rubbing, difficult alignment of the lock holes, or improper operation, affecting the operation efficiency. Therefore, it is necessary to calculate the double-container gap in real time to ensure the correct placement position of the containers and avoid collisions. Specifically:

[0116] First, during the process of placing the second container on the container truck, determine the sixth position of the target corner point of the first container from the second image; then, based on the first position and the sixth position, determine the seventh position of the target lock mark point of the container truck; then, calculate the distance between the first container and the second container according to the sixth position and the seventh position; finally, when the distance between the first container and the second container is less than the preset distance threshold, issue a safety warning.

[0117] Among them, the target corner point is any one of the two corner points on the opposite side of the first container and the second container; the target lock mark point is the lock mark point adjacent to the target corner point.

[0118] It should be noted that during the process of placing the second container on the container truck, it is necessary to determine the corresponding position of the corner point by determining the second position of the vehicle deck lock corresponding to the second container on the container truck and the third position of the lock mark point of the container truck through the second image. However, since the second image obtained in real time during the process of the container descending may block the second position of the vehicle deck lock corresponding to the second container on the container truck and the third position of the lock mark point of the container truck by the first container, the seventh position of the target lock mark point of the container truck can be further determined by determining the sixth position of the target corner point of the first container from the second image; and calculate the horizontal distance between the sixth position (the corner point of the first container) and the seventh position (the target lock mark point) to determine the distance between the two containers and prevent rubbing.

[0119] It can be understood that by determining the seventh position of the target lock mark point of the container truck according to the first position and the sixth position, the box placement error caused by the failure of single-point detection is avoided, and the accuracy of placing the second container can be improved; and by calculating the double-container spacing in real time, the accuracy and safety of container placement are ensured. Compared with the traditional method relying on visual inspection, this embodiment improves the operation accuracy, reduces the collision risk, and makes the box placement operation of the container more intelligent and efficient.

[0120] Figure 3 The flow diagram of the container box placement method applied to the container door adjusting machine provided by the embodiment of the present application Figure 2 , as Figure 3 shown, this embodiment is inFigure 2 Based on the embodiments, a detailed description is given on how to adjust the spreader according to the first position, the second position, the third position, and the fourth position to complete the container placement operation. The method includes:

[0121] S301. Construct a dimension chain based on the first position, the second position, and the third position.

[0122] It should be noted that a dimension chain is a mathematical model used to describe the dimensional relationships between multiple geometric features. During the container hoisting process, the first position (the corner of the vehicle deck), the second position (the vehicle deck lock), and the third position (the locking mark point) together determine the benchmark for container placement. Therefore, a dimension chain can be established.

[0123] It can be understood that by constructing a dimension chain with the first position, the second position, and the third position, on the one hand, it can avoid the decrease in container placement accuracy caused by the failure of single-point detection. For example, if a certain detection point fails (such as the first position is not detected), other points (such as the second position or the third position) can be used for calculation to maintain the accuracy. On the other hand, through dimension chain calculation, a standardized container placement process can be established to reduce the errors between different devices.

[0124] S302. Calculate the deviation distance between the locking mark point of the container truck and the corner point of the container according to the dimension chain and the fourth position.

[0125] It can be understood that by using the dimension chain and the fourth position, the deviation between any position in the dimension chain and the fourth position can be calculated to determine the deviation distance between the locking mark point of the container truck and the corner point of the container.

[0126] S303. When the deviation distance is less than the preset deviation range, control the spreader to lower to place the container on the container truck.

[0127] It should be understood that when the deviation distance is less than the preset deviation range, it indicates that the container can be placed more accurately at the corresponding locking mark point position. Then, the spreader can be controlled to lower to place the container on the container truck to complete the container placement operation.

[0128] S304. When the deviation distance is greater than or equal to the preset deviation range, control the spreader to adjust the horizontal position of the container according to the deviation distance until the deviation distance is less than the preset deviation range.

[0129] It should be understood that when the deviation distance is greater than the preset deviation range, it indicates that the container cannot be placed more accurately at the corresponding locking mark point position. It is also necessary to further control the spreader to adjust the horizontal position of the container according to the deviation distance until the deviation distance is less than the preset deviation range. Then, control the spreader to lower to place the container on the container truck.

[0130] In one feasible way, when adjusting the container, it is also necessary to adjust the rotation angle of the spreader. Specifically:

[0131] First, according to the second image, determine the positions of the first edge of the container and the second edge of the container truck respectively; then, based on the positions of the first edge and the second edge, calculate the included angle between the first edge and the second edge; then, determine the rotation angle of the spreader according to the included angle; finally, control the lifting posture of the spreader according to the rotation angle.

[0132] It should be noted that when lifting the container, it is necessary to keep the position of the first edge of the container parallel to the position of the second edge of the container truck, so as to ensure that the container can be placed on the container truck safely and without collision. Therefore, it is necessary to accurately extract the edge position of the container through image processing technology according to the second image, determine the positions of the first edge of the container and the second edge of the container truck respectively, and then calculate the included angle between the first edge of the container and the second edge of the container truck by means of geometric calculation or line fitting. If the included angle is 0 degrees, it means that the container is parallel and aligned with the position of the second edge of the container truck; otherwise, it is necessary to adjust the posture of the spreader.

[0133] In one feasible way, when the rotation angle is not zero, control the spreader to rotate to adjust the horizontal degree of the container until the rotation angle is zero; then, when the rotation angle is zero, control the spreader to descend to place the container on the container truck.

[0134] It can be understood that by calculating the rotation angle in real time and dynamically adjusting, the angle error between the container and the truck board surface can be eliminated, ensuring accurate alignment and avoiding tilting placement.

[0135] To facilitate understanding of the points corresponding to each position, the embodiments of the present application take the operation of a single 20-foot container with a hydraulic rod as an example for illustration.

[0136] Figure 4 It is a schematic diagram of the points of the container placing method applied to the container door adjusting machine provided by the embodiments of the present application; as shown in the figure, point C in the figure is the first position corresponding to the corner of the truck board; point D is the second position corresponding to the truck board lock of the container truck; point F is the third position of the lock mark point of the container truck; point E is the fourth position corresponding to the corner point of the container; point G is the fifth position corresponding to the end point of the hydraulic rod.

[0137] It can be seen that since the positions corresponding to points C, D, and F can jointly determine the benchmark for container placement, enabling the container to be accurately placed on the lock head position of the container truck, by establishing a dimension chain, the reduction of container placement accuracy caused by single-point detection failure can be avoided; and by calculating the real-time distance between point G and point E in real time, the safety and accuracy of the lifting operation can be effectively improved, accidents caused by manual misoperation can be reduced, and the automation level of the operation can be improved.

[0138] Figure 5 FIG. 4 is a schematic structural diagram of a container placement device applied to a container door adjusting machine according to an embodiment of the present application; the container placement device 50 includes:

[0139] A first determination module 501, configured to determine the position of the container by using a first image obtained by a camera on the door leg during the container placement process;

[0140] An acquisition module 502, configured to acquire a second image by using a target camera on the spreader; wherein, the target camera is any one of the cameras respectively arranged at any three corners of the spreader;

[0141] A second determination module 503, configured to determine a first position corresponding to the corner of the vehicle deck of the container truck, a second position corresponding to the lock head of the vehicle deck of the container truck, a third position of the lock printing point of the container truck, and a fourth position corresponding to the corner point of the container according to the second image;

[0142] An adjustment module 504, configured to adjust the spreader according to the first position, the second position, the third position, and the fourth position to complete the container placement operation.

[0143] In a possible implementation manner, the first determination module 501 is specifically configured to:

[0144] Identify a target object in the first image;

[0145] If the target object is identified, it is determined that the position of the container is incorrect, and the spreader is controlled to rotate the container by a preset angle;

[0146] If the target object is not identified, it is determined that the position of the container is correct;

[0147] Wherein, the target object represents a specific object on the side of the container.

[0148] In a possible implementation manner, the adjustment module 504 is specifically used for

[0149] Construct a dimension chain based on the first position, the second position, and the third position;

[0150] According to the dimension chain and the fourth position, calculate the deviation distance between the lock printing point of the container truck and the corner point of the container;

[0151] When the deviation distance is less than the preset deviation range, control the spreader to descend to place the container on the container truck;

[0152] When the deviation distance is greater than or equal to the preset deviation range, control the spreader to adjust the horizontal position of the container according to the deviation distance until the deviation distance is less than the preset deviation range.

[0153] In a possible implementation manner, the device further includes a processing module, and the processing module is configured to:

[0154] According to the second image, respectively determine the position of the first edge of the container and the position of the second edge of the container truck;

[0155] Based on the position of the first edge and the position of the second edge, calculate the included angle between the first edge and the second edge;

[0156] Determine the rotation angle of the spreader according to the included angle;

[0157] Control the lifting posture of the spreader according to the rotation angle.

[0158] In a possible implementation manner, the processing module is specifically configured to:

[0159] When the rotation angle is not zero, control the spreader to rotate to adjust the horizontal level of the container until the rotation angle is zero;

[0160] When the rotation angle is zero, control the spreader to descend to place the container on the container truck.

[0161] In a possible implementation manner, the processing module is further configured to:

[0162] According to the second image, determine the fifth position corresponding to the end point of the hydraulic rod;

[0163] According to the fourth position and the fifth position, calculate the distance between the corner point of the container and the end point of the hydraulic rod in real time;

[0164] When the distance between the corner point of the container and the end point of the hydraulic rod is less than the preset warning distance, issue a safety warning.

[0165] In a possible implementation manner, the processing module is further configured to:

[0166] During the process of placing the second container on the container truck, determine the sixth position of the target corner point of the first container from the second image; wherein, the target corner point is any one of the two corner points on the opposite side of the first container and the second container;

[0167] Determine the seventh position of the target locking point of the container truck according to the first position and the sixth position; the target locking point is the locking point adjacent to the target corner point of the container.

[0168] Calculate the distance between the first container and the second container according to the sixth position and the seventh position.

[0169] When the distance between the first container and the second container is less than the preset distance threshold, issue a safety warning.

[0170] The container placing device applied to the container door adjusting machine provided by the embodiment of the present application can execute the method provided by the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0171] Figure 6 It is a schematic structural diagram of the electronic device provided by the embodiment of the present application. As Figure 6 shown, the electronic device 60 provided by this embodiment includes: at least one processor 601 and a memory 602. Optionally, the device 60 further includes a communication component 603. Among them, the processor 601, the memory 602, and the communication component 603 are connected through a bus 604.

[0172] In the specific implementation process, at least one processor 601 executes the computer execution instructions stored in the memory 602, so that at least one processor 601 executes the above method.

[0173] The specific implementation process of the processor 601 can be referred to the above method embodiment, and its implementation principle and technical effect are similar, which will not be elaborated here in this embodiment.

[0174] In the above embodiment, it should be understood that the processor may be a central processing unit (English: Central Processing Unit, abbreviated: CPU), and may also be other general-purpose processors, digital signal processors (English: Digital Signal Processor, abbreviated: DSP), application specific integrated circuits (English: Application Specific Integrated Circuit, abbreviated: ASIC), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0175] 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.

[0176] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the buses in the attached drawings of this application are not limited to only one bus or one type of bus.

[0177] This application also provides a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the processor executes the computer-executable instructions, the above-mentioned method is implemented.

[0178] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk or an optical disc. The readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0179] An exemplary readable storage medium is coupled to the processor, enabling the processor to read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the readable storage medium can also exist separately in the device.

[0180] The division of units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0181] The unit described as a separate component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed across multiple network units. Some or all of these units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0182] In addition, each functional unit in various embodiments of the present invention may be integrated into a processing unit, may exist separately as individual physical units, or two or more units may be integrated into one unit.

[0183] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs, etc., which can store program codes.

[0184] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When this program is executed, it executes the steps including the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disks, or optical discs, etc., which can store program codes.

[0185] Finally, it should be noted that: After considering the specification and practicing the invention disclosed herein, those skilled in the art will readily think of other implementation schemes of the present invention. The present invention aims to cover any variations, uses, or adaptable changes of the present invention. These variations, uses, or adaptable changes follow the general principles of the present invention and include common general knowledge or conventional technical means in the technical field not disclosed in the present invention. It is not limited to the exact structure described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present invention is only limited by the appended claims.

Claims

1. A container placing method applied to a door crane, the door crane comprising a spreader, a door leg and at least four cameras, wherein three of the cameras are installed on three corners of the spreader, and one of the cameras is installed on one of the door legs, characterized in that: The method comprises: During the container placement process, the position of the container is determined by a first image acquired by the camera on the door leg; Acquire a second image through a target camera on the spreader; wherein the target camera is any one of the cameras respectively arranged at any three corners of the spreader; Determine, based on the second image, a first position corresponding to a plate corner of the container truck, a second position corresponding to a plate lock of the container truck, a third position of a lock mark of the container truck, and a fourth position corresponding to a corner point of the container; According to the first position, the second position, the third position and the fourth position, the spreader is adjusted to complete the box placing operation.

2. The method according to claim 1, characterized in that Determining the correct position of the container by using the first image acquired by the camera on the door leg includes: Identifying a target object in the first image; If the target object is identified, it is determined that the position of the container is wrong, and the spreader is controlled to rotate the container by a preset angle; If the target object is not identified, determining that the position of the container is correct; The target object represents a specific object on the side of the container.

3. The method according to claim 1, characterized in that The step of adjusting the spreader to complete the box placing operation according to the first position, the second position, the third position, and the fourth position includes: constructing a dimensional chain based on the first position, the second position and the third position; Calculating the deviation distance between the lock mark point of the container truck and the corner point of the container according to the dimension chain and the fourth position; When the deviation distance is less than a preset deviation range, controlling the spreader to descend so as to place the container on the container truck; When the deviation distance is greater than or equal to the preset deviation range, the spreader is controlled according to the deviation distance to adjust the horizontal position of the container until the deviation distance is less than the preset deviation range.

4. The method according to claim 3, characterized in that The method further comprises: determining, according to the second image, a position of a first edge of the container and a position of a second edge of the container truck; Calculating an angle between the first edge and the second edge based on the position of the first edge and the position of the second edge; Determining a rotation angle of the spreader according to the included angle; The lifting posture of the lifting device is controlled according to the rotation angle.

5. The method according to claim 4, characterized in that The controlling the lifting posture of the lifting device according to the rotation angle comprises: When the rotation angle is not zero, controlling the spreader to rotate to adjust the horizontality of the container until the rotation angle is zero; When the rotation angle is zero, the spreader is controlled to descend to place the container on the container truck.

6. The method according to claim 1, characterized in that The method further comprises: determining a fifth position corresponding to an end point of the hydraulic rod according to the second image; Calculate in real time the distance between the corner point of the container and the end point of the hydraulic rod according to the fourth position and the fifth position; When the distance between the corner point of the container and the end point of the hydraulic rod is less than a preset warning distance, a safety warning is issued.

7. The method according to claim 1, characterized in that The method further comprises: In the process of placing the second container on the container truck, a sixth position of a target corner point of the first container is determined from the second image; wherein the target corner point is any one of two corner points of the first container on a side opposite to the second container; According to the first position and the sixth position, a seventh position of a target lock mark point of the container truck is determined; the target lock mark point is a lock mark point adjacent to the target box corner point; Calculating a distance between the first container and the second container according to the sixth position and the seventh position; When the distance between the first container and the second container is less than a preset distance threshold, a safety warning is issued.

8. A container placing device applied to a container door crane, characterized in that: include: A first determination module is used to determine the position of the container through a first image obtained by the camera on the door leg during the container placement process; An acquisition module, used for acquiring a second image through a target camera on the spreader; wherein the target camera is any one of the cameras respectively arranged at any three corners of the spreader; A second determination module is used to determine, based on the second image, a first position corresponding to a plate corner of the container truck, a second position corresponding to a plate lock of the container truck, a third position of a lock mark of the container truck, and a fourth position corresponding to a corner point of the container; An adjustment module is used to adjust the spreader to complete the box placing operation according to the first position, the second position, the third position and the fourth position.

9. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

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

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